更新 目标位置判断bug修复

App/Inc/motor.h

@@ -10,7 +10,7 @@ extern int mov_flag;		//
 extern int send_flag;		//发送标志
 extern int seat_flag;		//位置标志
 extern int motor_dire;		//电机转动方向
-
+extern int motor_direc;
 extern int Travle_Flag;              	//0 直    1 角
 extern char Motor_Run;         	//0 停止  1 运行  2 运行到起始点  3 运行到结束点
 extern char Run_Mode;          	//0 点动  1 连续（方案一） 2 连续（方案二）

App/Inc/oled2.h

@@ -19,7 +19,7 @@ void OLED2_Send(unsigned char *data, unsigned char len);
 void OLED2_Init(void);
 void OLED_DisplayTest(void);
 void OLED_MenuTest(void);
-void OLED_ShowCN(unsigned char x,unsigned char y,unsigned char index);
+void OLED_ShowCN(unsigned char x,unsigned char y,unsigned char index,unsigned char color);
 void OLED_ShowString(unsigned char x,unsigned char y,char *str,unsigned char Char_Size,unsigned char color);
 void OLED_ShowChar(unsigned char x,unsigned char y,unsigned char chr,unsigned char Char_Size,unsigned char color);
 void OLED_Clear(void) ;

App/Src/app.c

@@ -13,8 +13,8 @@ char ocin1 = 0,ocin2 = 0;       //位置开关，远离为1接近为0
 char oled_init_flag = 0,oled_init_result = 0;
 //int i2c_error_temp = 0;
 uint8_t magnet_tx[7] = {0x05,0x01,0x00,0x0A,0x00,0x0A,0xFF}; 
-
 HAL_StatusTypeDef hal_check_tx;
+
 void app_act (void)
 {
 	//1 按键操作
@@ -41,11 +41,10 @@ void app_act (void)
 	{
 		it_100ms_flag  = 0;
 		
-		OLED_MenuTest();						//OLED显示
+		OLED_MenuTest();						//OLED显示,菜单
-//		OLED_Act();								//OLED显示,操作显存后统一发送
-//		OLED_DisplayTest();						//OLED显示，只发送需要显示的部分
 		
 		TEMP_M1820 = M1820_Get_Temp();			//温度采集
+		
 		X_ads1220 = Xads1220_filter(5,16);		//电阻尺滤波结果（电压值，mv）
 		X_ads1220_prc =(X_ads1220 - X_ads1220_L)/(X_ads1220_H - X_ads1220_L);
 				
@@ -56,15 +55,12 @@ void app_act (void)
 	
 	
 	//5 电阻尺 位移传感器
-	Xads1220_record();
+	Xads1220_record();//采集数据用于滤波
 	
 	
 	//6 电机
-//	motor_protect_ads(0.10, 0.90);             		//根据电阻尺位移限位
+//	motor_protect_ocin();	
-//	motor_protect_ocin();							//根据位置开关限位
+	Deal_Motor();
-//	tmc5160_operate(tmc5160_sw, move_step_5mm); 	//第一个参数代表模式选择，第二个参数为步长，电机转动一圈滑块移动5mm
-	
-//	Deal_Motor();
 	
 	//7 串口数据处理
 	Deal_Uart_Data_For_Module();
@@ -81,22 +77,22 @@ void app_act (void)
 	
 	
 	//9 LED灯状态指示
-	if( (tmc5160_sw == 0) || ((tmc5160_sw == 3) && (busy_flag == 0)) )
+	if( Motor_Run == 0 )
 	{
 		HAL_GPIO_WritePin(LED_NOR_GPIO_Port, LED_NOR_Pin, GPIO_PIN_SET);//停止状态两灯熄灭
 		HAL_GPIO_WritePin(LED_ERR_GPIO_Port, LED_ERR_Pin, GPIO_PIN_SET);
 	}
-	if(tmc5160_sw == 1)
+	if( (Motor_Run == 1) && (motor_direc == 1) )
 	{
 		HAL_GPIO_WritePin(LED_NOR_GPIO_Port, LED_NOR_Pin, GPIO_PIN_RESET);//正向转动绿灯亮
 		HAL_GPIO_WritePin(LED_ERR_GPIO_Port, LED_ERR_Pin, GPIO_PIN_SET);
 	}
-	if(tmc5160_sw == 2)
+	if( (Motor_Run == 1) && (motor_direc == 2) )
 	{
 		HAL_GPIO_WritePin(LED_NOR_GPIO_Port, LED_NOR_Pin, GPIO_PIN_SET);
 		HAL_GPIO_WritePin(LED_ERR_GPIO_Port, LED_ERR_Pin, GPIO_PIN_RESET);//反向转动蓝灯亮
 	}
-	if( (tmc5160_sw == 3) && (busy_flag == 1) ) 
+	if( ( Motor_Run == 2 ) || ( Motor_Run == 3 ) )
 	{
 		HAL_GPIO_WritePin(LED_NOR_GPIO_Port, LED_NOR_Pin, GPIO_PIN_RESET);
 		HAL_GPIO_WritePin(LED_ERR_GPIO_Port, LED_ERR_Pin, GPIO_PIN_RESET);//复位移动时两灯亮

App/Src/motor.c

@@ -4,11 +4,16 @@
 #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 magnet_start 200	//磁条范围-起点mv
+#define magnet_end 800		//磁条范围-终点mv
+#define motor_start 100		//电机运动范围起点mv
+#define motor_end 1000		//电机运动范围终点mv
 
 int Travle_Flag = 0;            //0 直    1 角
 char Motor_Run = 0;         	//0 停止  1 运行  	2 运行到起始点  3 运行到结束点
@@ -26,7 +31,7 @@ int seat_flag = 0;	//λ
 int motor_dire = 1;	//电机转动方向
 int flag = 0;
 
-int motor_direc = 1;
+int motor_direc = 1;//电机转动方向
 
 char motor_control = 0;
 
@@ -95,11 +100,25 @@ void Deal_Motor(void)
 		}
 		else if(Motor_Run == 2)//运行到起始位
 		{
-			tmc5160_operate(MOTOR_RETURN,0);//回到起始位
+			if(X_ads1220 < motor_start)
+			{
+				Motor_Run = 0;
+				if(busy_flag == 0) motor_direc = MOTOR_POS;
+			}else
+			{
+				tmc5160_operate(MOTOR_REV,51200*5);
+			}
 		}
 		else if(Motor_Run == 3)//运行到结束位
 		{			
-			tmc5160_operate(MOTOR_RETURN,0);//移动至结束位
+			if(X_ads1220 > motor_end)
+			{
+				Motor_Run = 0;
+				if(busy_flag == 0) motor_direc = MOTOR_POS;
+			}else
+			{
+				tmc5160_operate(MOTOR_POS,51200*5);
+			}
 		}
 		else//数据错误
 		{
@@ -176,42 +195,27 @@ void mov_step(void)
 {
 	if( (ocin1 == 0) && (motor_direc != MOTOR_POS) )//判断是否到达始限位
 	{
-		motor_direc = MOTOR_POS;
 		tmc5160_operate(MOTOR_STOP,0);
+		if(busy_flag == 0) motor_direc = MOTOR_POS;
 	}
 	if( (ocin2 == 0) && (motor_direc != MOTOR_REV) )//判断是否到达终限位
 	{
-		motor_direc = MOTOR_REV;
 		tmc5160_operate(MOTOR_STOP,0);
+		if(busy_flag == 0) motor_direc = MOTOR_REV;
 	}
 	
-	if(Run_mm == 0) return;//步长不能为0
-	
 	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);	//读取斜坡状态
+	
-	RAMP_STAT_32 = Raw_32(RAMP_STAT);
+	if(Run_mm == 0) return;//步长不能为0
-	TMC5160_SPIReadInt(DRV_STAT_ADDR,DRV_STAT);		//读取驱动器状态
-	DRV_STAT_32 = Raw_32(DRV_STAT);
-	SG_RESULT_16 = ((uint16_t)DRV_STAT_32) & 0x03FF;//驱动器状态共32bit，其中0-9bit为负载值，读到的负载值越低，负载越高，0代表最高负载
 	
 	switch(Runmotor_step)
 	{
 		case 1 : //电机运行准备
 			{
-				//motor_start();		//运行
+
-				if( ocin1 == 0 )//判断是否到达始限位
-				{
-					motor_direc = MOTOR_POS;
-					//tmc5160_operate(MOTOR_POS,0);			//正转
-				}
-				if( ocin2 == 0 )//判断是否到达终限位
-				{
-					motor_direc = MOTOR_REV;
-					//tmc5160_operate(MOTOR_REV,0);			//反转
-				}
 				Runmotor_Nums = 0;	//运行次数	
                 mov_flag = 0;		 	
                 Runmotor_step++; 							
@@ -219,8 +223,14 @@ void mov_step(void)
 			break;
 		case 2 : //电机运行过程						
 			{
-				Run_Step = (Run_mm/0.05) * 512;
+				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_Step);
+				{
+					tmc5160_operate(motor_direc,Run_mm * 10240);
+
+				}else
+				{
+					tmc5160_operate(motor_direc,Run_Step * 1024);//Runstep cm 
+				}
 				if(busy_flag == 0)
 				{
 					Runmotor_step++; 
@@ -255,7 +265,7 @@ void mov_step(void)
 		case 5 : 
 			{
 				Runmotor_step = 0;	
-				Motor_Run = 1;   	//运行标记清除
+				Motor_Run = 0;   	//运行标记清除，等待下一次上位机发送命令
 			}
 			break;
 		default :	
@@ -266,8 +276,7 @@ void mov_step(void)
 	}				
 }
 
-#define magnet_start 200
+
-#define magnet_end 800
 //电机连续运行，方案一（直行程）
 void mov_loop1(void)
 {
@@ -276,9 +285,9 @@ void mov_loop1(void)
 		case 1 : //电机运行准备
 			{
 				
-				motor_direc = MOTOR_POS;					//正转
+				motor_direc = MOTOR_POS;	//初始为正转
 				motor_dire = 1;
-				Run_mm = 0;
+//				Run_mm = 0;
 				Run_num = 0;
 				motor_data[2] = 0x00;		//发送时反馈的数据	
 				Runmotor_Nums = 0;   		//运行次数	
@@ -291,17 +300,19 @@ void mov_loop1(void)
 				if( X_ads1220 > magnet_start )			//电阻尺位置判断
 				{
 					tmc5160_operate(MOTOR_STOP,0);
+					if(busy_flag == 1) break;
+					
 					if(it_1000ms_flag)					//检查1ms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++;
 //						motor_data[8] = ((Run_mm * Run_Step) & 0xff00) >> 8;//磁条长度高8位
 //						motor_data[9] = (Run_mm * Run_Step) & 0x00ff;		//磁条长度低8位
-						//motor_seat();	//读取电机当前位置
+//						motor_seat();										//读取电机当前位置
 						send_set_resp(0xF001, OBJ_DEVICE_ADDR, DATA_LEN, motor_data);//数据发送
 					}
 				}
@@ -315,11 +326,11 @@ void mov_loop1(void)
 					}
 					//进入磁条范围前，以大步长进行运动，单位为mm，5mm转一圈
 					tmc5160_operate( motor_direc, 51200*3 );
-					Runmotor_step = 6;
+					Runmotor_step = 6;//在case 2 - 6 之间循环，2运动，6限位
 				}
 			}
 			break;
-		case 3 : //延时
+		case 3 : 
 			{
 				//进入磁条范围后，以小步长进行运动，单位为mm
 				if(Run_Step == 0)
@@ -329,7 +340,7 @@ void mov_loop1(void)
 				{
 					tmc5160_operate(motor_direc,Run_Step*10240);
 				}
-				if(busy_flag == 0)
+				if(busy_flag == 0)//到达指定位置后释放busy_flag
 				{
 					Runmotor_step++; 
 				}
@@ -356,49 +367,75 @@ void mov_loop1(void)
 			break;
 		case 5 :
 			{
-				if(X_ads1220 > magnet_end)//超出磁条范围判断
+//				if(X_ads1220 > magnet_end)//超出磁条范围判断
+//				{
+//					if(flag == 0)
+//					{
+//						Runmotor_Nums = 0;
+//						Runmotor_step = 3;	
+//						if(motor_dire == 1)
+//						{
+//							motor_direc = MOTOR_REV;//反转
+//							flag = 1;
+//							motor_dire = 0;
+//						}
+//						else
+//						{
+//							Motor_Run = 2;   //运行标记改变，电机回到初始位
+//						}
+//					}
+//					else
+//					{
+//						Runmotor_step = 3;
+//					}	
+//				}
+//				else
+//				{
+//					Runmotor_step = 3;
+//					flag = 0 ;
+
+				if( (ocin1 == 0) && (motor_direc != MOTOR_POS) )//判断是否到达始限位
 				{
-					if(flag == 0)
+					tmc5160_operate(MOTOR_STOP,0);
+					if(busy_flag == 0) motor_direc = MOTOR_POS;
+				}
+				if( (ocin2 == 0) && (motor_direc != MOTOR_REV) )//判断是否到达终限位
 				{
-						Runmotor_Nums = 0;
+					tmc5160_operate(MOTOR_STOP,0);
+					if(busy_flag == 0) motor_direc = MOTOR_REV;
+				}
+				
+//				}
+				if(X_ads1220 > magnet_end)		//超出磁条范围判断
+				{
+					motor_direc = MOTOR_REV;	//反转
+				}
+				
 				Runmotor_step = 3;
-						if(motor_dire == 1)
+				
+				if(X_ads1220 < magnet_start)	//超出磁条范围判断
 				{
-							motor_direc = MOTOR_REV;//反转
+					Motor_Run = 2;				//回起点
-							flag = 1;
+					Runmotor_step = 0;	
-							motor_dire = 0;
-						}
-						else
-						{
-							Motor_Run = 2;   //运行标记改变，电机回到初始位
-						}
-					}
-					else
-					{
-						Runmotor_step = 3;
-					}	
-				}
-				else
-				{
-					Runmotor_step = 3;
-					flag = 0 ;
 				}
+			
+			
 			}
 			break;
 		case 6 :
 			{
 				if( (ocin1 == 0) && (motor_direc != MOTOR_POS) )//判断是否到达始限位
 				{
-					motor_direc = MOTOR_POS;
 					tmc5160_operate(MOTOR_STOP,0);
+					if(busy_flag == 0) motor_direc = MOTOR_POS;
 				}
 				if( (ocin2 == 0) && (motor_direc != MOTOR_REV) )//判断是否到达终限位
 				{
-					motor_direc = MOTOR_REV;
 					tmc5160_operate(MOTOR_STOP,0);
+					if(busy_flag == 0) motor_direc = MOTOR_REV;
 				}
 				
-				Runmotor_step = 2;
+				Runmotor_step = 2;//在case 2 - 6 之间循环，2运动，6限位
 			}
 			break;			
 		default :	

App/Src/myLib.c

@@ -200,30 +200,44 @@ const unsigned char F8X16[]=
  //????
 const char Hzk[][32]=
 {
-  {0x00,0x80,0x40,0x20,0x18,0x06,0x80,0x00,0x07,0x18,0x20,0x40,0x80,0x00,0x00,0x00,
+	{0x04,0x04,0x44,0xC4,0x4F,0x44,0x44,0xC4,0x24,0x24,0x2F,0xB4,0x24,0x04,0x04,0x00,
-   0x01,0x00,0x20,0x70,0x28,0x26,0x21,0x20,0x20,0x24,0x38,0x60,0x00,0x01,0x01,0x00},/*"?",0*/
+	0x40,0x44,0x24,0x24,0x15,0x0C,0x04,0xFE,0x04,0x0C,0x15,0x24,0x24,0x44,0x40,0x00},/*"菜",0*/
 
-  {0x80,0x80,0x40,0x20,0xD0,0x08,0x04,0x03,0x04,0x08,0xD0,0x20,0x40,0x80,0x80,0x00,
+	{0x00,0x00,0xF8,0x49,0x4A,0x4C,0x48,0xF8,0x48,0x4C,0x4A,0x49,0xF8,0x00,0x00,0x00,
-   0x80,0x40,0x20,0x18,0x07,0x08,0xB0,0x40,0x20,0x18,0x07,0x18,0x20,0x40,0x80,0x00},/*"?",1*/
+	0x10,0x10,0x13,0x12,0x12,0x12,0x12,0xFF,0x12,0x12,0x12,0x12,0x13,0x10,0x10,0x00},/*"单",1*/
 	
-  {0x80,0x80,0x80,0xBE,0xA2,0xA2,0xA2,0xA2,0xA2,0xA2,0xA2,0xBE,0x80,0x80,0x80,0x00,
+	{0x00,0x20,0x20,0xA8,0x6C,0x2A,0x39,0x28,0xA8,0x2A,0x6C,0xA8,0x20,0x20,0x00,0x00,
-   0x00,0x00,0x00,0x06,0x05,0x04,0x04,0x04,0x44,0x84,0x44,0x3C,0x00,0x00,0x00,0x00},/*"?",2*/
+	0x02,0x82,0x81,0x90,0x92,0x4A,0x49,0x45,0x24,0x22,0x10,0x08,0x01,0x02,0x02,0x00},/*"参",2*/
 
-  {0x40,0x3C,0x10,0xFF,0x10,0x10,0x20,0x10,0x8F,0x78,0x08,0xF8,0x08,0xF8,0x00,0x00,
+	{0x90,0x52,0x34,0x10,0xFF,0x10,0x34,0x52,0x80,0x70,0x8F,0x08,0x08,0xF8,0x08,0x00,
-   0x02,0x06,0x02,0xFF,0x01,0x01,0x04,0x42,0x21,0x18,0x46,0x81,0x40,0x3F,0x00,0x00},/*"?",0*/
+	0x82,0x9A,0x56,0x63,0x22,0x52,0x8E,0x00,0x80,0x40,0x33,0x0C,0x33,0x40,0x80,0x00},/*"数",3*/
 
-  {0x02,0xFE,0x92,0x92,0xFE,0x02,0x00,0x10,0x11,0x16,0xF0,0x14,0x13,0x10,0x00,0x00,
+	{0x00,0x00,0xF8,0x88,0x88,0x88,0x88,0xFF,0x88,0x88,0x88,0x88,0xF8,0x00,0x00,0x00,
-   0x10,0x1F,0x08,0x08,0xFF,0x04,0x81,0x41,0x31,0x0D,0x03,0x0D,0x31,0x41,0x81,0x00},/*"?",1*/
+	0x00,0x00,0x1F,0x08,0x08,0x08,0x08,0x7F,0x88,0x88,0x88,0x88,0x9F,0x80,0xF0,0x00},/*"电",4*/
 
-  {0x00,0xFE,0x02,0x22,0x42,0x82,0x72,0x02,0x22,0x42,0x82,0x72,0x02,0xFE,0x00,0x00,
+	{0x10,0x10,0xD0,0xFF,0x90,0x10,0x00,0xFE,0x02,0x02,0x02,0xFE,0x00,0x00,0x00,0x00,
-   0x00,0xFF,0x10,0x08,0x06,0x01,0x0E,0x10,0x08,0x06,0x01,0x4E,0x80,0x7F,0x00,0x00},/*"?",2*/
+	0x04,0x03,0x00,0xFF,0x00,0x83,0x60,0x1F,0x00,0x00,0x00,0x3F,0x40,0x40,0x78,0x00},/*"机",5*/
 
-  {0x00,0x00,0xFE,0x92,0x92,0x92,0x92,0xFE,0x92,0x92,0x92,0x92,0xFE,0x00,0x00,0x00,
+	{0x10,0x10,0x10,0xFF,0x90,0x20,0x98,0x48,0x28,0x09,0x0E,0x28,0x48,0xA8,0x18,0x00,
-   0x40,0x38,0x01,0x00,0x3C,0x40,0x40,0x42,0x4C,0x40,0x40,0x70,0x05,0x08,0x30,0x00},/*"?",0*/
+	0x02,0x42,0x81,0x7F,0x00,0x40,0x40,0x42,0x42,0x42,0x7E,0x42,0x42,0x42,0x40,0x00},/*"控",6*/
 
-  {0x20,0x20,0x24,0x24,0x24,0x24,0xBF,0x64,0x24,0x34,0x28,0x24,0x22,0x20,0x20,0x00,
+	{0x40,0x50,0x4E,0x48,0x48,0xFF,0x48,0x48,0x48,0x40,0xF8,0x00,0x00,0xFF,0x00,0x00,
-   0x10,0x08,0x04,0x02,0x01,0x0D,0x0B,0x09,0x49,0x89,0x49,0x39,0x01,0x00,0x00,0x00},/*"?",1*/
+	0x00,0x00,0x3E,0x02,0x02,0xFF,0x12,0x22,0x1E,0x00,0x0F,0x40,0x80,0x7F,0x00,0x00},/*"制",7*/
 	
+	{0x84,0xE4,0x5C,0xC4,0x00,0x08,0xC8,0x39,0x8E,0x08,0x08,0xCC,0x3B,0x88,0x08,0x00,
+	0x00,0x3F,0x10,0x3F,0x00,0x63,0x5A,0x46,0xE1,0x00,0x63,0x5A,0x46,0xE1,0x00,0x00},/*"磁",8*/
+
+	{0x80,0x90,0x90,0x48,0x4C,0x57,0x24,0xE4,0x24,0x54,0x4C,0x44,0x80,0x80,0x80,0x00,
+	0x00,0x42,0x22,0x12,0x0A,0x42,0x82,0x7F,0x02,0x02,0x0A,0x12,0x22,0x42,0x00,0x00},/*"条",9*/
+
+	{0x00,0x00,0x04,0x14,0x64,0x04,0x0C,0xB4,0x02,0x02,0x42,0x33,0x02,0x00,0x00,0x00,
+	0x40,0x41,0x21,0x11,0x09,0x05,0x03,0xFF,0x03,0x05,0x09,0x11,0x21,0x41,0x40,0x00},/*"采",10*/
+
+	{0x10,0x10,0xD0,0xFF,0x90,0x00,0x10,0x91,0x96,0x90,0xF0,0x90,0x94,0x93,0x10,0x00,
+	0x04,0x03,0x00,0xFF,0x00,0x01,0x04,0x04,0x04,0x04,0xFF,0x04,0x04,0x04,0x04,0x00},/*"样",11*/
+
+//  {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

@@ -382,10 +382,12 @@ void OLED_ShowString(uint8_t x,uint8_t y,char *str,uint8_t Char_Size,uint8_t col
 //????
 //?????16*16???,??????4???
 //index:?????????
-void OLED_ShowCN(uint8_t x,uint8_t y,uint8_t index)
+void OLED_ShowCN(uint8_t x,uint8_t y,uint8_t index,uint8_t color)
 {      			    
 	uint8_t t;
 	
+	if(color == 0)
+	{
 		OLED_SetPos(x,y);	
 		for(t=0;t<16;t++)
 		{
@@ -397,6 +399,22 @@ void OLED_ShowCN(uint8_t x,uint8_t y,uint8_t index)
 		{	
 			SSD1306_WriteData(Hzk[index][t+16]);
 		}
+	}
+
+	if(color == 1)
+	{
+		OLED_SetPos(x,y);	
+		for(t=0;t<16;t++)
+		{
+			SSD1306_WriteData(~Hzk[index][t]);
+		}	
+
+		OLED_SetPos(x,y+1);	
+		for(t=0;t<16;t++)
+		{	
+			SSD1306_WriteData(~Hzk[index][t+16]);
+		}
+	}	
 }
 
 char str_print2[16] = {0},str_print3[16] = {0};
@@ -470,7 +488,10 @@ void OLED_MenuTest(void)
 		case 1:		//ÏÔʾ²»¶¯µÄÄÚÈÝ
 		{
 			OLED_Clear(); 
-			OLED_ShowString(48,0,"Menu",16,1);
+			OLED_ShowString(0,0,"      ",16,1);
+			OLED_ShowString(80,0,"      ",16,1);
+			OLED_ShowCN(48,0,0,1);
+			OLED_ShowCN(64,0,1,1);
 			OLED_ShowString(0,2,"Parameter ",16,0);
 			OLED_ShowString(0,4,"Motor Control",16,0); 
 			OLED_ShowString(0,6,"Magnet Sample",16,0);  
@@ -531,9 +552,9 @@ void OLED_MenuTest(void)
 			}
 		}
 		break;
-		case 3:
+		case 3:	//参数显示，发生变化时刷新
 		{
-			if(para_flag == 0)
+			if(para_flag == 0) //只显示一次
 			{
 				para_flag = 1;
 				OLED_Clear(); 
@@ -561,7 +582,7 @@ void OLED_MenuTest(void)
 				{
 					OLED_ShowString(72,6,"ERROR",16,0);
 				}
-			}else
+			}else	//变化时刷新
 			{
 				//λÖÃ
 				Xads_temp2[0] = X_ads1220_prc;
@@ -612,7 +633,7 @@ void OLED_MenuTest(void)
 				}
 			}
 			
-			if(oled_en == 1)
+			if(oled_en == 1)	//OK键按下后返回菜单
 			{
 				oled_en = 0;
 				oled_p = 1;
@@ -620,7 +641,7 @@ void OLED_MenuTest(void)
 			}
 		}
 		break;
-		case 4:
+		case 4:	//电机控制，设定运动模式
 		{
 			if(motor_flag1 == 0)
 			{
@@ -661,7 +682,7 @@ void OLED_MenuTest(void)
 			
 		}
 		break;
-		case 5:
+		case 5:	//电机控制，设定运动步长
 		{
 			if(run_mode_temp[0] == 0)
 			{
@@ -702,7 +723,7 @@ void OLED_MenuTest(void)
 
 		}
 		break;	
-		case 6:
+		case 6:	//设置内容确认，OK后写入并运行，Cancel取消并返回菜单
 		{
 			if(motor_flag1 == 0)
 			{
@@ -753,7 +774,7 @@ void OLED_MenuTest(void)
 			}
 		}
 		break;
-		case 7:
+		case 7:	//运行状态显示，运行中显示Running...，当前任务结束后显示Completed！
 		{
 			if(motor_flag2 == 0)
 			{
@@ -817,9 +838,13 @@ void OLED_MenuTest(void)
 					}
 					OC2_temp[1] = OC2_temp[0];
 				}
+				if(Motor_Run == 0)
+				{
+					OLED_ShowString(0,0,"Completed !",16,0);
+				}
 			}
 			
-			if(oled_en == 1)
+			if(oled_en == 1)	//按下OK后返回主菜单
 			{
 				Motor_Run = 0;
 				
@@ -829,7 +854,7 @@ void OLED_MenuTest(void)
 			}
 		}
 		break;
-		case 8:
+		case 8:		//磁感应传感模块采样设置，设置采样间隔ms
 		{
 			if(magnet_flag == 0)
 			{
@@ -875,7 +900,7 @@ void OLED_MenuTest(void)
 			}
 		}
 		break;
-		case 9:
+		case 9:	//磁感应传感模块采样设置，设置采样深度
 		{
 			if(magnet_flag == 0)
 			{
@@ -907,7 +932,7 @@ void OLED_MenuTest(void)
 			}
 		}
 		break;
-		case 10:
+		case 10:	//磁感应传感模块设置确认
 		{
 			if(magnet_flag == 0)
 			{

App/Src/tmc5160.c

@@ -70,7 +70,7 @@ void tmc5160_init(void)
 //	TMC5160_SPIWriteInt(0x0A, 	0x00080400,1); 		// writing value 0x00080400 = 525312 = 0.0 to address 6 = 0x0A(DRV_CONF)
 //	TMC5160_SPIWriteInt(0x0B, 	0x00000000,1); 		// writing value 0x00000000 = 0 = 0.0 to address 7 = 0x0B(GLOBAL_SCALER)
 //	 速度相关的驱动控制寄存器
-	TMC5160_SPIWriteInt(0x10, 	0x00070E02,1); 		// IHOLD->0~7bit; IRUN->12~8bit
+	TMC5160_SPIWriteInt(0x10, 	0x00070A02,1); 		// IHOLD->0~7bit; IRUN->12~8bit
 	TMC5160_SPIWriteInt(0x11, 	0x0000000A,1); 		// writing value 0x0000000A = 10 = 0.0 to address 9 = 0x11(TPOWERDOWN)
 //	TMC5160_SPIWriteInt(0x13, 	0x000001F4,1); 		// writing value 0x00000041 = 65 = 0.0 to address 10 = 0x13(TPWMTHRS)
 	TMC5160_SPIWriteInt(0x14, 	0x00000010,1); 		// writing value 0x00004189 = 16777 = 0.0 to address 11 = 0x14(TCOOLTHRS)
@@ -273,31 +273,31 @@ 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);	//读取斜坡状态
-//	RAMP_STAT_32 = Raw_32(RAMP_STAT);
-//	TMC5160_SPIReadInt(DRV_STAT_ADDR,DRV_STAT);		//读取驱动器状态
-//	DRV_STAT_32 = Raw_32(DRV_STAT);
-//	SG_RESULT_16 = ((uint16_t)DRV_STAT_32) & 0x03FF;//驱动器状态共32bit，其中0-9bit为负载值，读到的负载值越低，负载越高，0代表最高负载
-	
 		
 	switch(operate_mode)
 	{
 		case 0 :	//电机停止
 		{
+			VA_32 = Raw_32(VA);
+			
+			if( VA_32 != 0)
+			{
+				busy_flag = 1;
+				
 				rampmode = 0x00000000;
 				TMC5160_SPIWriteInt(RAMPMODE_ADDR,rampmode,1);		//开启位置模式
 
 				TMC5160_SPIWriteInt(XTARGET_ADDR, XA_32, 1);		//把当前位置设为目标位置，开启减速停止
-			
+			}else
+			{
 				busy_flag = 0;
 			}
+			
+		}
 		break;
 		case 1 :	//电机开始正向运动
 		{
+			
 			if( busy_flag == 0)
 			{
 				busy_flag = 1;
@@ -308,16 +308,23 @@ void tmc5160_operate(char operate_mode, uint32_t steps)
 				
 				TMC5160_SPIWriteInt(XTARGET_ADDR, X_temp + steps, 1);	//此时的实际位置+步长作为目标位置
 			}
-			if( RAMP_STAT_32 & 0x00000200 ) 							//到达目标位置，XACTUAL = XTARGET时，第9位会被置 1
+			if(busy_flag == 1)		
+			{
+				TMC5160_SPIReadInt(RAMP_STAT_ADDR,RAMP_STAT);			//运动过程中读取斜坡状态
+				RAMP_STAT_32 = Raw_32(RAMP_STAT);
+				
+				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;
@@ -328,33 +335,44 @@ void tmc5160_operate(char operate_mode, uint32_t steps)
 				
 				TMC5160_SPIWriteInt(XTARGET_ADDR, X_temp - steps, 1);
 			}
-			if( RAMP_STAT_32 & 0x00000200 )
+			if(busy_flag == 1)		
+			{
+				TMC5160_SPIReadInt(RAMP_STAT_ADDR,RAMP_STAT);		//读取斜坡状态
+				RAMP_STAT_32 = Raw_32(RAMP_STAT);
+				
+				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 3 :	//电机回到起点
+//		case 3 :	//电机回到起点(上电位置)
-		{
+//		{
-			if( busy_flag == 0)
+//			if( busy_flag == 0)
-			{
+//			{
-				busy_flag = 1;
+//				busy_flag = 1;
-				rampmode = 0x00000000;
+//				rampmode = 0x00000000;
-				TMC5160_SPIWriteInt(RAMPMODE_ADDR,rampmode,1);		//开启位置模式
+//				TMC5160_SPIWriteInt(RAMPMODE_ADDR,rampmode,1);		//开启位置模式
+//				
+//				speed_max <<=1;
+//				TMC5160_SPIWriteInt(VMAX_ADDR, speed_max, 1);		//以二倍速返回零点
+//				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;
 
-				speed_max <<=1;
+		default :
-				TMC5160_SPIWriteInt(VMAX_ADDR, speed_max, 1);		//以二倍速返回零点
-				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;
 	}
@@ -364,26 +382,30 @@ void tmc5160_operate(char operate_mode, uint32_t steps)
 
 void motor_protect_ads(float threshold_neg, float threshold_pos)
 {
-	if( (X_ads1220_prc <= threshold_neg) && ( (tmc5160_sw == 2) || (tmc5160_sw == 3) )   )
+	if( (X_ads1220_prc <= threshold_neg) && (motor_direc != 1)  )
 	{
-		tmc5160_sw = 0;
+		tmc5160_operate(0, 0);
+		if(busy_flag == 0) motor_direc = 1;
 	}
-	if( (X_ads1220_prc >= threshold_pos) && ( (tmc5160_sw == 1) || (tmc5160_sw == 3) )   )
+	if( (X_ads1220_prc >= threshold_pos) && ( motor_direc != 2 )   )
 	{
-		tmc5160_sw = 0;
+		tmc5160_operate(0, 0);
+		if(busy_flag == 0) motor_direc = 2;
 	}
 
 }
 
 void motor_protect_ocin(void)
 {
-	if( (ocin1 == 0x00) && ( (tmc5160_sw == 2) || (tmc5160_sw == 3) ) )
+	if( (ocin1 == 0) && (motor_direc != 1)  )
 	{
-		tmc5160_sw = 0;
+		tmc5160_operate(0, 0);
+		if(busy_flag == 0) motor_direc = 1;
 	}
-	if( (ocin2 == 0x00) && ( (tmc5160_sw == 1) || (tmc5160_sw == 3) ) )
+	if( (ocin2 == 0) && ( motor_direc != 2 )   )
 	{
-		tmc5160_sw = 0;
+		tmc5160_operate(0, 0);
+		if(busy_flag == 0) motor_direc = 2;
 	}
 }
 

Inc/app.h

@@ -45,6 +45,5 @@ extern float X_ads1220_prc;
 extern char ocin1;
 extern char ocin2;
 
-
 #endif
 

MDK-ARM/mfps.uvguix.吴俊潮

@@ -20,12 +20,12 @@
     <View>
       <WinId>346</WinId>
       <ViewName>Code Coverage</ViewName>
-      <TableColWidths>514 1152</TableColWidths>
+      <TableColWidths>1010 656</TableColWidths>
     </View>
     <View>
       <WinId>204</WinId>
       <ViewName>Performance Analyzer</ViewName>
-      <TableColWidths>674 175 175 642</TableColWidths>
+      <TableColWidths>1170 175 175 146</TableColWidths>
     </View>
   </SECTreeCtrl>
 
@@ -93,8 +93,8 @@
       <flags>2</flags>
       <showCmd>3</showCmd>
       <MinPosition>
-        <xPos>-32000</xPos>
+        <xPos>-1</xPos>
-        <yPos>-32000</yPos>
+        <yPos>-1</yPos>
       </MinPosition>
       <MaxPosition>
         <xPos>-1</xPos>
@@ -102,16 +102,16 @@
       </MaxPosition>
       <NormalPosition>
         <Top>59</Top>
-        <Left>314</Left>
+        <Left>-1606</Left>
-        <Right>1754</Right>
+        <Right>-166</Right>
         <Bottom>812</Bottom>
       </NormalPosition>
     </WindowPosition>
     <MDIClientArea>
       <RegID>0</RegID>
       <MDITabState>
-        <Len>988</Len>
+        <Len>990</Len>
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MDK-ARM/mfps.uvoptx

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         <Ww>
           <count>4</count>
           <WinNumber>1</WinNumber>
-          <ItemText>tmc5160_sw</ItemText>
+          <ItemText>key_msg</ItemText>
         </Ww>
         <Ww>
           <count>5</count>
           <WinNumber>1</WinNumber>
-          <ItemText>key_msg</ItemText>
+          <ItemText>ocin1,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>6</count>
           <WinNumber>1</WinNumber>
-          <ItemText>ocin1,0x0A</ItemText>
+          <ItemText>ocin2,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>7</count>
           <WinNumber>1</WinNumber>
-          <ItemText>ocin2,0x0A</ItemText>
+          <ItemText>key_cnt</ItemText>
         </Ww>
         <Ww>
           <count>8</count>
           <WinNumber>1</WinNumber>
-          <ItemText>key_cnt</ItemText>
+          <ItemText>X_ads1220</ItemText>
         </Ww>
         <Ww>
           <count>9</count>
           <WinNumber>1</WinNumber>
-          <ItemText>SG_RESULT_16</ItemText>
+          <ItemText>X_ads1220_prc</ItemText>
         </Ww>
         <Ww>
           <count>10</count>
           <WinNumber>1</WinNumber>
-          <ItemText>X_ads1220</ItemText>
+          <ItemText>Runmotor_step</ItemText>
         </Ww>
         <Ww>
           <count>11</count>
           <WinNumber>1</WinNumber>
-          <ItemText>X_ads1220_prc</ItemText>
+          <ItemText>TEMP_M1820</ItemText>
         </Ww>
         <Ww>
           <count>12</count>
           <WinNumber>1</WinNumber>
-          <ItemText>Runmotor_step</ItemText>
+          <ItemText>Run_mm</ItemText>
         </Ww>
         <Ww>
           <count>13</count>
           <WinNumber>1</WinNumber>
-          <ItemText>TEMP_M1820</ItemText>
+          <ItemText>rx_data2</ItemText>
         </Ww>
         <Ww>
           <count>14</count>
           <WinNumber>1</WinNumber>
-          <ItemText>Run_mm</ItemText>
+          <ItemText>it_5000ms_flag</ItemText>
         </Ww>
         <Ww>
           <count>15</count>
           <WinNumber>1</WinNumber>
-          <ItemText>step_temp</ItemText>
+          <ItemText>Motor_Run</ItemText>
         </Ww>
         <Ww>
           <count>16</count>
           <WinNumber>1</WinNumber>
-          <ItemText>rx_data2</ItemText>
+          <ItemText>Run_Mode</ItemText>
         </Ww>
         <Ww>
           <count>17</count>
           <WinNumber>1</WinNumber>
-          <ItemText>it_5000ms_flag</ItemText>
+          <ItemText>Run_mm</ItemText>
         </Ww>
         <Ww>
           <count>18</count>
           <WinNumber>1</WinNumber>
-          <ItemText>oled_s</ItemText>
+          <ItemText>magnet_tx</ItemText>
         </Ww>
         <Ww>
           <count>19</count>
           <WinNumber>1</WinNumber>
-          <ItemText>Motor_Run</ItemText>
+          <ItemText>oled_p</ItemText>
         </Ww>
         <Ww>
           <count>20</count>
           <WinNumber>1</WinNumber>
-          <ItemText>Run_Mode</ItemText>
+          <ItemText>motor_direc</ItemText>
         </Ww>
         <Ww>
           <count>21</count>
           <WinNumber>1</WinNumber>
-          <ItemText>Run_mm</ItemText>
+          <ItemText>Run_Step,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>22</count>
           <WinNumber>1</WinNumber>
-          <ItemText>magnet_tx</ItemText>
+          <ItemText>RAMP_STAT_32</ItemText>
         </Ww>
       </WatchWindow1>
       <Tracepoint>

MDK-ARM/mfps/mfps.build_log.htm

@@ -21,17 +21,59 @@ 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\2024.05\2024.05.09\mfps\MDK-ARM\mfps.uvprojx
+F:\Desktop\Work\2024.05\2024.05.11\mfps\MDK-ARM\mfps.uvprojx
 Project File Date:  05/09/2024
 
 <h2>Output:</h2>
 *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'E:\Softwares\Keil_v5\ARM\ARMCC\Bin'
-Build target 'mfps'
+Rebuild target 'mfps'
+assembling startup_stm32f103xe.s...
+compiling i2c.c...
+compiling stm32f1xx_hal_gpio_ex.c...
+compiling tim.c...
+compiling gpio.c...
+compiling stm32f1xx_hal.c...
+compiling dma.c...
+compiling stm32f1xx_hal_rcc_ex.c...
+compiling spi.c...
+compiling stm32f1xx_hal_msp.c...
+compiling stm32f1xx_hal_gpio.c...
+compiling usart.c...
+compiling main.c...
+compiling stm32f1xx_it.c...
+compiling stm32f1xx_hal_rcc.c...
+compiling stm32f1xx_hal_i2c.c...
+compiling stm32f1xx_hal_cortex.c...
+compiling stm32f1xx_hal_exti.c...
+compiling system_stm32f1xx.c...
+compiling stm32f1xx_hal_flash_ex.c...
+compiling stm32f1xx_hal_pwr.c...
+compiling stm32f1xx_hal_dma.c...
+compiling stm32f1xx_hal_flash.c...
+compiling delay.c...
 compiling app.c...
+compiling key.c...
+compiling stm32f1xx_hal_tim_ex.c...
+compiling serial_port.c...
+compiling stm32f1xx_hal_spi.c...
+compiling stm32f1xx_hal_uart.c...
+compiling stm32f1xx_hal_tim.c...
+compiling myLib.c...
+compiling misc.c...
+compiling m1820.c...
+compiling tmc5160.c...
+compiling oled.c...
+compiling ads1220.c...
+compiling motor.c...
+compiling Uart1.c...
+..\App\Src\Uart1.c(526): warning:  #111-D: statement is unreachable
+      if(VERFIY_TYPE)  //Òì»òУÑé + ĩβ×Ö½Ú
+..\App\Src\Uart1.c: 1 warning, 0 errors
+compiling oled2.c...
 linking...
-Program Size: Code=29474 RO-data=2626 RW-data=356 ZI-data=2356  
+Program Size: Code=31046 RO-data=3010 RW-data=368 ZI-data=2360  
 FromELF: creating hex file...
-"mfps\mfps.axf" - 0 Error(s), 0 Warning(s).
+"mfps\mfps.axf" - 0 Error(s), 1 Warning(s).
 
 <h2>Software Packages used:</h2>
 
@@ -54,7 +96,7 @@ Package Vendor: Keil
 <h2>Collection of Component Files used:</h2>
 
    * Component: ARM::CMSIS:CORE@5.6.0
-Build Time Elapsed:  00:00:01
+Build Time Elapsed:  00:00:05
 </pre>
 </body>
 </html>

MDK-ARM/mfps/mfps_mfps.dep

@@ -38,18 +38,18 @@ I (../Inc/spi.h)(0x660BB230)
 I (../Inc/tim.h)(0x66035A28)
 I (../Inc/usart.h)(0x660A2CEE)
 I (../Inc/gpio.h)(0x66035A04)
-I (../Inc/app.h)(0x663C8CD7)
+I (../Inc/app.h)(0x663D67F3)
 I (../App/Inc/serial_port.h)(0x6625D9EB)
 I (../App/Inc/m1820.h)(0x661E2349)
 I (../App/Inc/oled.h)(0x662F4EED)
 I (../App/Inc/MyLib.h)(0x662A0C9C)
-I (../App/Inc/oled2.h)(0x663C8B75)
+I (../App/Inc/oled2.h)(0x663DADF3)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\inttypes.h)(0x5E8E3CC2)
 I (../App/Inc/ads1220.h)(0x66384526)
 I (../App/Inc/tmc5160.h)(0x663852C9)
 I (../Inc/Uart1.h)(0x6625BD3B)
 I (../App/Inc/key.h)(0x66271314)
-I (../App/Inc/motor.h)(0x663AE93C)
+I (../App/Inc/motor.h)(0x663D67EE)
 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)
@@ -278,12 +278,12 @@ 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 (../Inc/app.h)(0x663C8CD7)
+I (../Inc/app.h)(0x663D67F3)
 I (../App/Inc/serial_port.h)(0x6625D9EB)
 I (../App/Inc/m1820.h)(0x661E2349)
 I (../App/Inc/oled.h)(0x662F4EED)
 I (../App/Inc/MyLib.h)(0x662A0C9C)
-I (../App/Inc/oled2.h)(0x663C8B75)
+I (../App/Inc/oled2.h)(0x663DADF3)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\inttypes.h)(0x5E8E3CC2)
 I (../App/Inc/ads1220.h)(0x66384526)
 I (../App/Inc/tmc5160.h)(0x663852C9)
@@ -294,7 +294,7 @@ I (../Inc/usart.h)(0x660A2CEE)
 I (../Inc/Uart1.h)(0x6625BD3B)
 I (../Inc/gpio.h)(0x66035A04)
 I (../App/Inc/key.h)(0x66271314)
-I (../App/Inc/motor.h)(0x663AE93C)
+I (../App/Inc/motor.h)(0x663D67EE)
 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)
@@ -840,8 +840,8 @@ 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)
-F (..\App\Src\app.c)(0x663C91EC)(--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)(0x663F1412)(--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/app.h)(0x663C8CD7)
+I (../Inc/app.h)(0x663D67F3)
 I (../App/Inc/serial_port.h)(0x6625D9EB)
 I (../App/Inc/m1820.h)(0x661E2349)
 I (../Inc/main.h)(0x660A29E6)
@@ -876,7 +876,7 @@ 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/oled.h)(0x662F4EED)
 I (../App/Inc/MyLib.h)(0x662A0C9C)
-I (../App/Inc/oled2.h)(0x663C8B75)
+I (../App/Inc/oled2.h)(0x663DADF3)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\inttypes.h)(0x5E8E3CC2)
 I (../App/Inc/ads1220.h)(0x66384526)
 I (../App/Inc/tmc5160.h)(0x663852C9)
@@ -887,7 +887,7 @@ I (../Inc/usart.h)(0x660A2CEE)
 I (../Inc/Uart1.h)(0x6625BD3B)
 I (../Inc/gpio.h)(0x66035A04)
 I (../App/Inc/key.h)(0x66271314)
-I (../App/Inc/motor.h)(0x663AE93C)
+I (../App/Inc/motor.h)(0x663D67EE)
 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)
@@ -924,12 +924,12 @@ 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 (../Inc/app.h)(0x663C8CD7)
+I (../Inc/app.h)(0x663D67F3)
 I (../App/Inc/serial_port.h)(0x6625D9EB)
 I (../App/Inc/m1820.h)(0x661E2349)
 I (../App/Inc/oled.h)(0x662F4EED)
 I (../App/Inc/MyLib.h)(0x662A0C9C)
-I (../App/Inc/oled2.h)(0x663C8B75)
+I (../App/Inc/oled2.h)(0x663DADF3)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\inttypes.h)(0x5E8E3CC2)
 I (../App/Inc/ads1220.h)(0x66384526)
 I (../App/Inc/tmc5160.h)(0x663852C9)
@@ -940,7 +940,7 @@ I (../Inc/usart.h)(0x660A2CEE)
 I (../Inc/Uart1.h)(0x6625BD3B)
 I (../Inc/gpio.h)(0x66035A04)
 I (../App/Inc/key.h)(0x66271314)
-I (../App/Inc/motor.h)(0x663AE93C)
+I (../App/Inc/motor.h)(0x663D67EE)
 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)
@@ -976,12 +976,12 @@ 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 (../Inc/app.h)(0x663C8CD7)
+I (../Inc/app.h)(0x663D67F3)
 I (../App/Inc/serial_port.h)(0x6625D9EB)
 I (../App/Inc/m1820.h)(0x661E2349)
 I (../App/Inc/oled.h)(0x662F4EED)
 I (../App/Inc/MyLib.h)(0x662A0C9C)
-I (../App/Inc/oled2.h)(0x663C8B75)
+I (../App/Inc/oled2.h)(0x663DADF3)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\inttypes.h)(0x5E8E3CC2)
 I (../App/Inc/ads1220.h)(0x66384526)
 I (../App/Inc/tmc5160.h)(0x663852C9)
@@ -991,7 +991,7 @@ I (../Inc/tim.h)(0x66035A28)
 I (../Inc/usart.h)(0x660A2CEE)
 I (../Inc/Uart1.h)(0x6625BD3B)
 I (../Inc/gpio.h)(0x66035A04)
-I (../App/Inc/motor.h)(0x663AE93C)
+I (../App/Inc/motor.h)(0x663D67EE)
 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)
@@ -1030,11 +1030,11 @@ 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/usart.h)(0x660A2CEE)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
-I (../Inc/app.h)(0x663C8CD7)
+I (../Inc/app.h)(0x663D67F3)
 I (../App/Inc/m1820.h)(0x661E2349)
 I (../App/Inc/oled.h)(0x662F4EED)
 I (../App/Inc/MyLib.h)(0x662A0C9C)
-I (../App/Inc/oled2.h)(0x663C8B75)
+I (../App/Inc/oled2.h)(0x663DADF3)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\inttypes.h)(0x5E8E3CC2)
 I (../App/Inc/ads1220.h)(0x66384526)
 I (../App/Inc/tmc5160.h)(0x663852C9)
@@ -1044,7 +1044,7 @@ I (../Inc/tim.h)(0x66035A28)
 I (../Inc/Uart1.h)(0x6625BD3B)
 I (../Inc/gpio.h)(0x66035A04)
 I (../App/Inc/key.h)(0x66271314)
-I (../App/Inc/motor.h)(0x663AE93C)
+I (../App/Inc/motor.h)(0x663D67EE)
 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)
@@ -1081,10 +1081,10 @@ 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/MyLib.h)(0x662A0C9C)
-I (../Inc/app.h)(0x663C8CD7)
+I (../Inc/app.h)(0x663D67F3)
 I (../App/Inc/serial_port.h)(0x6625D9EB)
 I (../App/Inc/m1820.h)(0x661E2349)
-I (../App/Inc/oled2.h)(0x663C8B75)
+I (../App/Inc/oled2.h)(0x663DADF3)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\inttypes.h)(0x5E8E3CC2)
 I (../App/Inc/ads1220.h)(0x66384526)
 I (../App/Inc/tmc5160.h)(0x663852C9)
@@ -1095,7 +1095,7 @@ I (../Inc/usart.h)(0x660A2CEE)
 I (../Inc/Uart1.h)(0x6625BD3B)
 I (../Inc/gpio.h)(0x66035A04)
 I (../App/Inc/key.h)(0x66271314)
-I (../App/Inc/motor.h)(0x663AE93C)
+I (../App/Inc/motor.h)(0x663D67EE)
 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)
@@ -1131,13 +1131,13 @@ 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 (../Inc/app.h)(0x663C8CD7)
+I (../Inc/app.h)(0x663D67F3)
 I (../App/Inc/serial_port.h)(0x6625D9EB)
 I (../App/Inc/m1820.h)(0x661E2349)
 I (../Inc/main.h)(0x660A29E6)
 I (../App/Inc/oled.h)(0x662F4EED)
 I (../App/Inc/MyLib.h)(0x662A0C9C)
-I (../App/Inc/oled2.h)(0x663C8B75)
+I (../App/Inc/oled2.h)(0x663DADF3)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\inttypes.h)(0x5E8E3CC2)
 I (../App/Inc/tmc5160.h)(0x663852C9)
 I (../Inc/i2c.h)(0x66035A28)
@@ -1147,7 +1147,7 @@ I (../Inc/usart.h)(0x660A2CEE)
 I (../Inc/Uart1.h)(0x6625BD3B)
 I (../Inc/gpio.h)(0x66035A04)
 I (../App/Inc/key.h)(0x66271314)
-I (../App/Inc/motor.h)(0x663AE93C)
+I (../App/Inc/motor.h)(0x663D67EE)
 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)
@@ -1184,11 +1184,11 @@ 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 (../Inc/app.h)(0x663C8CD7)
+I (../Inc/app.h)(0x663D67F3)
 I (../App/Inc/serial_port.h)(0x6625D9EB)
 I (../App/Inc/oled.h)(0x662F4EED)
 I (../App/Inc/MyLib.h)(0x662A0C9C)
-I (../App/Inc/oled2.h)(0x663C8B75)
+I (../App/Inc/oled2.h)(0x663DADF3)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\inttypes.h)(0x5E8E3CC2)
 I (../App/Inc/ads1220.h)(0x66384526)
 I (../App/Inc/tmc5160.h)(0x663852C9)
@@ -1199,12 +1199,12 @@ I (../Inc/usart.h)(0x660A2CEE)
 I (../Inc/Uart1.h)(0x6625BD3B)
 I (../Inc/gpio.h)(0x66035A04)
 I (../App/Inc/key.h)(0x66271314)
-I (../App/Inc/motor.h)(0x663AE93C)
+I (../App/Inc/motor.h)(0x663D67EE)
 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)
-F (..\App\Src\myLib.c)(0x662A0BD7)(--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)
+F (..\App\Src\myLib.c)(0x663DC9F9)(--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 (../Inc/main.h)(0x660A29E6)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h)(0x663B42E9)
@@ -1236,7 +1236,7 @@ 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\tmc5160.c)(0x663852C9)(--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)(0x663F4A17)(--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)(0x663852C9)
 I (../Inc/main.h)(0x660A29E6)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h)(0x663B42E9)
@@ -1268,12 +1268,12 @@ 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 (../Inc/app.h)(0x663C8CD7)
+I (../Inc/app.h)(0x663D67F3)
 I (../App/Inc/serial_port.h)(0x6625D9EB)
 I (../App/Inc/m1820.h)(0x661E2349)
 I (../App/Inc/oled.h)(0x662F4EED)
 I (../App/Inc/MyLib.h)(0x662A0C9C)
-I (../App/Inc/oled2.h)(0x663C8B75)
+I (../App/Inc/oled2.h)(0x663DADF3)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\inttypes.h)(0x5E8E3CC2)
 I (../App/Inc/ads1220.h)(0x66384526)
 I (../Inc/i2c.h)(0x66035A28)
@@ -1283,7 +1283,7 @@ I (../Inc/usart.h)(0x660A2CEE)
 I (../Inc/Uart1.h)(0x6625BD3B)
 I (../Inc/gpio.h)(0x66035A04)
 I (../App/Inc/key.h)(0x66271314)
-I (../App/Inc/motor.h)(0x663AE93C)
+I (../App/Inc/motor.h)(0x663D67EE)
 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)
@@ -1319,8 +1319,8 @@ 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)
-F (..\App\Src\oled2.c)(0x663C8FDC)(--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)(0x663F15CF)(--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)(0x663C8B75)
+I (../App/Inc/oled2.h)(0x663DADF3)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\inttypes.h)(0x5E8E3CC2)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
 I (../Inc/main.h)(0x660A29E6)
@@ -1352,7 +1352,7 @@ 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)
-I (../Inc/app.h)(0x663C8CD7)
+I (../Inc/app.h)(0x663D67F3)
 I (../App/Inc/serial_port.h)(0x6625D9EB)
 I (../App/Inc/m1820.h)(0x661E2349)
 I (../App/Inc/oled.h)(0x662F4EED)
@@ -1366,13 +1366,13 @@ I (../Inc/usart.h)(0x660A2CEE)
 I (../Inc/Uart1.h)(0x6625BD3B)
 I (../Inc/gpio.h)(0x66035A04)
 I (../App/Inc/key.h)(0x66271314)
-I (../App/Inc/motor.h)(0x663AE93C)
+I (../App/Inc/motor.h)(0x663D67EE)
 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)
-F (..\App\Src\motor.c)(0x663C7702)(--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)
+F (..\App\Src\motor.c)(0x663F49CE)(--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)(0x663AE93C)
+I (../App/Inc/motor.h)(0x663D67EE)
 I (../Inc/main.h)(0x660A29E6)
 I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h)(0x663B42E9)
 I (../Inc/stm32f1xx_hal_conf.h)(0x663B393C)
@@ -1403,12 +1403,12 @@ 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 (../Inc/app.h)(0x663C8CD7)
+I (../Inc/app.h)(0x663D67F3)
 I (../App/Inc/serial_port.h)(0x6625D9EB)
 I (../App/Inc/m1820.h)(0x661E2349)
 I (../App/Inc/oled.h)(0x662F4EED)
 I (../App/Inc/MyLib.h)(0x662A0C9C)
-I (../App/Inc/oled2.h)(0x663C8B75)
+I (../App/Inc/oled2.h)(0x663DADF3)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\inttypes.h)(0x5E8E3CC2)
 I (../App/Inc/ads1220.h)(0x66384526)
 I (../App/Inc/tmc5160.h)(0x663852C9)
@@ -1457,12 +1457,12 @@ 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 (../Inc/app.h)(0x663C8CD7)
+I (../Inc/app.h)(0x663D67F3)
 I (../App/Inc/serial_port.h)(0x6625D9EB)
 I (../App/Inc/m1820.h)(0x661E2349)
 I (../App/Inc/oled.h)(0x662F4EED)
 I (../App/Inc/MyLib.h)(0x662A0C9C)
-I (../App/Inc/oled2.h)(0x663C8B75)
+I (../App/Inc/oled2.h)(0x663DADF3)
 I (E:\Softwares\Keil_v5\ARM\ARMCC\include\inttypes.h)(0x5E8E3CC2)
 I (../App/Inc/ads1220.h)(0x66384526)
 I (../App/Inc/tmc5160.h)(0x663852C9)
@@ -1471,7 +1471,7 @@ I (../Inc/spi.h)(0x660BB230)
 I (../Inc/tim.h)(0x66035A28)
 I (../Inc/gpio.h)(0x66035A04)
 I (../App/Inc/key.h)(0x66271314)
-I (../App/Inc/motor.h)(0x663AE93C)
+I (../App/Inc/motor.h)(0x663D67EE)
 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)