GPS3000暂存

Core/Src/main.c

@@ -72,9 +72,9 @@ void PeriphCommonClock_Config(void);
 /* USER CODE END 0 */
 
 /**
- * @brief  The application entry point.
+  * @brief  The application entry point.
- * @retval int
+  * @retval int
- */
+  */
 int main(void)
 {
   /* USER CODE BEGIN 1 */
@@ -91,7 +91,7 @@ int main(void)
   NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_4);
 
   /* SysTick_IRQn interrupt configuration */
-  NVIC_SetPriority(SysTick_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(), 15, 0));
+  NVIC_SetPriority(SysTick_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),15, 0));
 
   /* USER CODE BEGIN Init */
   /* USER CODE END Init */
@@ -99,7 +99,7 @@ int main(void)
   /* Configure the system clock */
   SystemClock_Config();
 
-  /* Configure the peripherals common clocks */
+/* Configure the peripherals common clocks */
   PeriphCommonClock_Config();
 
   /* USER CODE BEGIN SysInit */
@@ -147,13 +147,13 @@ int main(void)
 }
 
 /**
- * @brief System Clock Configuration
+  * @brief System Clock Configuration
- * @retval None
+  * @retval None
- */
+  */
 void SystemClock_Config(void)
 {
   LL_FLASH_SetLatency(LL_FLASH_LATENCY_0);
-  while (LL_FLASH_GetLatency() != LL_FLASH_LATENCY_0)
+  while(LL_FLASH_GetLatency()!= LL_FLASH_LATENCY_0)
   {
   }
   LL_PWR_SetRegulVoltageScaling(LL_PWR_REGU_VOLTAGE_SCALE1);
@@ -162,23 +162,26 @@ void SystemClock_Config(void)
   }
   LL_RCC_HSE_Enable();
 
-  /* Wait till HSE is ready */
+   /* Wait till HSE is ready */
-  while (LL_RCC_HSE_IsReady() != 1)
+  while(LL_RCC_HSE_IsReady() != 1)
   {
+
   }
   LL_RCC_PLL_ConfigDomain_SYS(LL_RCC_PLLSOURCE_HSE, LL_RCC_PLLM_DIV_1, 8, LL_RCC_PLLR_DIV_2);
   LL_RCC_PLL_EnableDomain_SYS();
   LL_RCC_PLL_Enable();
 
-  /* Wait till PLL is ready */
+   /* Wait till PLL is ready */
-  while (LL_RCC_PLL_IsReady() != 1)
+  while(LL_RCC_PLL_IsReady() != 1)
   {
+
   }
   LL_RCC_SetSysClkSource(LL_RCC_SYS_CLKSOURCE_PLL);
 
-  /* Wait till System clock is ready */
+   /* Wait till System clock is ready */
-  while (LL_RCC_GetSysClkSource() != LL_RCC_SYS_CLKSOURCE_STATUS_PLL)
+  while(LL_RCC_GetSysClkSource() != LL_RCC_SYS_CLKSOURCE_STATUS_PLL)
   {
+
   }
   LL_RCC_SetAHBPrescaler(LL_RCC_SYSCLK_DIV_8);
   LL_RCC_SetAPB1Prescaler(LL_RCC_APB1_DIV_1);
@@ -190,18 +193,19 @@ void SystemClock_Config(void)
 }
 
 /**
- * @brief Peripherals Common Clock Configuration
+  * @brief Peripherals Common Clock Configuration
- * @retval None
+  * @retval None
- */
+  */
 void PeriphCommonClock_Config(void)
 {
   LL_RCC_PLLSAI1_ConfigDomain_ADC(LL_RCC_PLLSOURCE_HSE, LL_RCC_PLLM_DIV_1, 8, LL_RCC_PLLSAI1R_DIV_2);
   LL_RCC_PLLSAI1_EnableDomain_ADC();
   LL_RCC_PLLSAI1_Enable();
 
-  /* Wait till PLLSAI1 is ready */
+   /* Wait till PLLSAI1 is ready */
-  while (LL_RCC_PLLSAI1_IsReady() != 1)
+  while(LL_RCC_PLLSAI1_IsReady() != 1)
   {
+
   }
 }
 
@@ -210,9 +214,9 @@ void PeriphCommonClock_Config(void)
 /* USER CODE END 4 */
 
 /**
- * @brief  This function is executed in case of error occurrence.
+  * @brief  This function is executed in case of error occurrence.
- * @retval None
+  * @retval None
- */
+  */
 void Error_Handler(void)
 {
   /* USER CODE BEGIN Error_Handler_Debug */
@@ -224,14 +228,14 @@ void Error_Handler(void)
   /* USER CODE END Error_Handler_Debug */
 }
 
-#ifdef USE_FULL_ASSERT
+#ifdef  USE_FULL_ASSERT
 /**
- * @brief  Reports the name of the source file and the source line number
+  * @brief  Reports the name of the source file and the source line number
- *         where the assert_param error has occurred.
+  *         where the assert_param error has occurred.
- * @param  file: pointer to the source file name
+  * @param  file: pointer to the source file name
- * @param  line: assert_param error line source number
+  * @param  line: assert_param error line source number
- * @retval None
+  * @retval None
- */
+  */
 void assert_failed(uint8_t *file, uint32_t line)
 {
   /* USER CODE BEGIN 6 */

Core/Src/tim.c

@@ -186,7 +186,7 @@ void MX_TIM7_Init(void)
   /* USER CODE END TIM7_Init 1 */
   TIM_InitStruct.Prescaler = 399;
   TIM_InitStruct.CounterMode = LL_TIM_COUNTERMODE_UP;
-  TIM_InitStruct.Autoreload = 99;
+  TIM_InitStruct.Autoreload = 499;
   LL_TIM_Init(TIM7, &TIM_InitStruct);
   LL_TIM_EnableARRPreload(TIM7);
   LL_TIM_SetTriggerOutput(TIM7, LL_TIM_TRGO_RESET);

MDK-ARM/controller-v2.uvoptx

@@ -1500,6 +1500,14 @@
     </File>
   </Group>
 
+  <Group>
+    <GroupName>::CMSIS</GroupName>
+    <tvExp>0</tvExp>
+    <tvExpOptDlg>0</tvExpOptDlg>
+    <cbSel>0</cbSel>
+    <RteFlg>1</RteFlg>
+  </Group>
+
   <Group>
     <GroupName>Middlewares/Library/DSP Library/DSP Library</GroupName>
     <tvExp>0</tvExp>
@@ -1507,7 +1515,7 @@
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
     <File>
-      <GroupNumber>16</GroupNumber>
+      <GroupNumber>17</GroupNumber>
       <FileNumber>91</FileNumber>
       <FileType>4</FileType>
       <tvExp>0</tvExp>
@@ -1520,12 +1528,4 @@
     </File>
   </Group>
 
-  <Group>
-    <GroupName>::CMSIS</GroupName>
-    <tvExp>0</tvExp>
-    <tvExpOptDlg>0</tvExpOptDlg>
-    <cbSel>0</cbSel>
-    <RteFlg>1</RteFlg>
-  </Group>
-
 </ProjectOpt>

MDK-ARM/controller-v2.uvprojx

@@ -83,7 +83,7 @@
             <RunUserProg1>1</RunUserProg1>
             <RunUserProg2>1</RunUserProg2>
             <UserProg1Name>fromelf --bin --output=@L.bin !L</UserProg1Name>
-            <UserProg2Name>output-controller-v24.bat</UserProg2Name>
+            <UserProg2Name></UserProg2Name>
             <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
             <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
             <nStopA1X>0</nStopA1X>
@@ -1278,6 +1278,9 @@
             </File>
           </Files>
         </Group>
+        <Group>
+          <GroupName>::CMSIS</GroupName>
+        </Group>
         <Group>
           <GroupName>Middlewares/Library/DSP Library/DSP Library</GroupName>
           <GroupOption>
@@ -1376,9 +1379,6 @@
             </File>
           </Files>
         </Group>
-        <Group>
-          <GroupName>::CMSIS</GroupName>
-        </Group>
       </Groups>
     </Target>
   </Targets>

User/application/mode/mode.c

@@ -295,6 +295,7 @@ void mode_init(void)
         break;
     case MODE_FREQUENCY_DOMAIN_CONTROL_ALGORITHM:
         pdctrl_init(PDCTRL_PWMP);
+        //pdctrl_init(PDCTRL_DAC);
         mode_pwmp_hd_init(&mode_get()->interface_req, mode_get()->positioner_model, &mode_params.mode_pwmp_hd_params,
                           mode_params_save_cb);
         break;

controller-v2.ioc

@@ -267,8 +267,8 @@ Mcu.ThirdParty0=STMicroelectronics.X-CUBE-ALGOBUILD.1.3.0
 Mcu.ThirdPartyNb=1
 Mcu.UserConstants=
 Mcu.UserName=STM32L476VGTx
-MxCube.Version=6.9.2
+MxCube.Version=6.10.0
-MxDb.Version=DB.6.0.92
+MxDb.Version=DB.6.0.100
 NVIC.ADC1_2_IRQn=true\:14\:0\:true\:false\:true\:true\:true\:true
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.DMA1_Channel1_IRQn=true\:14\:0\:true\:false\:true\:false\:true\:true
@@ -710,7 +710,7 @@ TIM6.Period=99
 TIM6.Prescaler=399
 TIM7.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
 TIM7.IPParameters=Prescaler,Period,AutoReloadPreload
-TIM7.Period=99
+TIM7.Period=499
 TIM7.Prescaler=399
 UART5.BaudRate=9600
 UART5.IPParameters=BaudRate