From dd74e179158ace4fe2d06606060a81c4bd4cf8be Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E8=8D=89=E5=9B=A2=E5=90=9B?= <596017521@qq.com>
Date: Mon, 15 Apr 2024 16:51:29 +0800
Subject: [PATCH] =?UTF-8?q?=E6=B5=8B=E8=AF=95=E9=80=9A=E8=BF=87?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
Core/Src/adc.c | 22 +
Core/Src/gpio.c | 12 -
Core/Src/stm32l0xx_it.c | 40 +-
MDK-ARM/motor.uvoptx | 44 +-
MDK-ARM/motor/motor.hex | 904 +++++++++++++++---------------
MDK-ARM/startup_stm32l072xx.lst | 938 --------------------------------
User/board/board.c | 10 +-
User/board/board.h | 4 +-
User/board/motor.c | 8 +-
User/board/motor.h | 4 +-
motor.ioc | 28 +-
11 files changed, 537 insertions(+), 1477 deletions(-)
delete mode 100644 MDK-ARM/startup_stm32l072xx.lst
diff --git a/Core/Src/adc.c b/Core/Src/adc.c
index 422aee4..07769bf 100644
--- a/Core/Src/adc.c
+++ b/Core/Src/adc.c
@@ -41,14 +41,28 @@ void MX_ADC_Init(void)
LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_ADC1);
LL_IOP_GRP1_EnableClock(LL_IOP_GRP1_PERIPH_GPIOC);
+ LL_IOP_GRP1_EnableClock(LL_IOP_GRP1_PERIPH_GPIOA);
+ LL_IOP_GRP1_EnableClock(LL_IOP_GRP1_PERIPH_GPIOB);
/**ADC GPIO Configuration
PC3 ------> ADC_IN13
+ PA7 ------> ADC_IN7
+ PB0 ------> ADC_IN8
*/
GPIO_InitStruct.Pin = MG_ADC_IN13_Pin;
GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG;
GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
LL_GPIO_Init(MG_ADC_IN13_GPIO_Port, &GPIO_InitStruct);
+ GPIO_InitStruct.Pin = LL_GPIO_PIN_7;
+ GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG;
+ GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
+ LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+ GPIO_InitStruct.Pin = LL_GPIO_PIN_0;
+ GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG;
+ GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
+ LL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
/* ADC DMA Init */
/* ADC Init */
@@ -72,6 +86,14 @@ void MX_ADC_Init(void)
/* USER CODE END ADC_Init 1 */
+ /** Configure Regular Channel
+ */
+ LL_ADC_REG_SetSequencerChAdd(ADC1, LL_ADC_CHANNEL_7);
+
+ /** Configure Regular Channel
+ */
+ LL_ADC_REG_SetSequencerChAdd(ADC1, LL_ADC_CHANNEL_8);
+
/** Configure Regular Channel
*/
LL_ADC_REG_SetSequencerChAdd(ADC1, LL_ADC_CHANNEL_13);
diff --git a/Core/Src/gpio.c b/Core/Src/gpio.c
index cc30c5f..6278bb3 100644
--- a/Core/Src/gpio.c
+++ b/Core/Src/gpio.c
@@ -138,12 +138,6 @@ void MX_GPIO_Init(void)
GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
- /**/
- GPIO_InitStruct.Pin = LL_GPIO_PIN_7;
- GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG;
- GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
- LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-
/**/
GPIO_InitStruct.Pin = LL_GPIO_PIN_4;
GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG;
@@ -156,12 +150,6 @@ void MX_GPIO_Init(void)
GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
LL_GPIO_Init(GPIOC, &GPIO_InitStruct);
- /**/
- GPIO_InitStruct.Pin = LL_GPIO_PIN_0;
- GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG;
- GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
- LL_GPIO_Init(GPIOB, &GPIO_InitStruct);
-
/**/
GPIO_InitStruct.Pin = LL_GPIO_PIN_1;
GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG;
diff --git a/Core/Src/stm32l0xx_it.c b/Core/Src/stm32l0xx_it.c
index 21674ef..9393934 100644
--- a/Core/Src/stm32l0xx_it.c
+++ b/Core/Src/stm32l0xx_it.c
@@ -68,8 +68,8 @@ extern motor_t *motor;
/* Cortex-M0+ Processor Interruption and Exception Handlers */
/******************************************************************************/
/**
- * @brief This function handles Non maskable Interrupt.
- */
+ * @brief This function handles Non maskable Interrupt.
+ */
void NMI_Handler(void)
{
/* USER CODE BEGIN NonMaskableInt_IRQn 0 */
@@ -83,8 +83,8 @@ void NMI_Handler(void)
}
/**
- * @brief This function handles Hard fault interrupt.
- */
+ * @brief This function handles Hard fault interrupt.
+ */
void HardFault_Handler(void)
{
/* USER CODE BEGIN HardFault_IRQn 0 */
@@ -98,8 +98,8 @@ void HardFault_Handler(void)
}
/**
- * @brief This function handles System service call via SWI instruction.
- */
+ * @brief This function handles System service call via SWI instruction.
+ */
void SVC_Handler(void)
{
/* USER CODE BEGIN SVC_IRQn 0 */
@@ -111,8 +111,8 @@ void SVC_Handler(void)
}
/**
- * @brief This function handles Pendable request for system service.
- */
+ * @brief This function handles Pendable request for system service.
+ */
void PendSV_Handler(void)
{
/* USER CODE BEGIN PendSV_IRQn 0 */
@@ -124,8 +124,8 @@ void PendSV_Handler(void)
}
/**
- * @brief This function handles System tick timer.
- */
+ * @brief This function handles System tick timer.
+ */
void SysTick_Handler(void)
{
/* USER CODE BEGIN SysTick_IRQn 0 */
@@ -145,8 +145,8 @@ void SysTick_Handler(void)
/******************************************************************************/
/**
- * @brief This function handles DMA1 channel 1 interrupt.
- */
+ * @brief This function handles DMA1 channel 1 interrupt.
+ */
void DMA1_Channel1_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Channel1_IRQn 0 */
@@ -159,8 +159,8 @@ void DMA1_Channel1_IRQHandler(void)
}
/**
- * @brief This function handles DMA1 channel 2 and channel 3 interrupts.
- */
+ * @brief This function handles DMA1 channel 2 and channel 3 interrupts.
+ */
void DMA1_Channel2_3_IRQHandler(void)
{
/* USER CODE BEGIN DMA1_Channel2_3_IRQn 0 */
@@ -173,8 +173,8 @@ void DMA1_Channel2_3_IRQHandler(void)
}
/**
- * @brief This function handles TIM6 global interrupt and DAC1/DAC2 underrun error interrupts.
- */
+ * @brief This function handles TIM6 global interrupt and DAC1/DAC2 underrun error interrupts.
+ */
void TIM6_DAC_IRQHandler(void)
{
/* USER CODE BEGIN TIM6_DAC_IRQn 0 */
@@ -191,8 +191,8 @@ void TIM6_DAC_IRQHandler(void)
}
/**
- * @brief This function handles TIM21 global interrupt.
- */
+ * @brief This function handles TIM21 global interrupt.
+ */
void TIM21_IRQHandler(void)
{
/* USER CODE BEGIN TIM21_IRQn 0 */
@@ -210,8 +210,8 @@ void TIM21_IRQHandler(void)
}
/**
- * @brief This function handles USART1 global interrupt / USART1 wake-up interrupt through EXTI line 25.
- */
+ * @brief This function handles USART1 global interrupt / USART1 wake-up interrupt through EXTI line 25.
+ */
void USART1_IRQHandler(void)
{
/* USER CODE BEGIN USART1_IRQn 0 */
diff --git a/MDK-ARM/motor.uvoptx b/MDK-ARM/motor.uvoptx
index 16e224c..8a2955b 100644
--- a/MDK-ARM/motor.uvoptx
+++ b/MDK-ARM/motor.uvoptx
@@ -145,27 +145,10 @@
0
ST-LINKIII-KEIL_SWO
- -U-O142 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(0BC11477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32L0xx_128.FLM -FS08000000 -FL020000 -FP0($$Device:STM32L072RBTx$CMSIS\Flash\STM32L0xx_128.FLM) -WA0 -WE0 -WVCE4 -WS2710 -WM0 -WP2
+ -US -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(0BC11477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32L0xx_128.FLM -FS08000000 -FL020000 -FP0($$Device:STM32L072RBTx$CMSIS\Flash\STM32L0xx_128.FLM) -WA0 -WE0 -WVCE4 -WS2710 -WM0 -WP2
-
-
- 0
- 0
- 207
- 1
- 134223234
- 0
- 0
- 0
- 0
- 0
- 1
- ../Core/Src/stm32l0xx_it.c
-
- \\motor\../Core/Src/stm32l0xx_it.c\207
-
-
+
0
@@ -175,27 +158,22 @@
1
1
- motor_state
+ motor_state,0x0A
2
1
- motor_ccr
+ motor->handle.step_motor.attribute,0x0A
3
1
- step_motor_flag
+ motor_param,0x0A
4
1
- motor->handle.step_motor.attribute,0x0A
-
-
- 5
- 1
- motor_dir
+ \\motor\../User/board/board.c\motor_state,0x0A
@@ -240,16 +218,6 @@
-
-
- System Viewer\TIM21
- 35905
-
-
- System Viewer\TIM6
- 35904
-
-
1
0
diff --git a/MDK-ARM/motor/motor.hex b/MDK-ARM/motor/motor.hex
index e221ff3..a7c6d9b 100644
--- a/MDK-ARM/motor/motor.hex
+++ b/MDK-ARM/motor/motor.hex
@@ -1,32 +1,32 @@
:020000040800F2
-:10000000104300209D0100085D1B0008890D0008B9
+:10000000104300209D010008991B0008890D00087D
:1000100000000000000000000000000000000000E0
-:10002000000000000000000000000000511C00085B
-:1000300000000000000000005F1B0008531C0008C7
+:100020000000000000000000000000008D1C00081F
+:1000300000000000000000009B1B00088F1C00084F
:10004000AF010008AF010008AF010008AF010008D0
:10005000AF010008AF010008AF010008AF010008C0
:10006000AF010008850D0008870D0008AF010008EA
:10007000AF010008AF010008AF010008AF010008A0
-:10008000AF010008411D0008AF010008000000009A
-:10009000191D0008AF010008AF010008AF010008FA
-:1000A000AF010008AF010008AF010008651D00089E
+:10008000AF0100087D1D0008AF010008000000005E
+:10009000551D0008AF010008AF010008AF010008BE
+:1000A000AF010008AF010008AF010008A11D000862
:1000B000AF010008AF01000800000000AF01000818
:1000C00000F002F800F03EF80CA030C80838241800
:1000D0002D18A246671EAB4654465D46AC4201D180
:1000E00000F030F87E460F3E0FCCB6460126334274
-:1000F00000D0FB1AA246AB46334318473C29000008
-:100100005C290000103A02D378C878C1FAD85207A7
+:1000F00000D0FB1AA246AB4633431847C029000084
+:10010000E0290000103A02D378C878C1FAD8520723
:1001100001D330C830C101D504680C6070470000BD
:100120000023002400250026103A01D378C1FBD813
:10013000520700D330C100D50B6070471FB51FBDFB
:1001400010B510BD00F0E0FD1146FFF7F7FF02F01B
-:1001500031F800F0F8FD03B4FFF7F2FF03BC00F044
+:1001500057F800F0F8FD03B4FFF7F2FF03BC00F01E
:10016000FFFD000070B505460C46164602E00FCCB8
:100170000FC5103E102EFAD2082E02D303CC03C5B1
:10018000083E042E07D301CC01C5361F03E02178B9
:100190002970641C6D1C761EF9D270BD074880471B
:1001A00007480047FEE7FEE7FEE7FEE7FEE7FEE75B
-:1001B00004480549054A064B70470000151D000814
+:1001B00004480549054A064B70470000511D0008D8
:1001C000C10000081039002010430020103D00201D
:1001D000103D002001E004C0091F0429FBD28B0759
:1001E00001D50280801CC90700D002707047002929
@@ -124,7 +124,7 @@
:1007A0004C00D4420AD15C00D4420BD04B4002D55D
:1007B00092021143E2E749004908DFE75940C90FB7
:1007C000C90718E000200849D8E7054801420DD1C3
-:1007D0000342F7D0F2E700000000FF071C250000ED
+:1007D0000342F7D0F2E700000000FF07A025000069
:1007E0000000F07F0000E0FF0000F87F1148594052
:1007F0000143C01241400020C0E70123089A9B0634
:100800009A4205DC032252078918C90FC907B5E7C8
@@ -193,7 +193,7 @@
:100BF000AB42F9D84900A942F6D8AB4201D1A9428B
:100C0000F2D0A94201D1002101E061004908D005DC
:100C10000843F0BD1102090EFBD0FF200243D005AE
-:100C2000F0BD0A460146104654E70000D21E0000FF
+:100C2000F0BD0A460146104654E70000561F00007A
:100C30000000C07F0102C21504D00123DB07194365
:100C4000002A0ADB9E239A1A02D40846D040704735
:100C5000FF2241001206914201D900207047C017BF
@@ -224,19 +224,19 @@
:100DE0002C4323430B43C168024C21400B43C36097
:100DF000EFE700003CC2FEFF054B10B55918203943
:100E0000C97F435803242403A3431343435010BD15
-:100E1000E9280008054B10B559182039C97F4358F7
-:100E2000034C23401343435010BD0000E928000841
+:100E10006D290008054B10B559182039C97F435872
+:100E2000034C23401343435010BD00006D290008BC
:100E3000EFBFFFFF054B10B559182039C97F435844
-:100E40008024A3431343435010BD0000E928000849
+:100E40008024A3431343435010BD00006D290008C4
:100E5000054B10B559182039C97F43580324A40203
-:100E6000A3431343435010BDE9280008054B10B5B8
+:100E6000A3431343435010BD6D290008054B10B533
:100E700059182039C97F43582024A34313434350B2
-:100E800010BD0000E9280008054B10B5591820399D
+:100E800010BD00006D290008054B10B55918203918
:100E9000C97F43584024A3431343435010BD00006F
-:100EA000E928000889000F23091F10B58B40803006
+:100EA0006D29000889000F23091F10B58B40803081
:100EB000846A8A409C431443846210BD054B10B57C
:100EC00059182039C97F435803242402A3431343EC
-:100ED000435010BDE928000810B504790023254AC5
+:100ED000435010BD6D29000810B504790023254A40
:100EE0000168002C3DD0002942D04479002C0FD05D
:100EF000012C15D0022C16D001238179002937D07E
:100F0000012918D002291FD0032921D001232FE065
@@ -258,434 +258,442 @@
:10100000AF437243174347624A6805686646B54373
:101010005443254305605B1C0A681446DC40AED18E
:101020000020F0BD08B50449CA6A0243CA62C96A11
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-:101050000520086110BD000000E000E010B5044666
-:1010600000F0A4FD206000F07BFD606000F086FDD4
-:10107000A060606800F08EFDE06010BDF8B5204D06
-:1010800001270024AE00FF03032802D00C2824D03F
-:1010900021E000F03BF81B4940182ED0012809D070
-:1010A000022813D000F082FD00F05AFD00F072FD1E
-:1010B000044610E000F032F800280CD000F036F8BA
-:1010C000002801D02C4606E0344604E000F036F853
-:1010D000002800D03C462046F8BD00F017F80A4929
-:1010E00040180AD00428E5D00828EFD000F05EFDB3
-:1010F00000F036FD00F042FDDAE700F057FDD7E7DB
-:1011000000093D00FFFFFCFFFCFFF3FF0249C96837
-:101110000140000408437047401002400248006844
-:101120004007C00F704700000010024002480068EE
-:10113000C006C00F7047000000100240024800695E
-:101140008005C00F70470000401002400149086050
-:101150007047000000000020F0B502680124A407D9
-:10116000134D144E144FA04205D0A84203D0B042F4
-:1011700001D0B84203D170239A434B681A43A0426E
-:1011800005D0A84203D0B04201D0B84204D1032315
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+:1027300010BD000000803B450080BB440000CA4241
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+:102750000400ED074C4020D4441A01D2001B091993
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+:1027800002D3401C6D0611D0761EF6058019FF2A73
+:1027900000DA70BDC00DC00570BD694000F07AF868
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+:1027B000C90161408900E7D10124A043E4E71B0E71
+:1027C000440200D0034870BD002AFCD1C00FC007EE
+:1027D00070BD00BF0000C07F70B5420064414B0077
+:1027E0005C41120E39D01B0E38D0FF2A3CD0FF2B93
+:1027F0003AD040024902400A490A060045184E43B1
+:10280000000A090AD2184843ED017F3A0104731AFD
+:102810004019190C4318990F04D001215B0849078E
+:102820005B1A521CD80904D3401CF50301D19D0644
+:1028300007D0FF2A08D2D50506D0E4072043401967
+:1028400070BD0125A843F4E7002A01DCE00770BD54
+:102850002402FF202043C00570BD1B0EFF2A03D0B9
+:10286000FF2B01D0E00770BDFF2645003606B542BC
+:1028700006D84D00B54203D8D218FF2A00D0E7E7AA
+:10288000004870BD0000C07F70B501250400ED0751
+:102890004C4022D4441A02D26C40001B0919C60DC8
+:1028A0004B00F2B2FF2A4BD01B0E50D000020C029C
+:1028B000D31A2C43DC40A843051B05D5AD0019D322
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+:10295000F0D070BD0000C07F081C3044586C80006F
+:1029600000000004000400000800000008081C30FB
+:1029700044586C80000000000000000001020304C5
+:1029800006070809030406080C1018203000000090
+:1029900000010203045F6C697374006C6973742036
+:1029A000616C6C20636F6D6D616E6400A00100004E
+:1029B00001000000200000002000000000340000A2
+:1029C00020000000081C3044586C800000040050B7
+:1029D00000200000000000000000000000000000D7
+:1029E0000000000000040050001000000000000083
+:1029F00000000000000000000000000080807F7EDA
+:102A00007D7C7B7A79787776767574737271717064
+:102A10006F6E6E6D6C6C6B6A6A6968686766666516
+:102A20006464636362616160605F5F5E5E5D5D5CA4
+:102A30005C5B5B5A5A595958585757565655555515
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+:102AA000B3B5B7B9BCBEC0C2C5C7C9CCCED1D4D7E7
+:102AB000D9DCDFE2E6E9ECF0F3F7FAFEDC2A000805
+:102AC00000000020A0000000040100087C2B00088A
+:102AD000A00000207042000020010008000020003B
+:102AE00000000000000000000000000000000000E6
+:102AF00000000000000000000000000000000000D6
+:102B00000000000031230008E9230008E000002055
+:102B100060000020E034002062000020000000007F
+:102B200000000000000000000000000000000000A5
+:102B30000000000000000000000000000000000095
+:102B40000000000000000000000000000000000085
+:102B50000000000000000000000000000000000075
+:102B600000240140000002400100000095290008F7
+:0C2B70009B290008C6E533B4791E00085C
:04000005080000C12E
:00000001FF
diff --git a/MDK-ARM/startup_stm32l072xx.lst b/MDK-ARM/startup_stm32l072xx.lst
deleted file mode 100644
index 1e9184e..0000000
--- a/MDK-ARM/startup_stm32l072xx.lst
+++ /dev/null
@@ -1,938 +0,0 @@
-
-
-
-ARM Macro Assembler Page 1
-
-
- 1 00000000 ;*******************************************************
- ***********************
- 2 00000000 ;* File Name : startup_stm32l072xx.s
- 3 00000000 ;* Author : MCD Application Team
- 4 00000000 ;* Description : STM32l072xx Devices vector table
- for MDK-ARM toolchain.
- 5 00000000 ;* This module performs:
- 6 00000000 ;* - Set the initial SP
- 7 00000000 ;* - Set the initial PC == Reset_Ha
- ndler
- 8 00000000 ;* - Set the vector table entries w
- ith the exceptions ISR address
- 9 00000000 ;* - Branches to __main in the C lb
- rary (which eventually
- 10 00000000 ;* calls main()).
- 11 00000000 ;* After Reset the Cortex-M0+ proce
- ssor is in Thread mode,
- 12 00000000 ;* priority is Privileged, and the
- Stack is set to Main.
- 13 00000000 ;*******************************************************
- ***********************
- 14 00000000 ;* @attention
- 15 00000000 ;*
- 16 00000000 ;* Copyright (c) 2016 STMicroelectronics.
- 17 00000000 ;* All rights reserved.
- 18 00000000 ;*
- 19 00000000 ;* This software is licensed under terms that can be fou
- nd in the LICENSE file
- 20 00000000 ;* in the root directory of this software component.
- 21 00000000 ;* If no LICENSE file comes with this software, it is pr
- ovided AS-IS.
- 22 00000000 ;*
- 23 00000000 ;*******************************************************
- ***********************
- 24 00000000
- 25 00000000 ; Amount of memory (in bytes) allocated for Stack
- 26 00000000 ; Tailor this value to your application needs
- 27 00000000 ; Stack Configuration
- 28 00000000 ; Stack Size (in Bytes) <0x0-0xFFFFFFFF:8>
- 29 00000000 ;
- 30 00000000
- 31 00000000 00000600
- Stack_Size
- EQU 0x600
- 32 00000000
- 33 00000000 AREA STACK, NOINIT, READWRITE, ALIGN
-=3
- 34 00000000 Stack_Mem
- SPACE Stack_Size
- 35 00000600 __initial_sp
- 36 00000600
- 37 00000600
- 38 00000600 ; Heap Configuration
- 39 00000600 ; Heap Size (in Bytes) <0x0-0xFFFFFFFF:8>
- 40 00000600 ;
- 41 00000600
- 42 00000600 00000400
- Heap_Size
- EQU 0x400
-
-
-
-ARM Macro Assembler Page 2
-
-
- 43 00000600
- 44 00000600 AREA HEAP, NOINIT, READWRITE, ALIGN=
-3
- 45 00000000 __heap_base
- 46 00000000 Heap_Mem
- SPACE Heap_Size
- 47 00000400 __heap_limit
- 48 00000400
- 49 00000400 PRESERVE8
- 50 00000400 THUMB
- 51 00000400
- 52 00000400
- 53 00000400 ; Vector Table Mapped to Address 0 at Reset
- 54 00000400 AREA RESET, DATA, READONLY
- 55 00000000 EXPORT __Vectors
- 56 00000000 EXPORT __Vectors_End
- 57 00000000 EXPORT __Vectors_Size
- 58 00000000
- 59 00000000 00000000
- __Vectors
- DCD __initial_sp ; Top of Stack
- 60 00000004 00000000 DCD Reset_Handler ; Reset Handler
- 61 00000008 00000000 DCD NMI_Handler ; NMI Handler
- 62 0000000C 00000000 DCD HardFault_Handler ; Hard Fault
- Handler
- 63 00000010 00000000 DCD 0 ; Reserved
- 64 00000014 00000000 DCD 0 ; Reserved
- 65 00000018 00000000 DCD 0 ; Reserved
- 66 0000001C 00000000 DCD 0 ; Reserved
- 67 00000020 00000000 DCD 0 ; Reserved
- 68 00000024 00000000 DCD 0 ; Reserved
- 69 00000028 00000000 DCD 0 ; Reserved
- 70 0000002C 00000000 DCD SVC_Handler ; SVCall Handler
- 71 00000030 00000000 DCD 0 ; Reserved
- 72 00000034 00000000 DCD 0 ; Reserved
- 73 00000038 00000000 DCD PendSV_Handler ; PendSV Handler
-
- 74 0000003C 00000000 DCD SysTick_Handler
- ; SysTick Handler
- 75 00000040
- 76 00000040 ; External Interrupts
- 77 00000040 00000000 DCD WWDG_IRQHandler
- ; Window Watchdog
- 78 00000044 00000000 DCD PVD_IRQHandler ; PVD through EX
- TI Line detect
- 79 00000048 00000000 DCD RTC_IRQHandler ; RTC through EX
- TI Line
- 80 0000004C 00000000 DCD FLASH_IRQHandler ; FLASH
- 81 00000050 00000000 DCD RCC_CRS_IRQHandler
- ; RCC and CRS
- 82 00000054 00000000 DCD EXTI0_1_IRQHandler
- ; EXTI Line 0 and 1
-
- 83 00000058 00000000 DCD EXTI2_3_IRQHandler
- ; EXTI Line 2 and 3
-
- 84 0000005C 00000000 DCD EXTI4_15_IRQHandler
- ; EXTI Line 4 to 15
-
-
-
-
-ARM Macro Assembler Page 3
-
-
- 85 00000060 00000000 DCD TSC_IRQHandler ; TSC
- 86 00000064 00000000 DCD DMA1_Channel1_IRQHandler
- ; DMA1 Channel 1
- 87 00000068 00000000 DCD DMA1_Channel2_3_IRQHandler ; DM
- A1 Channel 2 and Ch
- annel 3
- 88 0000006C 00000000 DCD DMA1_Channel4_5_6_7_IRQHandler
- ; DMA1 Channel 4, C
- hannel 5, Channel 6
- and Channel 7
- 89 00000070 00000000 DCD ADC1_COMP_IRQHandler ; ADC1, CO
- MP1 and COMP2
- 90 00000074 00000000 DCD LPTIM1_IRQHandler ; LPTIM1
- 91 00000078 00000000 DCD USART4_5_IRQHandler
- ; USART4 and USART5
-
- 92 0000007C 00000000 DCD TIM2_IRQHandler ; TIM2
- 93 00000080 00000000 DCD TIM3_IRQHandler ; TIM3
- 94 00000084 00000000 DCD TIM6_DAC_IRQHandler
- ; TIM6 and DAC
- 95 00000088 00000000 DCD TIM7_IRQHandler ; TIM7
- 96 0000008C 00000000 DCD 0 ; Reserved
- 97 00000090 00000000 DCD TIM21_IRQHandler ; TIM21
- 98 00000094 00000000 DCD I2C3_IRQHandler ; I2C3
- 99 00000098 00000000 DCD TIM22_IRQHandler ; TIM22
- 100 0000009C 00000000 DCD I2C1_IRQHandler ; I2C1
- 101 000000A0 00000000 DCD I2C2_IRQHandler ; I2C2
- 102 000000A4 00000000 DCD SPI1_IRQHandler ; SPI1
- 103 000000A8 00000000 DCD SPI2_IRQHandler ; SPI2
- 104 000000AC 00000000 DCD USART1_IRQHandler ; USART1
- 105 000000B0 00000000 DCD USART2_IRQHandler ; USART2
- 106 000000B4 00000000 DCD RNG_LPUART1_IRQHandler
- ; RNG and LPUART1
- 107 000000B8 00000000 DCD 0 ; Reserved
- 108 000000BC 00000000 DCD USB_IRQHandler ; USB
- 109 000000C0
- 110 000000C0 __Vectors_End
- 111 000000C0
- 112 000000C0 000000C0
- __Vectors_Size
- EQU __Vectors_End - __Vectors
- 113 000000C0
- 114 000000C0 AREA |.text|, CODE, READONLY
- 115 00000000
- 116 00000000 ; Reset handler routine
- 117 00000000 Reset_Handler
- PROC
- 118 00000000 EXPORT Reset_Handler [
-WEAK]
- 119 00000000 IMPORT __main
- 120 00000000 IMPORT SystemInit
- 121 00000000 4807 LDR R0, =SystemInit
- 122 00000002 4780 BLX R0
- 123 00000004 4807 LDR R0, =__main
- 124 00000006 4700 BX R0
- 125 00000008 ENDP
- 126 00000008
- 127 00000008 ; Dummy Exception Handlers (infinite loops which can be
- modified)
-
-
-
-ARM Macro Assembler Page 4
-
-
- 128 00000008
- 129 00000008 NMI_Handler
- PROC
- 130 00000008 EXPORT NMI_Handler
-[WEAK]
- 131 00000008 E7FE B .
- 132 0000000A ENDP
- 134 0000000A HardFault_Handler
- PROC
- 135 0000000A EXPORT HardFault_Handler
-[WEAK]
- 136 0000000A E7FE B .
- 137 0000000C ENDP
- 138 0000000C SVC_Handler
- PROC
- 139 0000000C EXPORT SVC_Handler
-[WEAK]
- 140 0000000C E7FE B .
- 141 0000000E ENDP
- 142 0000000E PendSV_Handler
- PROC
- 143 0000000E EXPORT PendSV_Handler
-[WEAK]
- 144 0000000E E7FE B .
- 145 00000010 ENDP
- 146 00000010 SysTick_Handler
- PROC
- 147 00000010 EXPORT SysTick_Handler
-[WEAK]
- 148 00000010 E7FE B .
- 149 00000012 ENDP
- 150 00000012
- 151 00000012 Default_Handler
- PROC
- 152 00000012
- 153 00000012 EXPORT WWDG_IRQHandler
-[WEAK]
- 154 00000012 EXPORT PVD_IRQHandler
-[WEAK]
- 155 00000012 EXPORT RTC_IRQHandler
-[WEAK]
- 156 00000012 EXPORT FLASH_IRQHandler
-[WEAK]
- 157 00000012 EXPORT RCC_CRS_IRQHandler
-[WEAK]
- 158 00000012 EXPORT EXTI0_1_IRQHandler
-[WEAK]
- 159 00000012 EXPORT EXTI2_3_IRQHandler
-[WEAK]
- 160 00000012 EXPORT EXTI4_15_IRQHandler
-[WEAK]
- 161 00000012 EXPORT TSC_IRQHandler
- [WEAK]
- 162 00000012 EXPORT DMA1_Channel1_IRQHandler
-[WEAK]
- 163 00000012 EXPORT DMA1_Channel2_3_IRQHandler
-[WEAK]
- 164 00000012 EXPORT DMA1_Channel4_5_6_7_IRQHandler
-[WEAK]
-
-
-
-ARM Macro Assembler Page 5
-
-
- 165 00000012 EXPORT ADC1_COMP_IRQHandler
-[WEAK]
- 166 00000012 EXPORT LPTIM1_IRQHandler
-[WEAK]
- 167 00000012 EXPORT USART4_5_IRQHandler
-[WEAK]
- 168 00000012 EXPORT TIM2_IRQHandler
-[WEAK]
- 169 00000012 EXPORT TIM3_IRQHandler
-[WEAK]
- 170 00000012 EXPORT TIM6_DAC_IRQHandler
-[WEAK]
- 171 00000012 EXPORT TIM7_IRQHandler
-[WEAK]
- 172 00000012 EXPORT TIM21_IRQHandler
-[WEAK]
- 173 00000012 EXPORT TIM22_IRQHandler
-[WEAK]
- 174 00000012 EXPORT I2C1_IRQHandler
-[WEAK]
- 175 00000012 EXPORT I2C2_IRQHandler
-[WEAK]
- 176 00000012 EXPORT I2C3_IRQHandler
-[WEAK]
- 177 00000012 EXPORT SPI1_IRQHandler
-[WEAK]
- 178 00000012 EXPORT SPI2_IRQHandler
-[WEAK]
- 179 00000012 EXPORT USART1_IRQHandler
-[WEAK]
- 180 00000012 EXPORT USART2_IRQHandler
-[WEAK]
- 181 00000012 EXPORT RNG_LPUART1_IRQHandler
-[WEAK]
- 182 00000012 EXPORT USB_IRQHandler
-[WEAK]
- 183 00000012
- 184 00000012
- 185 00000012 WWDG_IRQHandler
- 186 00000012 PVD_IRQHandler
- 187 00000012 RTC_IRQHandler
- 188 00000012 FLASH_IRQHandler
- 189 00000012 RCC_CRS_IRQHandler
- 190 00000012 EXTI0_1_IRQHandler
- 191 00000012 EXTI2_3_IRQHandler
- 192 00000012 EXTI4_15_IRQHandler
- 193 00000012 TSC_IRQHandler
- 194 00000012 DMA1_Channel1_IRQHandler
- 195 00000012 DMA1_Channel2_3_IRQHandler
- 196 00000012 DMA1_Channel4_5_6_7_IRQHandler
- 197 00000012 ADC1_COMP_IRQHandler
- 198 00000012 LPTIM1_IRQHandler
- 199 00000012 USART4_5_IRQHandler
- 200 00000012 TIM2_IRQHandler
- 201 00000012 TIM3_IRQHandler
- 202 00000012 TIM6_DAC_IRQHandler
- 203 00000012 TIM7_IRQHandler
- 204 00000012 TIM21_IRQHandler
- 205 00000012 TIM22_IRQHandler
-
-
-
-ARM Macro Assembler Page 6
-
-
- 206 00000012 I2C1_IRQHandler
- 207 00000012 I2C2_IRQHandler
- 208 00000012 I2C3_IRQHandler
- 209 00000012 SPI1_IRQHandler
- 210 00000012 SPI2_IRQHandler
- 211 00000012 USART1_IRQHandler
- 212 00000012 USART2_IRQHandler
- 213 00000012 RNG_LPUART1_IRQHandler
- 214 00000012 USB_IRQHandler
- 215 00000012
- 216 00000012 E7FE B .
- 217 00000014
- 218 00000014 ENDP
- 219 00000014
- 220 00000014 ALIGN
- 221 00000014
- 222 00000014 ;*******************************************************
- ************************
- 223 00000014 ; User Stack and Heap initialization
- 224 00000014 ;*******************************************************
- ************************
- 225 00000014 IF :DEF:__MICROLIB
- 232 00000014
- 233 00000014 IMPORT __use_two_region_memory
- 234 00000014 EXPORT __user_initial_stackheap
- 235 00000014
- 236 00000014 __user_initial_stackheap
- 237 00000014
- 238 00000014 4804 LDR R0, = Heap_Mem
- 239 00000016 4905 LDR R1, =(Stack_Mem + Stack_Size)
- 240 00000018 4A05 LDR R2, = (Heap_Mem + Heap_Size)
- 241 0000001A 4B06 LDR R3, = Stack_Mem
- 242 0000001C 4770 BX LR
- 243 0000001E
- 244 0000001E 00 00 ALIGN
- 245 00000020
- 246 00000020 ENDIF
- 247 00000020
- 248 00000020 END
- 00000000
- 00000000
- 00000000
- 00000600
- 00000400
- 00000000
-Command Line: --debug --xref --diag_suppress=9931 --cpu=Cortex-M0+ --apcs=inter
-work --depend=motor\startup_stm32l072xx.d -omotor\startup_stm32l072xx.o -I.\RTE
-\_motor -IS:\software\MDK\ARM\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include -IS:\sof
-tware\MDK\ARM\Packs\Keil\STM32L0xx_DFP\2.2.0\Drivers\CMSIS\Device\ST\STM32L0xx\
-Include --predefine="__UVISION_VERSION SETA 538" --predefine="_RTE_ SETA 1" --p
-redefine="STM32L072xx SETA 1" --predefine="_RTE_ SETA 1" --list=startup_stm32l0
-72xx.lst startup_stm32l072xx.s
-
-
-
-ARM Macro Assembler Page 1 Alphabetic symbol ordering
-Relocatable symbols
-
-STACK 00000000
-
-Symbol: STACK
- Definitions
- At line 33 in file startup_stm32l072xx.s
- Uses
- None
-Comment: STACK unused
-Stack_Mem 00000000
-
-Symbol: Stack_Mem
- Definitions
- At line 34 in file startup_stm32l072xx.s
- Uses
- At line 239 in file startup_stm32l072xx.s
- At line 241 in file startup_stm32l072xx.s
-
-__initial_sp 00000600
-
-Symbol: __initial_sp
- Definitions
- At line 35 in file startup_stm32l072xx.s
- Uses
- At line 59 in file startup_stm32l072xx.s
-Comment: __initial_sp used once
-3 symbols
-
-
-
-ARM Macro Assembler Page 1 Alphabetic symbol ordering
-Relocatable symbols
-
-HEAP 00000000
-
-Symbol: HEAP
- Definitions
- At line 44 in file startup_stm32l072xx.s
- Uses
- None
-Comment: HEAP unused
-Heap_Mem 00000000
-
-Symbol: Heap_Mem
- Definitions
- At line 46 in file startup_stm32l072xx.s
- Uses
- At line 238 in file startup_stm32l072xx.s
- At line 240 in file startup_stm32l072xx.s
-
-__heap_base 00000000
-
-Symbol: __heap_base
- Definitions
- At line 45 in file startup_stm32l072xx.s
- Uses
- None
-Comment: __heap_base unused
-__heap_limit 00000400
-
-Symbol: __heap_limit
- Definitions
- At line 47 in file startup_stm32l072xx.s
- Uses
- None
-Comment: __heap_limit unused
-4 symbols
-
-
-
-ARM Macro Assembler Page 1 Alphabetic symbol ordering
-Relocatable symbols
-
-RESET 00000000
-
-Symbol: RESET
- Definitions
- At line 54 in file startup_stm32l072xx.s
- Uses
- None
-Comment: RESET unused
-__Vectors 00000000
-
-Symbol: __Vectors
- Definitions
- At line 59 in file startup_stm32l072xx.s
- Uses
- At line 55 in file startup_stm32l072xx.s
- At line 112 in file startup_stm32l072xx.s
-
-__Vectors_End 000000C0
-
-Symbol: __Vectors_End
- Definitions
- At line 110 in file startup_stm32l072xx.s
- Uses
- At line 56 in file startup_stm32l072xx.s
- At line 112 in file startup_stm32l072xx.s
-
-3 symbols
-
-
-
-ARM Macro Assembler Page 1 Alphabetic symbol ordering
-Relocatable symbols
-
-.text 00000000
-
-Symbol: .text
- Definitions
- At line 114 in file startup_stm32l072xx.s
- Uses
- None
-Comment: .text unused
-ADC1_COMP_IRQHandler 00000012
-
-Symbol: ADC1_COMP_IRQHandler
- Definitions
- At line 197 in file startup_stm32l072xx.s
- Uses
- At line 89 in file startup_stm32l072xx.s
- At line 165 in file startup_stm32l072xx.s
-
-DMA1_Channel1_IRQHandler 00000012
-
-Symbol: DMA1_Channel1_IRQHandler
- Definitions
- At line 194 in file startup_stm32l072xx.s
- Uses
- At line 86 in file startup_stm32l072xx.s
- At line 162 in file startup_stm32l072xx.s
-
-DMA1_Channel2_3_IRQHandler 00000012
-
-Symbol: DMA1_Channel2_3_IRQHandler
- Definitions
- At line 195 in file startup_stm32l072xx.s
- Uses
- At line 87 in file startup_stm32l072xx.s
- At line 163 in file startup_stm32l072xx.s
-
-DMA1_Channel4_5_6_7_IRQHandler 00000012
-
-Symbol: DMA1_Channel4_5_6_7_IRQHandler
- Definitions
- At line 196 in file startup_stm32l072xx.s
- Uses
- At line 88 in file startup_stm32l072xx.s
- At line 164 in file startup_stm32l072xx.s
-
-Default_Handler 00000012
-
-Symbol: Default_Handler
- Definitions
- At line 151 in file startup_stm32l072xx.s
- Uses
- None
-Comment: Default_Handler unused
-EXTI0_1_IRQHandler 00000012
-
-Symbol: EXTI0_1_IRQHandler
- Definitions
- At line 190 in file startup_stm32l072xx.s
- Uses
- At line 82 in file startup_stm32l072xx.s
-
-
-
-ARM Macro Assembler Page 2 Alphabetic symbol ordering
-Relocatable symbols
-
- At line 158 in file startup_stm32l072xx.s
-
-EXTI2_3_IRQHandler 00000012
-
-Symbol: EXTI2_3_IRQHandler
- Definitions
- At line 191 in file startup_stm32l072xx.s
- Uses
- At line 83 in file startup_stm32l072xx.s
- At line 159 in file startup_stm32l072xx.s
-
-EXTI4_15_IRQHandler 00000012
-
-Symbol: EXTI4_15_IRQHandler
- Definitions
- At line 192 in file startup_stm32l072xx.s
- Uses
- At line 84 in file startup_stm32l072xx.s
- At line 160 in file startup_stm32l072xx.s
-
-FLASH_IRQHandler 00000012
-
-Symbol: FLASH_IRQHandler
- Definitions
- At line 188 in file startup_stm32l072xx.s
- Uses
- At line 80 in file startup_stm32l072xx.s
- At line 156 in file startup_stm32l072xx.s
-
-HardFault_Handler 0000000A
-
-Symbol: HardFault_Handler
- Definitions
- At line 134 in file startup_stm32l072xx.s
- Uses
- At line 62 in file startup_stm32l072xx.s
- At line 135 in file startup_stm32l072xx.s
-
-I2C1_IRQHandler 00000012
-
-Symbol: I2C1_IRQHandler
- Definitions
- At line 206 in file startup_stm32l072xx.s
- Uses
- At line 100 in file startup_stm32l072xx.s
- At line 174 in file startup_stm32l072xx.s
-
-I2C2_IRQHandler 00000012
-
-Symbol: I2C2_IRQHandler
- Definitions
- At line 207 in file startup_stm32l072xx.s
- Uses
- At line 101 in file startup_stm32l072xx.s
- At line 175 in file startup_stm32l072xx.s
-
-I2C3_IRQHandler 00000012
-
-Symbol: I2C3_IRQHandler
-
-
-
-ARM Macro Assembler Page 3 Alphabetic symbol ordering
-Relocatable symbols
-
- Definitions
- At line 208 in file startup_stm32l072xx.s
- Uses
- At line 98 in file startup_stm32l072xx.s
- At line 176 in file startup_stm32l072xx.s
-
-LPTIM1_IRQHandler 00000012
-
-Symbol: LPTIM1_IRQHandler
- Definitions
- At line 198 in file startup_stm32l072xx.s
- Uses
- At line 90 in file startup_stm32l072xx.s
- At line 166 in file startup_stm32l072xx.s
-
-NMI_Handler 00000008
-
-Symbol: NMI_Handler
- Definitions
- At line 129 in file startup_stm32l072xx.s
- Uses
- At line 61 in file startup_stm32l072xx.s
- At line 130 in file startup_stm32l072xx.s
-
-PVD_IRQHandler 00000012
-
-Symbol: PVD_IRQHandler
- Definitions
- At line 186 in file startup_stm32l072xx.s
- Uses
- At line 78 in file startup_stm32l072xx.s
- At line 154 in file startup_stm32l072xx.s
-
-PendSV_Handler 0000000E
-
-Symbol: PendSV_Handler
- Definitions
- At line 142 in file startup_stm32l072xx.s
- Uses
- At line 73 in file startup_stm32l072xx.s
- At line 143 in file startup_stm32l072xx.s
-
-RCC_CRS_IRQHandler 00000012
-
-Symbol: RCC_CRS_IRQHandler
- Definitions
- At line 189 in file startup_stm32l072xx.s
- Uses
- At line 81 in file startup_stm32l072xx.s
- At line 157 in file startup_stm32l072xx.s
-
-RNG_LPUART1_IRQHandler 00000012
-
-Symbol: RNG_LPUART1_IRQHandler
- Definitions
- At line 213 in file startup_stm32l072xx.s
- Uses
- At line 106 in file startup_stm32l072xx.s
- At line 181 in file startup_stm32l072xx.s
-
-
-
-ARM Macro Assembler Page 4 Alphabetic symbol ordering
-Relocatable symbols
-
-
-RTC_IRQHandler 00000012
-
-Symbol: RTC_IRQHandler
- Definitions
- At line 187 in file startup_stm32l072xx.s
- Uses
- At line 79 in file startup_stm32l072xx.s
- At line 155 in file startup_stm32l072xx.s
-
-Reset_Handler 00000000
-
-Symbol: Reset_Handler
- Definitions
- At line 117 in file startup_stm32l072xx.s
- Uses
- At line 60 in file startup_stm32l072xx.s
- At line 118 in file startup_stm32l072xx.s
-
-SPI1_IRQHandler 00000012
-
-Symbol: SPI1_IRQHandler
- Definitions
- At line 209 in file startup_stm32l072xx.s
- Uses
- At line 102 in file startup_stm32l072xx.s
- At line 177 in file startup_stm32l072xx.s
-
-SPI2_IRQHandler 00000012
-
-Symbol: SPI2_IRQHandler
- Definitions
- At line 210 in file startup_stm32l072xx.s
- Uses
- At line 103 in file startup_stm32l072xx.s
- At line 178 in file startup_stm32l072xx.s
-
-SVC_Handler 0000000C
-
-Symbol: SVC_Handler
- Definitions
- At line 138 in file startup_stm32l072xx.s
- Uses
- At line 70 in file startup_stm32l072xx.s
- At line 139 in file startup_stm32l072xx.s
-
-SysTick_Handler 00000010
-
-Symbol: SysTick_Handler
- Definitions
- At line 146 in file startup_stm32l072xx.s
- Uses
- At line 74 in file startup_stm32l072xx.s
- At line 147 in file startup_stm32l072xx.s
-
-TIM21_IRQHandler 00000012
-
-Symbol: TIM21_IRQHandler
- Definitions
-
-
-
-ARM Macro Assembler Page 5 Alphabetic symbol ordering
-Relocatable symbols
-
- At line 204 in file startup_stm32l072xx.s
- Uses
- At line 97 in file startup_stm32l072xx.s
- At line 172 in file startup_stm32l072xx.s
-
-TIM22_IRQHandler 00000012
-
-Symbol: TIM22_IRQHandler
- Definitions
- At line 205 in file startup_stm32l072xx.s
- Uses
- At line 99 in file startup_stm32l072xx.s
- At line 173 in file startup_stm32l072xx.s
-
-TIM2_IRQHandler 00000012
-
-Symbol: TIM2_IRQHandler
- Definitions
- At line 200 in file startup_stm32l072xx.s
- Uses
- At line 92 in file startup_stm32l072xx.s
- At line 168 in file startup_stm32l072xx.s
-
-TIM3_IRQHandler 00000012
-
-Symbol: TIM3_IRQHandler
- Definitions
- At line 201 in file startup_stm32l072xx.s
- Uses
- At line 93 in file startup_stm32l072xx.s
- At line 169 in file startup_stm32l072xx.s
-
-TIM6_DAC_IRQHandler 00000012
-
-Symbol: TIM6_DAC_IRQHandler
- Definitions
- At line 202 in file startup_stm32l072xx.s
- Uses
- At line 94 in file startup_stm32l072xx.s
- At line 170 in file startup_stm32l072xx.s
-
-TIM7_IRQHandler 00000012
-
-Symbol: TIM7_IRQHandler
- Definitions
- At line 203 in file startup_stm32l072xx.s
- Uses
- At line 95 in file startup_stm32l072xx.s
- At line 171 in file startup_stm32l072xx.s
-
-TSC_IRQHandler 00000012
-
-Symbol: TSC_IRQHandler
- Definitions
- At line 193 in file startup_stm32l072xx.s
- Uses
- At line 85 in file startup_stm32l072xx.s
- At line 161 in file startup_stm32l072xx.s
-
-
-
-
-ARM Macro Assembler Page 6 Alphabetic symbol ordering
-Relocatable symbols
-
-USART1_IRQHandler 00000012
-
-Symbol: USART1_IRQHandler
- Definitions
- At line 211 in file startup_stm32l072xx.s
- Uses
- At line 104 in file startup_stm32l072xx.s
- At line 179 in file startup_stm32l072xx.s
-
-USART2_IRQHandler 00000012
-
-Symbol: USART2_IRQHandler
- Definitions
- At line 212 in file startup_stm32l072xx.s
- Uses
- At line 105 in file startup_stm32l072xx.s
- At line 180 in file startup_stm32l072xx.s
-
-USART4_5_IRQHandler 00000012
-
-Symbol: USART4_5_IRQHandler
- Definitions
- At line 199 in file startup_stm32l072xx.s
- Uses
- At line 91 in file startup_stm32l072xx.s
- At line 167 in file startup_stm32l072xx.s
-
-USB_IRQHandler 00000012
-
-Symbol: USB_IRQHandler
- Definitions
- At line 214 in file startup_stm32l072xx.s
- Uses
- At line 108 in file startup_stm32l072xx.s
- At line 182 in file startup_stm32l072xx.s
-
-WWDG_IRQHandler 00000012
-
-Symbol: WWDG_IRQHandler
- Definitions
- At line 185 in file startup_stm32l072xx.s
- Uses
- At line 77 in file startup_stm32l072xx.s
- At line 153 in file startup_stm32l072xx.s
-
-__user_initial_stackheap 00000014
-
-Symbol: __user_initial_stackheap
- Definitions
- At line 236 in file startup_stm32l072xx.s
- Uses
- At line 234 in file startup_stm32l072xx.s
-Comment: __user_initial_stackheap used once
-39 symbols
-
-
-
-ARM Macro Assembler Page 1 Alphabetic symbol ordering
-Absolute symbols
-
-Heap_Size 00000400
-
-Symbol: Heap_Size
- Definitions
- At line 42 in file startup_stm32l072xx.s
- Uses
- At line 46 in file startup_stm32l072xx.s
- At line 240 in file startup_stm32l072xx.s
-
-Stack_Size 00000600
-
-Symbol: Stack_Size
- Definitions
- At line 31 in file startup_stm32l072xx.s
- Uses
- At line 34 in file startup_stm32l072xx.s
- At line 239 in file startup_stm32l072xx.s
-
-__Vectors_Size 000000C0
-
-Symbol: __Vectors_Size
- Definitions
- At line 112 in file startup_stm32l072xx.s
- Uses
- At line 57 in file startup_stm32l072xx.s
-Comment: __Vectors_Size used once
-3 symbols
-
-
-
-ARM Macro Assembler Page 1 Alphabetic symbol ordering
-External symbols
-
-SystemInit 00000000
-
-Symbol: SystemInit
- Definitions
- At line 120 in file startup_stm32l072xx.s
- Uses
- At line 121 in file startup_stm32l072xx.s
-Comment: SystemInit used once
-__main 00000000
-
-Symbol: __main
- Definitions
- At line 119 in file startup_stm32l072xx.s
- Uses
- At line 123 in file startup_stm32l072xx.s
-Comment: __main used once
-__use_two_region_memory 00000000
-
-Symbol: __use_two_region_memory
- Definitions
- At line 233 in file startup_stm32l072xx.s
- Uses
- None
-Comment: __use_two_region_memory unused
-3 symbols
-392 symbols in table
diff --git a/User/board/board.c b/User/board/board.c
index 2bb64ec..ecf540b 100644
--- a/User/board/board.c
+++ b/User/board/board.c
@@ -16,7 +16,8 @@ adc_t adc1 = {
float32 torsion_detect(uint16_t adc)
{
float32 val = 0;
- val = ((float32)adc - 1500) / (1.934 * 3) * 10;
+ val = (float32)adc / 4096 * 3000;
+ val = (val - 1500) / 101 / (1.934 * 3) * 10;
return val;
}
@@ -25,7 +26,8 @@ float32 torsion_detect(uint16_t adc)
float32 pressure_detect(uint16_t adc)
{
float32 val = 0;
- val = ((float32)adc - 600) / (10 * 15) / 16 * 10;
+ val = (float32)adc / 4096 * 3000;
+ val = (val - 600) / (10 * 15) / 16 * 1000;
return val;
}
@@ -34,7 +36,8 @@ float32 pressure_detect(uint16_t adc)
float32 flow_detect(uint16_t adc)
{
float32 val = 0;
- val = ((float32)adc - 600) / (10 * 15) / 16 * 300;
+ val = (float32)adc / 4096 * 3000;
+ val = (val - 600) / (10 * 15) / 16 * 300;
return val;
}
@@ -73,6 +76,7 @@ void motor_process(void)
case MOTOR_STOP:
step_motor->interface.stop(motor);
motor_state = MOTOR_IDEL;
+ break;
case MOTOR_STEP:
step_motor->interface.set_angle(motor, motor_param->angle, (dir_e)motor_param->dir);
motor_state = MOTOR_IDEL;
diff --git a/User/board/board.h b/User/board/board.h
index 3fee36d..97a04fe 100644
--- a/User/board/board.h
+++ b/User/board/board.h
@@ -6,7 +6,7 @@
#define UART_RXSIZE (240u) // 接收240个字节
#define UART_TXSIZE (240u) // 发送240个字节
-#define PULSE_REV 18000.0 /* 每圈脉冲数 */
+#define PULSE_REV (18000.0 * 5) /* 每圈脉冲数 */
#define MAX_STEP_ANGLE (360 / PULSE_REV) /* 最小步距(360/PULSE_REV) */
#define ANGLE 180 // 步进电机180度，转盘转动1度
@@ -31,7 +31,7 @@ typedef enum
typedef struct
{
uint8_t dir;
- uint32_t angle;
+ float32 angle;
} motor_ctrl_t;
extern void board_init(void);
diff --git a/User/board/motor.c b/User/board/motor.c
index 8092aac..278729e 100644
--- a/User/board/motor.c
+++ b/User/board/motor.c
@@ -34,13 +34,15 @@ static void step_motor_stop(motor_t *motor)
handle->attribute.angle = 0;
handle->attribute.pulse_count = 0;
PWM_STOP(handle->pwm_timer, handle->pwm_channel);
+ LL_TIM_DisableIT_UPDATE(handle->pwm_timer);
+ LL_TIM_ClearFlag_UPDATE(TIM21);
if (handle->interface.stop_cb != NULL)
{
handle->interface.stop_cb(motor);
}
}
-static void step_motor_set_angle(motor_t *motor, uint32_t angle, dir_e dir)
+static void step_motor_set_angle(motor_t *motor, float32 angle, dir_e dir)
{
DBG_ASSERT(motor != NULL __DBG_LINE);
step_motor_t *handle = &motor->handle.step_motor;
@@ -88,8 +90,8 @@ void step_motor_update(motor_t *motor)
if (handle->attribute.pulse_count <= 0) /* 当脉冲数等于0的时候 代表需要发送的脉冲个数已完成，停止定时器输出 */
{
LOG_PRINT("累计旋转的角度:%d\r\n", (int)(handle->attribute.add_pulse_count * handle->attribute.min_step_angle)); /* 打印累计转动了多少角度 */
- handle->interface.stop(motor);
- /* 停止接口一输出 */
+ handle->interface.stop(motor);
+ /* 停止接口一输出 */
}
}
diff --git a/User/board/motor.h b/User/board/motor.h
index bcd48b0..063fee5 100644
--- a/User/board/motor.h
+++ b/User/board/motor.h
@@ -37,7 +37,7 @@ typedef struct
void (*init)(motor_t *motor, gpio_t dir, gpio_t en, float32 min_step_angle, TIM_TypeDef *pwm_timer, uint32_t pwm_channel); // 初始化
void (*run)(motor_t *motor, dir_e dir); // 运行
void (*stop)(motor_t *motor); // 停止
- void (*set_angle)(motor_t *motor, uint32_t angle, dir_e dir); // 将角度转换成脉冲个数并运行
+ void (*set_angle)(motor_t *motor, float32 angle, dir_e dir); // 将角度转换成脉冲个数并运行
void (*stop_cb)(motor_t *motor); // 停止回调函数,在stop中执行
} step_motor_interface_t;
@@ -45,7 +45,7 @@ typedef struct
typedef struct
{
float32 min_step_angle; /* 最小步距角 */
- int angle; /* 设置需要旋转的角度 */
+ float32 angle; /* 设置需要旋转的角度 */
dir_e dir; /* 方向 */
uint8_t en; /* 使能 */
__IO uint32_t pulse_count; /* 脉冲个数记录 */
diff --git a/motor.ioc b/motor.ioc
index 065765a..a72e90b 100644
--- a/motor.ioc
+++ b/motor.ioc
@@ -57,18 +57,20 @@ Mcu.Name=STM32L072R(B-Z)Tx
Mcu.Package=LQFP64
Mcu.Pin0=PH0-OSC_IN
Mcu.Pin1=PH1-OSC_OUT
-Mcu.Pin10=PA14
-Mcu.Pin11=VP_SYS_VS_Systick
-Mcu.Pin12=VP_TIM6_VS_ClockSourceINT
+Mcu.Pin10=PA10
+Mcu.Pin11=PA13
+Mcu.Pin12=PA14
+Mcu.Pin13=VP_SYS_VS_Systick
+Mcu.Pin14=VP_TIM6_VS_ClockSourceINT
Mcu.Pin2=PC3
-Mcu.Pin3=PB12
-Mcu.Pin4=PB13
-Mcu.Pin5=PB14
-Mcu.Pin6=PB15
-Mcu.Pin7=PA9
-Mcu.Pin8=PA10
-Mcu.Pin9=PA13
-Mcu.PinsNb=13
+Mcu.Pin3=PA7
+Mcu.Pin4=PB0
+Mcu.Pin5=PB12
+Mcu.Pin6=PB13
+Mcu.Pin7=PB14
+Mcu.Pin8=PB15
+Mcu.Pin9=PA9
+Mcu.PinsNb=15
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32L072RBTx
@@ -91,8 +93,12 @@ PA13.Mode=Serial_Wire
PA13.Signal=SYS_SWDIO
PA14.Mode=Serial_Wire
PA14.Signal=SYS_SWCLK
+PA7.Mode=IN7
+PA7.Signal=ADC_IN7
PA9.Mode=Asynchronous
PA9.Signal=USART1_TX
+PB0.Mode=IN8
+PB0.Signal=ADC_IN8
PB12.GPIOParameters=GPIO_Speed,PinState,GPIO_Label
PB12.GPIO_Label=ENA
PB12.GPIO_Speed=GPIO_SPEED_FREQ_HIGH