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更新 方向选择&滤波优化

This commit is contained in:
wujunchao 2024-05-13 17:13:57 +08:00
parent 56d51c2199
commit d21087c328
73 changed files with 4082 additions and 4107 deletions
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4
App/Inc/ads1220.h
View File

@ -5,6 +5,10 @@
extern unsigned char PolarFlag;
void Swap(float* pa, float* pb);
int PartSort(float* a, int left, int right);
void QuickSort(float* a, int begin, int end);
#define RESET 0X03
#define START 0X08
#define POWERDOWN 0X02

3
App/Inc/motor.h
View File

@ -4,7 +4,7 @@
#include "main.h"
extern unsigned char Runmotor_step;
extern int led_flag; //led灯开关标志
extern int mov_flag; //脉冲标志
extern int send_flag; //发送标志
@ -42,5 +42,6 @@ void mov_step(void); //
//void mov_begin(void); //电机回到起始位
//void mov_end(void); //电机回到结束位
//void motor_seat(void); //电机位置判断
void get_state(void);
#endif

5
App/Inc/oled2.h
View File

@ -8,11 +8,12 @@
extern char oled_p;
extern char oled_s[2];
extern char oled_s_p6[2];
extern char oled_s_p10[2];
extern char oled_s_motorok[2];
extern char oled_s_magnetok[2];
extern char oled_en;
extern unsigned int step_temp[2];
extern char run_mode_temp[2];
extern int direc_temp[2];
void OLED2_Send(unsigned char *data, unsigned char len);

2
App/Src/Uart1.c
View File

@ -620,6 +620,8 @@ void Deal_Uart_Data_For_Module(void)
Run_Stop <<= 8;
Run_Stop += temp[8];
motor_direc = temp[9] + 1;
ClrRunmotorStep();//清除电机标记
}

98
App/Src/ads1220.c
View File

@ -284,36 +284,40 @@ float GetAD(unsigned char channel)
}
else PolarFlag =0;
Result_f = (float)Result*1000*2.499/(1048575) + 150;//20位精度
Result_f /= 10.0;
// Result_f = (float)Result*1000*2.5/(1048575);//20位精度
Result_f = (float) (2.5 / 0x7fffff) * Result*1000;
Result_f =Result_f *2033/2488;
return Result_f;
}
float X_ads1220_temp[20] = {0},filter_result = 0;
#define DEEPTH 100
float X_ads1220_temp[DEEPTH] = {0},X_ads1220_temp_fl[DEEPTH] = {0},filter_result = 0;
char X_ads1220_cnt = 0;
float Xads1220_filter(char head, char tail) //对20维的数组进行中值滤波
{
float t = 0;
char i = 0,j = 0;
// float t = 0;
char i = 0;//,j = 0;
filter_result = 0;
for(i = 0 ;i < DEEPTH ;i++) X_ads1220_temp_fl[i] = X_ads1220_temp[i];
// for( i = 0 ;i < 19 ;i++) //对此时的20个数据进行升序排序
// {
// for(j = i+1;j < 20;j++)
// {
// if( X_ads1220_temp_fl[i] > X_ads1220_temp_fl[j] )
// {
// t = X_ads1220_temp_fl[i];
// X_ads1220_temp_fl[i] = X_ads1220_temp_fl[j];
// X_ads1220_temp_fl[j] = t;
// }
// }
// }
QuickSort(X_ads1220_temp_fl, 0, DEEPTH - 1);
for( i = 0 ;i < 19 ;i++) //对此时的20个数据进行升序排序
{
for(j = i+1;j < 20;j++)
{
if( X_ads1220_temp[i] > X_ads1220_temp[j] )
{
t = X_ads1220_temp[i];
X_ads1220_temp[i] = X_ads1220_temp[j];
X_ads1220_temp[j] = t;
}
}
}
for( i = head - 1;i < tail;i++) //对 head - tail 之间的数取均值
{
filter_result += X_ads1220_temp[i];
filter_result += X_ads1220_temp_fl[i];
}
filter_result /= (tail - head + 1);
@ -322,17 +326,65 @@ float Xads1220_filter(char head, char tail) //
void Xads1220_record(void)
{
if(it_5ms_flag == 1) //每隔5ms记录一次ADC值,20维数组循环记录
if(it_1ms_flag == 1) //每隔5ms记录一次ADC值,20维数组循环记录
{
it_5ms_flag = 0;
it_1ms_flag = 0;
X_ads1220_cnt *= (X_ads1220_cnt<20);
X_ads1220_cnt *= (X_ads1220_cnt < DEEPTH);
X_ads1220_temp[X_ads1220_cnt] = GetAD(4);
X_ads1220_cnt++;
}
}
/*************************快速排序*************************/
void Swap(float* pa, float* pb) {
float tmp = *pa;
*pa = *pb;
*pb = tmp;
}
//hoare单趟排序 --- 左边做key
int PartSort(float* a, int left, int right) {
int keyi = left; //左边做key，保存的是key的下标
while (left < right) {
//右边先走，找小
//为什么用等于呢？如果keyi和right位置的值相等，那么就会出现死循环
//为什么要加一个 left<right的条件呢？如果数组本身就是有序的，比如 1 2 3 4 5，那么right就会一直向左移动，并且会越界
while (left < right && a[right] >= a[keyi]) {
--right;
}
//左边后走，找大
while (left < right && a[left] <= a[keyi]) {
++left;
}
//然后交换左右
Swap(&a[left], &a[right]);
}
//当left == right的时候，跳出循环，交换和keyi的值
Swap(&a[keyi], &a[left]);
//返回相遇位置的下标
return left;
}
//快速排序递归实现的主框架
void QuickSort(float* a, int begin, int end) {
//子区间相等只有一个值，或者不存在，那么就是递归结束的子问题
if (begin >= end) {
return;
}
int keyi = PartSort(a, begin, end);
//递归左区间 [begin, keyi-1]
QuickSort(a, begin, keyi - 1);
//递归右区间 [keyi+1, end]
QuickSort(a, keyi + 1, end);
}
/*************************快速排序*************************/

6
App/Src/app.c
View File

@ -45,7 +45,7 @@ void app_act (void)
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 = Xads1220_filter(20,80); //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);
// 串口计时
@ -68,8 +68,8 @@ void app_act (void)
motor_data[5] = rx_data2[2];
motor_data[6] = rx_data2[3];
motor_data[7] = rx_data2[4];
motor_data[8] = ( (uint8_t)X_ads1220 & 0xff00 ) >> 8; //磁条长度高8位
motor_data[9] = ( (uint8_t)X_ads1220 & 0x00ff ); //磁条长度低8位
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
//8 位置开关
ocin1 = HAL_GPIO_ReadPin(OCIN1_GPIO_Port,OCIN1_Pin); //低电平接近，高电平远离

34
App/Src/key.c
View File

@ -85,12 +85,17 @@ void key_act(void)
}
}
break;
case 6: //Cancel & OK 切换
case 6:
{
oled_s_p6[0] = !oled_s_p6[0];
direc_temp[0] = 2*(direc_temp[0] == 1) + 1*(direc_temp[0] == 2);
}
break;
case 8:
case 7: //Cancel & OK 切换
{
oled_s_motorok[0] = !oled_s_motorok[0];
}
break;
case 9:
{
if(smp_intr_temp[0] > 5)
{
@ -101,7 +106,7 @@ void key_act(void)
}
}
break;
case 9:
case 10:
{
if(smp_dpth_temp[0] > 10)
{
@ -112,9 +117,9 @@ void key_act(void)
}
}
break;
case 10:
case 11:
{
oled_s_p10[0] = !oled_s_p10[0];
oled_s_magnetok[0] = !oled_s_magnetok[0];
}
break;
}
@ -155,12 +160,17 @@ void key_act(void)
}
}
break;
case 6: //Cancel & OK 切换
case 6:
{
oled_s_p6[0] = !oled_s_p6[0];
direc_temp[0] = 2*(direc_temp[0] == 1) + 1*(direc_temp[0] == 2);
}
break;
case 8:
case 7: //Cancel & OK 切换
{
oled_s_motorok[0] = !oled_s_motorok[0];
}
break;
case 9:
{
if(smp_intr_temp[0] <10 )
{
@ -171,7 +181,7 @@ void key_act(void)
}
}
break;
case 9:
case 10:
{
if(smp_dpth_temp[0] < 20)
{
@ -182,9 +192,9 @@ void key_act(void)
}
}
break;
case 10:
case 11:
{
oled_s_p10[0] = !oled_s_p10[0];
oled_s_magnetok[0] = !oled_s_magnetok[0];
}
break;
}

90
App/Src/motor.c
View File

@ -10,10 +10,10 @@
#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
#define magnet_start 800 //磁条范围-起点mv
#define magnet_end 1200 //磁条范围-终点mv
#define motor_start 200 //电机运动范围起点mv
#define motor_end 1800 //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
@ -60,6 +60,11 @@ void ClrRunmotorStep(void)
//处理马达运行
void Deal_Motor(void)
{
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);
//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
{
@ -79,17 +84,17 @@ void Deal_Motor(void)
//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();//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”
{
motor_data[2] = 0x01;//发送时反馈的数据
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”
// {
// motor_data[2] = 0x02;//发送时反馈的数据
// //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
// }
@ -103,10 +108,11 @@ void Deal_Motor(void)
if(X_ads1220 < motor_start)
{
Motor_Run = 0;
Runmotor_step = 0;
if(busy_flag == 0) motor_direc = MOTOR_POS;
}else
{
tmc5160_operate(MOTOR_REV,51200*5);
tmc5160_operate(MOTOR_REV,51200*10);
}
}
else if(Motor_Run == 3)//运行到结束位
@ -114,6 +120,7 @@ void Deal_Motor(void)
if(X_ads1220 > motor_end)
{
Motor_Run = 0;
Runmotor_step = 0;
if(busy_flag == 0) motor_direc = MOTOR_POS;
}else
{
@ -204,10 +211,10 @@ void mov_step(void)
if(busy_flag == 0) motor_direc = MOTOR_REV;
}
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(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);
if(Run_mm == 0) return;//步长不能为0
@ -248,16 +255,16 @@ void mov_step(void)
break;
case 4 :
{
if(it_1ms_flag) //检查1ms定时标志
if(it_50ms_flag) //检查1ms定时标志
{
it_1ms_flag = 0;//定时标志清零
it_50ms_flag = 0;//定时标志清零
Runmotor_Nums++;
}
if(Runmotor_Nums >= 300)//时间
if(Runmotor_Nums >= 10)//时间
{
Runmotor_Nums = 0;
Runmotor_step++;
//motor_seat(); //读取电机当前位置
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
}
}
@ -278,14 +285,20 @@ void mov_step(void)
//电机连续运行，方案一（直行程）
void mov_loop1(void)
{
// 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);
switch(Runmotor_step)
{
case 1 : //电机运行准备
{
motor_direc = MOTOR_POS; //初始为正转
//motor_direc = MOTOR_POS; //初始为正转
motor_dire = 1;
// Run_mm = 0;
Run_num = 0;
@ -310,9 +323,8 @@ void mov_loop1(void)
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
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
}
}
@ -321,11 +333,11 @@ void mov_loop1(void)
if(send_flag == 0)
{
send_flag = 1;
//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
// 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
}
//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 );
tmc5160_operate( motor_direc, 51200*10 );
Runmotor_step = 6;//在case 2 - 6 之间循环，2运动，6限位
}
}
@ -338,7 +350,7 @@ void mov_loop1(void)
tmc5160_operate(motor_direc,Run_mm*10240);//5mm-51200，1mm-10240
}else
{
tmc5160_operate(motor_direc,Run_Step*10240);
tmc5160_operate(motor_direc,Run_Step*1024);
}
if(busy_flag == 0)//到达指定位置后释放busy_flag
{
@ -348,18 +360,18 @@ void mov_loop1(void)
break;
case 4 : //延时
{
if(it_1ms_flag) //检查1ms定时标志
if(it_50ms_flag) //检查1ms定时标志
{
it_1ms_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)//时间
if(Runmotor_Nums >= (Run_Inter / 50))//时间
{
Runmotor_Nums = 0;
Runmotor_step++;
send_flag = 0;
//motor_seat(); //读取电机当前位置
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
}
@ -406,14 +418,18 @@ void mov_loop1(void)
}
// }
if(X_ads1220 > magnet_end) //超出磁条范围判断
if((X_ads1220 > magnet_end) && (motor_direc != MOTOR_REV)) //超出磁条范围判断
{
motor_direc = MOTOR_REV; //反转
tmc5160_operate(MOTOR_STOP,0);
if(busy_flag == 0)
{
motor_direc = MOTOR_REV; //反转
}
}
Runmotor_step = 3;
if(X_ads1220 < magnet_start) //超出磁条范围判断
if((X_ads1220 < magnet_start) && (motor_direc == MOTOR_REV)) //超出磁条范围判断
{
Motor_Run = 2; //回起点
Runmotor_step = 0;
@ -445,3 +461,15 @@ void mov_loop1(void)
break;
}
}
void get_state(void)
{
motor_data[1] = Motor_Run;
motor_data[2] = Run_Mode;
if( ocin1 == 0 )//判断是否到达始限位
motor_data[3] = 1;
else if(ocin2 == 0)
motor_data[3] = 2;
else
motor_data[3] = 4;
}

187
App/Src/oled2.c
View File

@ -210,7 +210,7 @@ void SSD1306_WriteData(uint8_t data)
//SSD1306???
void OLED2_Init(void)
{
// delay_us(500000);
delay_us(500000);
//SSD1306????,?????????
SSD1306_WriteCmd(0xAE);//--display off
@ -434,14 +434,18 @@ void OLED_DisplayTest(void)
{
disp_step2++;
OLED_ShowString(0,0,(char *)("Pos"),16,0); //(x,y,char,size,color), color{0正常，1反显},x{0-128},y{}
sprintf(str_print2, "%.2f",X_ads1220 ); // 电阻尺
OLED_ShowString(0,2,str_print2,16,0);
OLED_ShowString(0,4,(char *)("Temp"),16,0);
OLED_ShowString(48,2,(char *)("%"),16,0);
sprintf(str_print2, "%.2f",TEMP_M1820 ); //温度
OLED_ShowString(40,6," ",16,0);
OLED_ShowString(48,2,(char *)("mv"),16,0);
}
break;
case 2 :// 显示动的部分
{
//位置
Xads_temp2[0] = X_ads1220_prc;
Xads_temp2[0] = X_ads1220;
if(Xads_temp2[1] - Xads_temp2[0] > 0.001 )
{
OLED_ShowString(40,2," ",16,0);
@ -471,10 +475,11 @@ void OLED_DisplayTest(void)
}
}
char oled_p = 0,oled_s[2] = {0},oled_en = 0,oled_s_p6[2] = {0},oled_s_p10[2] = {0};
char oled_p = 0,oled_s[2] = {0},oled_en = 0,oled_s_motorok[2] = {0},oled_s_magnetok[2] = {0};
char para_flag = 0,motor_flag1 = 0,motor_flag2 = 0,magnet_flag = 0;
unsigned int step_temp[2] = {1,1},smp_intr_temp[2] = {0},smp_dpth_temp[2] = {0};
char run_mode_temp[2] = {0};
int direc_temp[2] = {1,1};
void OLED_MenuTest(void)
{
switch(oled_p)
@ -560,36 +565,35 @@ void OLED_MenuTest(void)
OLED_Clear();
OLED_ShowString(0,0,(char *)("Pos"),16,0); //(x,y,char,size,color), color{0正常，1反显},x{0-128},y{}
sprintf(str_print2, "%.2f",X_ads1220_prc*100 );
sprintf(str_print2, "%.2f",X_ads1220 );
OLED_ShowString(0,2,str_print2,16,0);
OLED_ShowString(72,0,(char *)("OC1"),16,0);
OLED_ShowString(88,0,(char *)("OC1"),16,0);
OLED_ShowString(0,4,(char *)("Temp"),16,0);
sprintf(str_print3, "%.2f",TEMP_M1820 );
OLED_ShowString(0,6,str_print3,16,0);
OLED_ShowString(72,4,(char *)("OC2"),16,0);
OLED_ShowString(48,2,(char *)("%"),16,0);
OLED_ShowString(88,4,(char *)("OC2"),16,0);
OLED_ShowString(64,2,(char *)("mv"),16,0);
if(ocin1 == 1)
{
OLED_ShowString(72,2," OK ",16,0);
OLED_ShowString(88,2," OK ",16,0);
}else
{
OLED_ShowString(72,2,"ERROR",16,0);
OLED_ShowString(88,2,"ERR",16,0);
}
if(ocin2 == 1)
{
OLED_ShowString(72,6," OK ",16,0);
OLED_ShowString(88,6," OK ",16,0);
}else
{
OLED_ShowString(72,6,"ERROR",16,0);
OLED_ShowString(88,6,"ERR",16,0);
}
}else //变化时刷新
{
//位置
Xads_temp2[0] = X_ads1220_prc;
if( (Xads_temp2[1] - Xads_temp2[0] > 0.001) || (Xads_temp2[0] - Xads_temp2[1] > 0.001))
Xads_temp2[0] = X_ads1220;
if( (Xads_temp2[1] - Xads_temp2[0] > 0.5) || (Xads_temp2[0] - Xads_temp2[1] > 0.5))
{
OLED_ShowString(40,2," ",16,0);
sprintf(str_print2, "%.2f",Xads_temp2[0]*100 ); // 电阻尺
sprintf(str_print2, "%.2f",Xads_temp2[0] ); // 电阻尺
OLED_ShowString(0,2,str_print2,16,0);
Xads_temp2[1] = Xads_temp2[0];
}
@ -610,10 +614,10 @@ void OLED_MenuTest(void)
{
if(OC1_temp[0] == 1)
{
OLED_ShowString(72,2," OK ",16,0);
OLED_ShowString(88,2," OK ",16,0);
}else
{
OLED_ShowString(72,2,"ERROR",16,0);
OLED_ShowString(88,2,"ERR",16,0);
}
OC1_temp[1] = OC1_temp[0];
}
@ -624,10 +628,10 @@ void OLED_MenuTest(void)
{
if(OC2_temp[0] == 1)
{
OLED_ShowString(72,6," OK ",16,0);
OLED_ShowString(88,6," OK ",16,0);
}else
{
OLED_ShowString(72,6,"ERROR",16,0);
OLED_ShowString(88,6,"ERR",16,0);
}
OC2_temp[1] = OC2_temp[0];
}
@ -648,14 +652,16 @@ void OLED_MenuTest(void)
motor_flag1 = 1;
OLED_Clear();
OLED_ShowString(0,0,"Motor Control",16,0);
OLED_ShowString(0,2,"Run Mode:",16,0);
if(Run_Mode == 0) OLED_ShowString(80,2,"STEP",16,1);
if(Run_Mode == 1) OLED_ShowString(80,2,"LOOP",16,1);
OLED_ShowString(0,4,"Run Step:",16,0);
// OLED_ShowString(0,0,"Motor Control",16,0);
OLED_ShowString(0,0,"Run Mode:",16,0);
if(Run_Mode == 0) OLED_ShowString(80,0,"STEP",16,1);
if(Run_Mode == 1) OLED_ShowString(80,0,"LOOP",16,1);
OLED_ShowString(0,2,"Run Step:",16,0);
sprintf(str_print2, "%d",Run_mm );
OLED_ShowString(80,4,str_print2,16,0);
OLED_ShowString(100,4,"mm",16,0);
OLED_ShowString(80,2,str_print2,16,0);
OLED_ShowString(100,2,"mm",16,0);
OLED_ShowString(0,4,"Run Dire:",16,0);
OLED_ShowString(80,4,"POS",16,0);
OLED_ShowString(0,6,"Cancel",16,0);
OLED_ShowString(80,6,"OK",16,0);
@ -663,8 +669,8 @@ void OLED_MenuTest(void)
{
if(run_mode_temp[0] != run_mode_temp[1]) //运动模式变化时刷新
{
if(run_mode_temp[0] == 0) OLED_ShowString(80,2,"STEP",16,1);
if(run_mode_temp[0] == 1) OLED_ShowString(80,2,"LOOP",16,1);
if(run_mode_temp[0] == 0) OLED_ShowString(80,0,"STEP",16,1);
if(run_mode_temp[0] == 1) OLED_ShowString(80,0,"LOOP",16,1);
run_mode_temp[1] = run_mode_temp[0];
}
}
@ -673,8 +679,8 @@ void OLED_MenuTest(void)
oled_en = 0;
motor_flag1 = 0;
if(run_mode_temp[0] == 0) OLED_ShowString(80,2,"STEP",16,0);
if(run_mode_temp[0] == 1) OLED_ShowString(80,2,"LOOP",16,0);
if(run_mode_temp[0] == 0) OLED_ShowString(80,0,"STEP",16,0);
if(run_mode_temp[0] == 1) OLED_ShowString(80,0,"LOOP",16,0);
oled_p = 5;
}
@ -690,14 +696,14 @@ void OLED_MenuTest(void)
{
motor_flag1 = 1;
sprintf(str_print2, "%d",Run_mm );
OLED_ShowString(80,4,str_print2,16,1);
OLED_ShowString(80,2,str_print2,16,1);
}else
{
if(step_temp[0] != step_temp[1]) //步长变动时刷新
{
OLED_ShowString(80,4," ",16,0);
OLED_ShowString(80,2," ",16,0);
sprintf(str_print2, "%d",step_temp[0] );
OLED_ShowString(80,4,str_print2,16,1);
OLED_ShowString(80,2,str_print2,16,1);
}
step_temp[1] = step_temp[0];
}
@ -706,7 +712,7 @@ void OLED_MenuTest(void)
oled_en = 0;
motor_flag1 = 0;
OLED_ShowString(80,4,str_print2,16,0);
OLED_ShowString(80,2,str_print2,16,0);
oled_p = 6;
}
@ -714,41 +720,85 @@ void OLED_MenuTest(void)
if(run_mode_temp[0] == 1)
{
step_temp[0] = 1;
OLED_ShowString(80,4," ",16,0);
OLED_ShowString(80,2," ",16,0);
sprintf(str_print2, "%d",step_temp[0] );
OLED_ShowString(80,4,str_print2,16,0);
OLED_ShowString(80,2,str_print2,16,0);
oled_p = 6;
}
}
break;
case 6: //设置内容确认，OK后写入并运行，Cancel取消并返回菜单
case 6:
{
if(motor_flag1 == 0)
{
motor_flag1 = 1;
oled_s_p6[0] = 0;
oled_s_p6[1] = 0;
OLED_ShowString(80,4,"POS",16,1);
}else
{
if(direc_temp[0] !=direc_temp[1] )
{
if(direc_temp[0] == 1)
{
OLED_ShowString(80,4,"POS",16,1);
}
if(direc_temp[0] == 2)
{
OLED_ShowString(80,4,"REV",16,1);
}
direc_temp[1] = direc_temp[0];
}
}
if(oled_en == 1)
{
oled_en = 0;
motor_flag1 = 0;
if(direc_temp[0] == 1)
{
OLED_ShowString(80,4,"POS",16,0);
}
if(direc_temp[0] == 2)
{
OLED_ShowString(80,4,"REV",16,0);
}
oled_p = 7;
}
}
break;
case 7: //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)
{
motor_flag1 = 1;
oled_s_motorok[0] = 0;
oled_s_motorok[1] = 0;
OLED_ShowString(0,6,"Cancel",16,1);
}else
{
if(oled_s_p6[0] != oled_s_p6[1])
if(oled_s_motorok[0] != oled_s_motorok[1])
{
if(oled_s_p6[0] == 0)
if(oled_s_motorok[0] == 0)
{
OLED_ShowString(0,6,"Cancel",16,1);
OLED_ShowString(80,6,"OK",16,0);
}
if(oled_s_p6[0] == 1)
if(oled_s_motorok[0] == 1)
{
OLED_ShowString(0,6,"Cancel",16,0);
OLED_ShowString(80,6,"OK",16,1);
}
oled_s_motorok[1] = oled_s_motorok[0];
}
}
if((oled_en == 1) && (oled_s_p6[0] == 0)) //取消后初始化暂存数据
if((oled_en == 1) && (oled_s_motorok[0] == 0)) //取消后初始化暂存数据
{
oled_en = 0;
motor_flag1 = 0;
@ -758,10 +808,12 @@ void OLED_MenuTest(void)
run_mode_temp[1] = 0;
step_temp[0] = 1;
step_temp[1] = 1;
direc_temp[0] = 1;
direc_temp[1] = 1;
oled_p = 1;
}
if((oled_en == 1) && (oled_s_p6[0] == 1)) //确认后将暂存数据写入对应参数
if((oled_en == 1) && (oled_s_motorok[0] == 1)) //确认后将暂存数据写入对应参数
{
oled_en = 0;
motor_flag1 = 0;
@ -769,12 +821,13 @@ void OLED_MenuTest(void)
Motor_Run = 1;
Run_Mode = run_mode_temp[0];
Run_mm = step_temp[0];
motor_direc = direc_temp[0];
oled_p = 7;
oled_p = 8;
}
}
break;
case 7: //运行状态显示，运行中显示Running...，当前任务结束后显示Completed！
case 8: //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)
{
@ -782,7 +835,7 @@ void OLED_MenuTest(void)
OLED_Clear();
OLED_ShowString(0,0,"Running...",16,0);
OLED_ShowString(0,2,"Pos:",16,0);
OLED_ShowString(90,2,"%",16,0);
OLED_ShowString(106,2,"mv",16,0);
OLED_ShowString(0,4,"OC1:",16,0);
OLED_ShowString(64,4,"OC2:",16,0);
if(ocin1 == 1)
@ -802,11 +855,10 @@ void OLED_MenuTest(void)
}else
{
//位置
Xads_temp2[0] = X_ads1220_prc;
if( (Xads_temp2[1] - Xads_temp2[0] > 0.001) || (Xads_temp2[0] - Xads_temp2[1] > 0.001))
Xads_temp2[0] = X_ads1220;
if( (Xads_temp2[1] - Xads_temp2[0] > 0.5) || (Xads_temp2[0] - Xads_temp2[1] > 0.5))
{
OLED_ShowString(80,2," ",16,0);
sprintf(str_print2, "%.2f",Xads_temp2[0]*100 ); // 电阻尺
sprintf(str_print2, "%.2f",Xads_temp2[0] ); // 电阻尺
OLED_ShowString(40,2,str_print2,16,0);
Xads_temp2[1] = Xads_temp2[0];
}
@ -846,15 +898,16 @@ void OLED_MenuTest(void)
if(oled_en == 1) //按下OK后返回主菜单
{
Motor_Run = 0;
oled_en = 0;
Runmotor_step = 0;
Motor_Run = 0;
oled_p = 1;
motor_flag2 = 0;
}
}
break;
case 8: //磁感应传感模块采样设置，设置采样间隔ms
case 9: //磁感应传感模块采样设置，设置采样间隔ms
{
if(magnet_flag == 0)
{
@ -896,11 +949,11 @@ void OLED_MenuTest(void)
sprintf(str_print2, "%d",smp_intr_temp[0] );
OLED_ShowString(80,2,str_print2,16,0); //取消反显
oled_p = 9;
oled_p = 10;
}
}
break;
case 9: //磁感应传感模块采样设置，设置采样深度
case 10: //磁感应传感模块采样设置，设置采样深度
{
if(magnet_flag == 0)
{
@ -928,38 +981,38 @@ void OLED_MenuTest(void)
sprintf(str_print2, "%d",smp_dpth_temp[0] );
OLED_ShowString(80,4,str_print2,16,0); //取消反显
oled_p = 10;
oled_p = 11;
}
}
break;
case 10: //磁感应传感模块设置确认
case 11: //磁感应传感模块设置确认
{
if(magnet_flag == 0)
{
magnet_flag = 1;
oled_s_p10[0] = 0;
oled_s_p10[1] = 0;
oled_s_magnetok[0] = 0;
oled_s_magnetok[1] = 0;
OLED_ShowString(0,6,"Cancel",16,1);
}else
{
if(oled_s_p10[0] != oled_s_p10[1])
if(oled_s_magnetok[0] != oled_s_magnetok[1])
{
if(oled_s_p10[0] == 0)
if(oled_s_magnetok[0] == 0)
{
OLED_ShowString(0,6,"Cancel",16,1);
OLED_ShowString(80,6,"OK",16,0);
}
if(oled_s_p10[0] == 1)
if(oled_s_magnetok[0] == 1)
{
OLED_ShowString(0,6,"Cancel",16,0);
OLED_ShowString(80,6,"OK",16,1);
}
oled_s_p10[1] = oled_s_p10[0];
oled_s_magnetok[1] = oled_s_magnetok[0];
}
}
if(oled_en == 1)
{
if(oled_s_p10[0] == 0)
if(oled_s_magnetok[0] == 0)
{
oled_en = 0;
magnet_flag = 0;
@ -971,7 +1024,7 @@ void OLED_MenuTest(void)
oled_p = 1;
}
if(oled_s_p10[0] == 1)
if(oled_s_magnetok[0] == 1)
{
oled_en = 0;
magnet_flag = 0;

2
App/Src/tmc5160.c
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@ -310,6 +310,7 @@ void tmc5160_operate(char operate_mode, uint32_t steps)
}
if(busy_flag == 1)
{
delay(100); //静止状态下会被 误判 成已经到达目标位置，因此进行延时等待寄存器发生变化。
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);
@ -337,6 +338,7 @@ void tmc5160_operate(char operate_mode, uint32_t steps)
}
if(busy_flag == 1)
{
delay(100); //静止状态下会被 误判 成已经到达目标位置，因此进行延时等待寄存器发生变化。
TMC5160_SPIReadInt(RAMP_STAT_ADDR,RAMP_STAT); //读取斜坡状态
RAMP_STAT_32 = Raw_32(RAMP_STAT);

1
Inc/app.h
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@ -26,6 +26,7 @@ void motor_protect_ads(float threshold_neg, float threshold_pos);
void motor_protect_ocin(void);
extern int it_1ms_cnt ,it_1ms_flag;
extern int it_2ms_cnt ,it_2ms_flag;
extern int it_5ms_cnt ,it_5ms_flag;
extern int it_10ms_cnt ,it_10ms_flag;
extern int it_50ms_cnt ,it_50ms_flag;

132
MDK-ARM/mfps.uvguix.吴俊潮
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MDK-ARM/mfps.uvoptx
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@ -163,7 +163,7 @@
<Ww>
<count>2</count>
<WinNumber>1</WinNumber>
<ItemText>XA_32</ItemText>
<ItemText>XA_32,0x0A</ItemText>
</Ww>
<Ww>
<count>3</count>
@ -265,6 +265,16 @@
<WinNumber>1</WinNumber>
<ItemText>RAMP_STAT_32</ItemText>
</Ww>
<Ww>
<count>23</count>
<WinNumber>1</WinNumber>
<ItemText>X_ads1220_temp_fl</ItemText>
</Ww>
<Ww>
<count>24</count>
<WinNumber>1</WinNumber>
<ItemText>direc_temp</ItemText>
</Ww>
</WatchWindow1>
<Tracepoint>
<THDelay>0</THDelay>

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52
MDK-ARM/mfps/mfps.build_log.htm
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@ -21,59 +21,17 @@ 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\2024.05.11\mfps\MDK-ARM\mfps.uvprojx
F:\Desktop\Work\2024.05\2024.05.13\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'
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
Build target 'mfps'
compiling oled2.c...
linking...
Program Size: Code=31046 RO-data=3010 RW-data=368 ZI-data=2360
Program Size: Code=29430 RO-data=3010 RW-data=392 ZI-data=3080
FromELF: creating hex file...
"mfps\mfps.axf" - 0 Error(s), 1 Warning(s).
"mfps\mfps.axf" - 0 Error(s), 0 Warning(s).
<h2>Software Packages used:</h2>
@ -96,7 +54,7 @@ Package Vendor: Keil
<h2>Collection of Component Files used:</h2>
* Component: ARM::CMSIS:CORE@5.6.0
Build Time Elapsed: 00:00:05
Build Time Elapsed: 00:00:01
</pre>
</body>
</html>

3549
MDK-ARM/mfps/mfps.hex
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MDK-ARM/mfps/mfps.htm
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MDK-ARM/mfps/mfps.map
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120
MDK-ARM/mfps/mfps_mfps.dep
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@ -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)(0x663D67F3)
I (../Inc/app.h)(0x6641BDD7)
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)(0x663DADF3)
I (../App/Inc/oled2.h)(0x6641C3E1)
I (E:\Softwares\Keil_v5\ARM\ARMCC\include\inttypes.h)(0x5E8E3CC2)
I (../App/Inc/ads1220.h)(0x66384526)
I (../App/Inc/ads1220.h)(0x6641AC72)
I (../App/Inc/tmc5160.h)(0x663852C9)
I (../Inc/Uart1.h)(0x6625BD3B)
I (../App/Inc/key.h)(0x66271314)
I (../App/Inc/motor.h)(0x663D67EE)
I (../App/Inc/motor.h)(0x6641BB1C)
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)
@ -246,7 +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)(0x663C455D)(--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)(0x6641BDA2)(--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)
@ -278,14 +278,14 @@ 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)(0x663D67F3)
I (../Inc/app.h)(0x6641BDD7)
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)(0x663DADF3)
I (../App/Inc/oled2.h)(0x6641C3E1)
I (E:\Softwares\Keil_v5\ARM\ARMCC\include\inttypes.h)(0x5E8E3CC2)
I (../App/Inc/ads1220.h)(0x66384526)
I (../App/Inc/ads1220.h)(0x6641AC72)
I (../App/Inc/tmc5160.h)(0x663852C9)
I (../Inc/i2c.h)(0x66035A28)
I (../Inc/spi.h)(0x660BB230)
@ -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)(0x663D67EE)
I (../App/Inc/motor.h)(0x6641BB1C)
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)(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)(0x663D67F3)
F (..\App\Src\app.c)(0x6641BE51)(--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)(0x6641BDD7)
I (../App/Inc/serial_port.h)(0x6625D9EB)
I (../App/Inc/m1820.h)(0x661E2349)
I (../Inc/main.h)(0x660A29E6)
@ -876,9 +876,9 @@ 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)(0x663DADF3)
I (../App/Inc/oled2.h)(0x6641C3E1)
I (E:\Softwares\Keil_v5\ARM\ARMCC\include\inttypes.h)(0x5E8E3CC2)
I (../App/Inc/ads1220.h)(0x66384526)
I (../App/Inc/ads1220.h)(0x6641AC72)
I (../App/Inc/tmc5160.h)(0x663852C9)
I (../Inc/i2c.h)(0x66035A28)
I (../Inc/spi.h)(0x660BB230)
@ -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)(0x663D67EE)
I (../App/Inc/motor.h)(0x6641BB1C)
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)
@ -924,14 +924,14 @@ 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)(0x663D67F3)
I (../Inc/app.h)(0x6641BDD7)
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)(0x663DADF3)
I (../App/Inc/oled2.h)(0x6641C3E1)
I (E:\Softwares\Keil_v5\ARM\ARMCC\include\inttypes.h)(0x5E8E3CC2)
I (../App/Inc/ads1220.h)(0x66384526)
I (../App/Inc/ads1220.h)(0x6641AC72)
I (../App/Inc/tmc5160.h)(0x663852C9)
I (../Inc/i2c.h)(0x66035A28)
I (../Inc/spi.h)(0x660BB230)
@ -940,11 +940,11 @@ 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)(0x663D67EE)
I (../App/Inc/motor.h)(0x6641BB1C)
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\key.c)(0x663C8BD2)(--c99 -c --cpu Cortex-M3 -g -O3 --apcs=interwork --split_sections -I ../Drivers/STM32F1xx_HAL_Driver/Inc -I ../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I ../Drivers/CMSIS/Include -I ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I ../Inc -I ../Src -I ../App/Inc -I ../App/Src -I.\RTE\_mfps -IE:\Softwares\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include -IE:\Softwares\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include -D__UVISION_VERSION="539" -D_RTE_ -DSTM32F10X_HD -D_RTE_ -DSTM32F103xE -DUSE_HAL_DRIVER -o mfps\key.o --omf_browse mfps\key.crf --depend mfps\key.d)
F (..\App\Src\key.c)(0x6641C9E5)(--c99 -c --cpu Cortex-M3 -g -O3 --apcs=interwork --split_sections -I ../Drivers/STM32F1xx_HAL_Driver/Inc -I ../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I ../Drivers/CMSIS/Include -I ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I ../Inc -I ../Src -I ../App/Inc -I ../App/Src -I.\RTE\_mfps -IE:\Softwares\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include -IE:\Softwares\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include -D__UVISION_VERSION="539" -D_RTE_ -DSTM32F10X_HD -D_RTE_ -DSTM32F103xE -DUSE_HAL_DRIVER -o mfps\key.o --omf_browse mfps\key.crf --depend mfps\key.d)
I (../App/Inc/key.h)(0x66271314)
I (../Inc/main.h)(0x660A29E6)
I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h)(0x663B42E9)
@ -976,14 +976,14 @@ 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)(0x663D67F3)
I (../Inc/app.h)(0x6641BDD7)
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)(0x663DADF3)
I (../App/Inc/oled2.h)(0x6641C3E1)
I (E:\Softwares\Keil_v5\ARM\ARMCC\include\inttypes.h)(0x5E8E3CC2)
I (../App/Inc/ads1220.h)(0x66384526)
I (../App/Inc/ads1220.h)(0x6641AC72)
I (../App/Inc/tmc5160.h)(0x663852C9)
I (../Inc/i2c.h)(0x66035A28)
I (../Inc/spi.h)(0x660BB230)
@ -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)(0x663D67EE)
I (../App/Inc/motor.h)(0x6641BB1C)
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)
@ -1030,13 +1030,13 @@ 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)(0x663D67F3)
I (../Inc/app.h)(0x6641BDD7)
I (../App/Inc/m1820.h)(0x661E2349)
I (../App/Inc/oled.h)(0x662F4EED)
I (../App/Inc/MyLib.h)(0x662A0C9C)
I (../App/Inc/oled2.h)(0x663DADF3)
I (../App/Inc/oled2.h)(0x6641C3E1)
I (E:\Softwares\Keil_v5\ARM\ARMCC\include\inttypes.h)(0x5E8E3CC2)
I (../App/Inc/ads1220.h)(0x66384526)
I (../App/Inc/ads1220.h)(0x6641AC72)
I (../App/Inc/tmc5160.h)(0x663852C9)
I (../Inc/i2c.h)(0x66035A28)
I (../Inc/spi.h)(0x660BB230)
@ -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)(0x663D67EE)
I (../App/Inc/motor.h)(0x6641BB1C)
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)
@ -1081,12 +1081,12 @@ 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 (../App/Inc/MyLib.h)(0x662A0C9C)
I (../Inc/app.h)(0x663D67F3)
I (../Inc/app.h)(0x6641BDD7)
I (../App/Inc/serial_port.h)(0x6625D9EB)
I (../App/Inc/m1820.h)(0x661E2349)
I (../App/Inc/oled2.h)(0x663DADF3)
I (../App/Inc/oled2.h)(0x6641C3E1)
I (E:\Softwares\Keil_v5\ARM\ARMCC\include\inttypes.h)(0x5E8E3CC2)
I (../App/Inc/ads1220.h)(0x66384526)
I (../App/Inc/ads1220.h)(0x6641AC72)
I (../App/Inc/tmc5160.h)(0x663852C9)
I (../Inc/i2c.h)(0x66035A28)
I (../Inc/spi.h)(0x660BB230)
@ -1095,13 +1095,13 @@ 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)(0x663D67EE)
I (../App/Inc/motor.h)(0x6641BB1C)
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\ads1220.c)(0x663AD4AD)(--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)(0x66384526)
F (..\App\Src\ads1220.c)(0x6641BDD7)(--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)
I (../Inc/stm32f1xx_hal_conf.h)(0x663B393C)
I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc.h)(0x663B42E9)
@ -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)(0x663D67F3)
I (../Inc/app.h)(0x6641BDD7)
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)(0x663DADF3)
I (../App/Inc/oled2.h)(0x6641C3E1)
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)(0x663D67EE)
I (../App/Inc/motor.h)(0x6641BB1C)
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)
@ -1184,13 +1184,13 @@ 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)(0x663D67F3)
I (../Inc/app.h)(0x6641BDD7)
I (../App/Inc/serial_port.h)(0x6625D9EB)
I (../App/Inc/oled.h)(0x662F4EED)
I (../App/Inc/MyLib.h)(0x662A0C9C)
I (../App/Inc/oled2.h)(0x663DADF3)
I (../App/Inc/oled2.h)(0x6641C3E1)
I (E:\Softwares\Keil_v5\ARM\ARMCC\include\inttypes.h)(0x5E8E3CC2)
I (../App/Inc/ads1220.h)(0x66384526)
I (../App/Inc/ads1220.h)(0x6641AC72)
I (../App/Inc/tmc5160.h)(0x663852C9)
I (../Inc/i2c.h)(0x66035A28)
I (../Inc/spi.h)(0x660BB230)
@ -1199,7 +1199,7 @@ 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)(0x663D67EE)
I (../App/Inc/motor.h)(0x6641BB1C)
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)
@ -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)(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)
F (..\App\Src\tmc5160.c)(0x6641B974)(--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)
@ -1268,14 +1268,14 @@ 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)(0x663D67F3)
I (../Inc/app.h)(0x6641BDD7)
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)(0x663DADF3)
I (../App/Inc/oled2.h)(0x6641C3E1)
I (E:\Softwares\Keil_v5\ARM\ARMCC\include\inttypes.h)(0x5E8E3CC2)
I (../App/Inc/ads1220.h)(0x66384526)
I (../App/Inc/ads1220.h)(0x6641AC72)
I (../Inc/i2c.h)(0x66035A28)
I (../Inc/spi.h)(0x660BB230)
I (../Inc/tim.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)(0x663D67EE)
I (../App/Inc/motor.h)(0x6641BB1C)
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)(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)(0x663DADF3)
F (..\App\Src\oled2.c)(0x6641D387)(--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)(0x6641C3E1)
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)
@ -1352,12 +1352,12 @@ 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)(0x663D67F3)
I (../Inc/app.h)(0x6641BDD7)
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/ads1220.h)(0x66384526)
I (../App/Inc/ads1220.h)(0x6641AC72)
I (../App/Inc/tmc5160.h)(0x663852C9)
I (../Inc/i2c.h)(0x66035A28)
I (../Inc/spi.h)(0x660BB230)
@ -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)(0x663D67EE)
I (../App/Inc/motor.h)(0x6641BB1C)
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)(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)(0x663D67EE)
F (..\App\Src\motor.c)(0x6641D0F6)(--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)(0x6641BB1C)
I (../Inc/main.h)(0x660A29E6)
I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h)(0x663B42E9)
I (../Inc/stm32f1xx_hal_conf.h)(0x663B393C)
@ -1403,14 +1403,14 @@ 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)(0x663D67F3)
I (../Inc/app.h)(0x6641BDD7)
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)(0x663DADF3)
I (../App/Inc/oled2.h)(0x6641C3E1)
I (E:\Softwares\Keil_v5\ARM\ARMCC\include\inttypes.h)(0x5E8E3CC2)
I (../App/Inc/ads1220.h)(0x66384526)
I (../App/Inc/ads1220.h)(0x6641AC72)
I (../App/Inc/tmc5160.h)(0x663852C9)
I (../Inc/i2c.h)(0x66035A28)
I (../Inc/spi.h)(0x660BB230)
@ -1423,7 +1423,7 @@ 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\Uart1.c)(0x663829E2)(--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)
F (..\App\Src\Uart1.c)(0x6641A556)(--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)
I (../Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal.h)(0x663B42E9)
@ -1457,21 +1457,21 @@ 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)(0x663D67F3)
I (../Inc/app.h)(0x6641BDD7)
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)(0x663DADF3)
I (../App/Inc/oled2.h)(0x6641C3E1)
I (E:\Softwares\Keil_v5\ARM\ARMCC\include\inttypes.h)(0x5E8E3CC2)
I (../App/Inc/ads1220.h)(0x66384526)
I (../App/Inc/ads1220.h)(0x6641AC72)
I (../App/Inc/tmc5160.h)(0x663852C9)
I (../Inc/i2c.h)(0x66035A28)
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)(0x663D67EE)
I (../App/Inc/motor.h)(0x6641BB1C)
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)

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@ -364,6 +364,7 @@ void USART3_IRQHandler(void)
/* USER CODE BEGIN 1 */
int it_1ms_cnt = 0,it_1ms_flag=0;
int it_2ms_cnt = 0,it_2ms_flag=0;
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;
@ -378,15 +379,21 @@ void HAL_TIM_PeriodElapsedCallback (TIM_HandleTypeDef *htim)
if(htim == &htim1) // 中断执行程序
{
//按档位统计中断发生次数
it_1ms_cnt = (it_1ms_cnt+1)*(it_1ms_cnt<1);
it_1ms_cnt = (it_1ms_cnt+1)*(it_1ms_cnt < 1);
if(it_1ms_cnt == 1 ) it_1ms_flag = 1;
it_2ms_cnt = (it_2ms_cnt+1)*(it_2ms_cnt<2);
if(it_2ms_cnt == 2 ) it_2ms_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);
if(it_10ms_cnt == 10 ) it_10ms_flag = 1;
it_50ms_cnt = (it_50ms_cnt+1)*(it_50ms_cnt<50);
if(it_50ms_cnt == 50 ) it_50ms_flag = 1;
it_100ms_cnt = (it_100ms_cnt+1)*(it_100ms_cnt<100);
if(it_100ms_cnt == 100 ) it_100ms_flag = 1;