From 557dcffd186b8f3dc68fe6fb0d3b47271edcc06a Mon Sep 17 00:00:00 2001 From: shuo zheng <112080416@qq.com> Date: Wed, 25 Feb 2026 11:13:03 +0800 Subject: [PATCH] =?UTF-8?q?1=E3=80=81=E5=AE=8C=E6=88=90ADC=E9=87=87?= =?UTF-8?q?=E9=9B=86=202=E3=80=81=E5=AE=8C=E6=88=90=E7=94=B5=E6=9C=BA?= =?UTF-8?q?=E7=AE=80=E5=8D=95=E6=8E=A7=E5=88=B6=203=E3=80=81=E5=AE=8C?= =?UTF-8?q?=E6=88=90=E9=80=9A=E8=BF=87ADC=E5=80=BC=E6=8E=A7=E5=88=B6?= =?UTF-8?q?=E7=94=B5=E6=9C=BA=E7=9A=84=E5=90=91=E4=B8=8B=E8=BF=90=E8=A1=8C?= =?UTF-8?q?=EF=BC=8C=E5=B9=B6=E5=81=9C=E6=AD=A2=204=E3=80=81=E9=97=AE?= =?UTF-8?q?=E9=A2=98=EF=BC=9APWM=E6=8E=A7=E5=88=B6=E7=94=B5=E6=9C=BA?= =?UTF-8?q?=E7=9A=84=E8=BF=87=E7=A8=8B=E4=B8=AD=EF=BC=8C=E5=8D=95=E6=AD=A5?= =?UTF-8?q?=E5=8F=AF=E4=BB=A5=E8=BF=90=E8=BD=AC=EF=BC=8C=E5=85=A8=E9=80=9F?= =?UTF-8?q?=E4=B8=8D=E5=8A=A8=E4=BD=9C=EF=BC=8C=E4=B8=AD=E6=96=AD=E5=8F=91?= =?UTF-8?q?=E7=8E=B0=EF=BC=8C=E5=81=9C=E6=AD=A2=E7=9A=84=E6=97=B6=E9=97=B4?= =?UTF-8?q?=E6=AF=94=E8=BF=90=E8=A1=8C=E7=9A=84=E6=97=B6=E9=97=B4=E9=95=BF?= =?UTF-8?q?=EF=BC=8C=E8=BF=99=E4=B8=AA=E6=9C=89=E5=BE=85=E8=BF=9B=E4=B8=80?= =?UTF-8?q?=E6=AD=A5=E8=B0=83=E8=AF=95?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- HARDWARE/MOTOR/motor_driver.c | 466 +++++++-- HARDWARE/MOTOR/motor_driver.h | 53 +- OBJ/USART.axf | Bin 392072 -> 630212 bytes OBJ/USART.build_log.htm | 45 +- OBJ/USART.htm | 676 ++++++------- OBJ/USART.lnp | 2 +- OBJ/USART.sct | 1 + OBJ/USART_USART.dep | 1619 ++++++++++++++++---------------- OBJ/USART_sct.Bak | 1 - OBJ/adc.crf | Bin 435299 -> 435299 bytes OBJ/beep.crf | Bin 434286 -> 434286 bytes OBJ/delay.crf | Bin 435046 -> 435046 bytes OBJ/elemachinery.crf | Bin 443592 -> 443592 bytes OBJ/key.crf | Bin 435384 -> 435384 bytes OBJ/led.crf | Bin 435509 -> 435509 bytes OBJ/main.crf | Bin 445355 -> 447749 bytes OBJ/misc.crf | Bin 433531 -> 433531 bytes OBJ/motor_driver.crf | Bin 437458 -> 442862 bytes OBJ/spi.crf | Bin 436551 -> 436551 bytes OBJ/startup_stm32f40_41xxx.lst | 13 +- OBJ/stm32f4xx_adc.crf | Bin 440274 -> 440274 bytes OBJ/stm32f4xx_gpio.crf | Bin 435620 -> 435620 bytes OBJ/stm32f4xx_it.crf | Bin 432941 -> 432941 bytes OBJ/stm32f4xx_rcc.crf | Bin 444154 -> 444154 bytes OBJ/stm32f4xx_spi.crf | Bin 438355 -> 438355 bytes OBJ/stm32f4xx_syscfg.crf | Bin 433860 -> 433860 bytes OBJ/stm32f4xx_tim.crf | Bin 453509 -> 453509 bytes OBJ/stm32f4xx_usart.crf | Bin 438745 -> 438745 bytes OBJ/sys.crf | Bin 434002 -> 434002 bytes OBJ/system_stm32f4xx.crf | Bin 434722 -> 434722 bytes OBJ/timer.crf | Bin 438615 -> 438928 bytes OBJ/usart.crf | Bin 447565 -> 448129 bytes SYSTEM/usart/usart.c | 23 +- USER/USART.uvguix.baiba | 175 ++-- USER/USART.uvoptx | 56 +- USER/USART.uvprojx | 11 +- USER/main.c | 356 +++++-- readme.txt | 38 +- 新建 文本文档.txt | 0 39 files changed, 1967 insertions(+), 1568 deletions(-) delete mode 100644 新建 文本文档.txt diff --git a/HARDWARE/MOTOR/motor_driver.c b/HARDWARE/MOTOR/motor_driver.c index 4ef8195..2d7bf42 100644 --- a/HARDWARE/MOTOR/motor_driver.c +++ b/HARDWARE/MOTOR/motor_driver.c @@ -2,33 +2,99 @@ #include "motor_driver.h" #include "delay.h" // È«¾Ö±äÁ¿ -static uint8_t pwm_duty = 0; // PWMÕ¼¿Õ±È 0-100 -static MotorState motor_dir = MOTOR_STOP; - +static uint8_t L_pwm_duty = 0; // PWMÕ¼¿Õ±È 0-100 +static uint8_t M_pwm_duty = 0; // PWMÕ¼¿Õ±È 0-100 +static uint8_t R_pwm_duty = 0; // PWMÕ¼¿Õ±È 0-100 +static MotorState L_motor_dir = MOTOR_STOP; +static MotorState M_motor_dir = MOTOR_STOP; +static MotorState R_motor_dir = MOTOR_STOP; // GPIO³õʼ»¯ void DRV8832_GPIO_Init(void) { GPIO_InitTypeDef GPIO_InitStructure; + //×óµç»ú Òý½Å³õʼ»¯ // ʹÄÜGPIOEʱÖÓ - RCC_AHB1PeriphClockCmd(MOTOR_IN1_GPIO_CLK, ENABLE); + RCC_AHB1PeriphClockCmd(L_MOTOR_IN1_GPIO_CLK, ENABLE); // ÅäÖÃIN1 (PE9) ºÍ IN2 (PE13) ΪÊä³ö - GPIO_InitStructure.GPIO_Pin = MOTOR_IN1_GPIO_PIN | MOTOR_IN2_GPIO_PIN; + GPIO_InitStructure.GPIO_Pin = L_MOTOR_IN1_GPIO_PIN | L_MOTOR_IN2_GPIO_PIN; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT; GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; // ÍÆÍìÊä³ö GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL; - GPIO_Init(MOTOR_IN1_GPIO_PORT, &GPIO_InitStructure); + GPIO_Init(L_MOTOR_IN1_GPIO_PORT, &GPIO_InitStructure); // ÅäÖÃFAULTN (PE4) ΪÊäÈë - GPIO_InitStructure.GPIO_Pin = MOTOR_FAULT_GPIO_PIN; + GPIO_InitStructure.GPIO_Pin = L_MOTOR_FAULT_GPIO_PIN; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; // ÉÏÀ­ - GPIO_Init(MOTOR_FAULT_GPIO_PORT, &GPIO_InitStructure); + GPIO_Init(L_MOTOR_FAULT_GPIO_PORT, &GPIO_InitStructure); // ³õʼ״̬£ºÍ£Ö¹µç»ú - GPIO_ResetBits(MOTOR_IN1_GPIO_PORT, MOTOR_IN1_GPIO_PIN); - GPIO_ResetBits(MOTOR_IN2_GPIO_PORT, MOTOR_IN2_GPIO_PIN); + GPIO_ResetBits(L_MOTOR_IN1_GPIO_PORT, L_MOTOR_IN1_GPIO_PIN); + GPIO_ResetBits(L_MOTOR_IN2_GPIO_PORT, L_MOTOR_IN2_GPIO_PIN); + + //=========================================================================== + //Öеç»ú Òý½Å³õʼ»¯ + // ʹÄÜGPIOEʱÖÓ + RCC_AHB1PeriphClockCmd(M_MOTOR_IN1_GPIO_CLK, ENABLE); + // ÅäÖÃIN1 (PB3) + GPIO_InitStructure.GPIO_Pin = M_MOTOR_IN1_GPIO_PIN; + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT; + GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; // ÍÆÍìÊä³ö + GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; + GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL; + GPIO_Init(M_MOTOR_IN1_GPIO_PORT, &GPIO_InitStructure); + + // ÅäÖà IN2 (PE14) ΪÊä³ö + GPIO_InitStructure.GPIO_Pin = M_MOTOR_IN2_GPIO_PIN; + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT; + GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; // ÍÆÍìÊä³ö + GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; + GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL; + GPIO_Init(M_MOTOR_IN2_GPIO_PORT, &GPIO_InitStructure); + + // ÅäÖÃFAULTN (PE5) ΪÊäÈë + GPIO_InitStructure.GPIO_Pin = M_MOTOR_FAULT_GPIO_PIN; + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN; + GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; // ÉÏÀ­ + GPIO_Init(M_MOTOR_FAULT_GPIO_PORT, &GPIO_InitStructure); + + // ³õʼ״̬£ºÍ£Ö¹µç»ú + GPIO_ResetBits(M_MOTOR_IN1_GPIO_PORT, M_MOTOR_IN1_GPIO_PIN); + GPIO_ResetBits(M_MOTOR_IN2_GPIO_PORT, M_MOTOR_IN2_GPIO_PIN); + //=========================================================================== + //ÓÒµç»ú Òý½Å³õʼ»¯ + // ʹÄÜGPIOEʱÖÓ + RCC_AHB1PeriphClockCmd(R_MOTOR_IN1_GPIO_CLK, ENABLE); + // ÅäÖÃIN1 (PD15) + GPIO_InitStructure.GPIO_Pin = R_MOTOR_IN1_GPIO_PIN; + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT; + GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; // ÍÆÍìÊä³ö + GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; + GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL; + GPIO_Init(R_MOTOR_IN1_GPIO_PORT, &GPIO_InitStructure); + + // ÅäÖà IN2 (PE15) ΪÊä³ö + GPIO_InitStructure.GPIO_Pin = R_MOTOR_IN2_GPIO_PIN; + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT; + GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; // ÍÆÍìÊä³ö + GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; + GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL; + GPIO_Init(R_MOTOR_IN2_GPIO_PORT, &GPIO_InitStructure); + + // ÅäÖÃFAULTN (PE6) ΪÊäÈë + GPIO_InitStructure.GPIO_Pin = R_MOTOR_FAULT_GPIO_PIN; + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN; + GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; // ÉÏÀ­ + GPIO_Init(R_MOTOR_FAULT_GPIO_PORT, &GPIO_InitStructure); + + // ³õʼ״̬£ºÍ£Ö¹µç»ú + GPIO_ResetBits(R_MOTOR_IN1_GPIO_PORT, R_MOTOR_IN1_GPIO_PIN); + GPIO_ResetBits(R_MOTOR_IN2_GPIO_PORT, R_MOTOR_IN2_GPIO_PIN); + + + } // ³õʼ»¯DRV8832 @@ -36,58 +102,16 @@ void DRV8832_Init(void) { DRV8832_GPIO_Init(); } -//===================================================================================== -// µç»ú»ù´¡¿ØÖƺ¯Êý -void Motor_Control(MotorState state) { - switch(state) { - case MOTOR_STOP: // IN1=0, IN2=0 - GPIO_ResetBits(MOTOR_IN1_GPIO_PORT, MOTOR_IN1_GPIO_PIN); - GPIO_ResetBits(MOTOR_IN2_GPIO_PORT, MOTOR_IN2_GPIO_PIN); - break; - - case MOTOR_FORWARD: // IN1=1, IN2=0 - GPIO_SetBits(MOTOR_IN1_GPIO_PORT, MOTOR_IN1_GPIO_PIN); - GPIO_ResetBits(MOTOR_IN2_GPIO_PORT, MOTOR_IN2_GPIO_PIN); - break; - - case MOTOR_REVERSE: // IN1=0, IN2=1 - GPIO_ResetBits(MOTOR_IN1_GPIO_PORT, MOTOR_IN1_GPIO_PIN); - GPIO_SetBits(MOTOR_IN2_GPIO_PORT, MOTOR_IN2_GPIO_PIN); - break; - - case MOTOR_BRAKE: // IN1=1, IN2=1 - GPIO_SetBits(MOTOR_IN1_GPIO_PORT, MOTOR_IN1_GPIO_PIN); - GPIO_SetBits(MOTOR_IN2_GPIO_PORT, MOTOR_IN2_GPIO_PIN); - break; - } -} -// »ñÈ¡¹ÊÕÏ״̬ -uint8_t Motor_GetFaultStatus(void) { - // FAULTNÒý½ÅΪµÍµçƽʱ±íʾ¹ÊÕÏ - if (GPIO_ReadInputDataBit(MOTOR_FAULT_GPIO_PORT, MOTOR_FAULT_GPIO_PIN) == Bit_RESET) { - return 1; // ¹ÊÕÏ - } - return 0; // Õý³£ -} - -// °²È«µÄ·½ÏòÇл»£¨±ÜÃâµçÁ÷³å»÷£© -void Motor_SafeDirectionChange(MotorState new_direction) { - // ÏÈɲ³µ - Motor_Control(MOTOR_BRAKE); - delay_ms(5); // 5msÑÓ³Ù - - // ÔÙÇл»µ½Ð·½Ïò - Motor_Control(new_direction); -} // ʹÓÃTIM2ʵÏÖÈí¼þPWM #define PWM_FREQUENCY 20000 // 20kHz PWMƵÂÊ #define PWM_RESOLUTION 100 // 100¼¶µ÷ËÙ·Ö±æÂÊ -static uint8_t pwm_counter = 0; // PWM¼ÆÊýÆ÷ - +static uint8_t L_pwm_counter = 0; // PWM¼ÆÊýÆ÷ +static uint8_t M_pwm_counter = 0; // PWM¼ÆÊýÆ÷ +static uint8_t R_pwm_counter = 0; // PWM¼ÆÊýÆ÷ // ¶¨Ê±Æ÷³õʼ»¯ void PWM_Timer_Init(void) { TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; @@ -118,65 +142,337 @@ void PWM_Timer_Init(void) { } // ¶¨Ê±Æ÷Öжϴ¦Àíº¯Êý -void TIM2_IRQHandler(void) { - if (TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET) { +void TIM2_IRQHandler(void) +{ + if (TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET) + { TIM_ClearITPendingBit(TIM2, TIM_IT_Update); - - pwm_counter++; - if (pwm_counter >= PWM_RESOLUTION) { - pwm_counter = 0; + + + + { //×óµç»úÔËÐÐ + L_pwm_counter++; + if (L_pwm_counter >= PWM_RESOLUTION) + { + L_pwm_counter = 0; } // ¸ù¾ÝÕ¼¿Õ±ÈºÍ·½Ïò¿ØÖƵç»ú - if (motor_dir == MOTOR_FORWARD) { - if (pwm_counter < pwm_duty) { + if (L_motor_dir == MOTOR_FORWARD) { + if (L_pwm_counter < L_pwm_duty) { // Õýת£ºIN1=1, IN2=0 - GPIO_SetBits(MOTOR_IN1_GPIO_PORT, MOTOR_IN1_GPIO_PIN); - GPIO_ResetBits(MOTOR_IN2_GPIO_PORT, MOTOR_IN2_GPIO_PIN); + GPIO_SetBits(L_MOTOR_IN1_GPIO_PORT, L_MOTOR_IN1_GPIO_PIN); + GPIO_ResetBits(L_MOTOR_IN2_GPIO_PORT, L_MOTOR_IN2_GPIO_PIN); } else { // Í£Ö¹£¨»¬ÐУ© - GPIO_ResetBits(MOTOR_IN1_GPIO_PORT, MOTOR_IN1_GPIO_PIN); - GPIO_ResetBits(MOTOR_IN2_GPIO_PORT, MOTOR_IN2_GPIO_PIN); + GPIO_ResetBits(L_MOTOR_IN1_GPIO_PORT, L_MOTOR_IN1_GPIO_PIN); + GPIO_ResetBits(L_MOTOR_IN2_GPIO_PORT, L_MOTOR_IN2_GPIO_PIN); } } - else if (motor_dir == MOTOR_REVERSE) { - if (pwm_counter < pwm_duty) { + else if (L_motor_dir == MOTOR_REVERSE) { + if (L_pwm_counter < L_pwm_duty) { // ·´×ª£ºIN1=0, IN2=1 - GPIO_ResetBits(MOTOR_IN1_GPIO_PORT, MOTOR_IN1_GPIO_PIN); - GPIO_SetBits(MOTOR_IN2_GPIO_PORT, MOTOR_IN2_GPIO_PIN); + GPIO_ResetBits(L_MOTOR_IN1_GPIO_PORT, L_MOTOR_IN1_GPIO_PIN); + GPIO_SetBits(L_MOTOR_IN2_GPIO_PORT, L_MOTOR_IN2_GPIO_PIN); } else { // Í£Ö¹£¨»¬ÐУ© - GPIO_ResetBits(MOTOR_IN1_GPIO_PORT, MOTOR_IN1_GPIO_PIN); - GPIO_ResetBits(MOTOR_IN2_GPIO_PORT, MOTOR_IN2_GPIO_PIN); + GPIO_ResetBits(L_MOTOR_IN1_GPIO_PORT, L_MOTOR_IN1_GPIO_PIN); + GPIO_ResetBits(L_MOTOR_IN2_GPIO_PORT, L_MOTOR_IN2_GPIO_PIN); } } else { // ֹͣ״̬ - GPIO_ResetBits(MOTOR_IN1_GPIO_PORT, MOTOR_IN1_GPIO_PIN); - GPIO_ResetBits(MOTOR_IN2_GPIO_PORT, MOTOR_IN2_GPIO_PIN); + GPIO_ResetBits(L_MOTOR_IN1_GPIO_PORT, L_MOTOR_IN1_GPIO_PIN); + GPIO_ResetBits(L_MOTOR_IN2_GPIO_PORT, L_MOTOR_IN2_GPIO_PIN); } + } + //-------------------------------------------------------------------------------- + { //Öеç»úÔËÐÐ + M_pwm_counter++; + if (M_pwm_counter >= PWM_RESOLUTION) + { + M_pwm_counter = 0; + } + + // ¸ù¾ÝÕ¼¿Õ±ÈºÍ·½Ïò¿ØÖƵç»ú + if (M_motor_dir == MOTOR_FORWARD) { + if (M_pwm_counter < M_pwm_duty) { + // Õýת£ºIN1=1, IN2=0 + GPIO_SetBits(M_MOTOR_IN1_GPIO_PORT, M_MOTOR_IN1_GPIO_PIN); + GPIO_ResetBits(M_MOTOR_IN2_GPIO_PORT, M_MOTOR_IN2_GPIO_PIN); + } else { + // Í£Ö¹£¨»¬ÐУ© + GPIO_ResetBits(M_MOTOR_IN1_GPIO_PORT, M_MOTOR_IN1_GPIO_PIN); + GPIO_ResetBits(M_MOTOR_IN2_GPIO_PORT, M_MOTOR_IN2_GPIO_PIN); + } + } + else if (M_motor_dir == MOTOR_REVERSE) { + if (M_pwm_counter < M_pwm_duty) { + // ·´×ª£ºIN1=0, IN2=1 + GPIO_ResetBits(M_MOTOR_IN1_GPIO_PORT, M_MOTOR_IN1_GPIO_PIN); + GPIO_SetBits(M_MOTOR_IN2_GPIO_PORT, M_MOTOR_IN2_GPIO_PIN); + } else { + // Í£Ö¹£¨»¬ÐУ© + GPIO_ResetBits(M_MOTOR_IN1_GPIO_PORT, M_MOTOR_IN1_GPIO_PIN); + GPIO_ResetBits(M_MOTOR_IN2_GPIO_PORT, M_MOTOR_IN2_GPIO_PIN); + } + } + else { + // ֹͣ״̬ + GPIO_ResetBits(M_MOTOR_IN1_GPIO_PORT, M_MOTOR_IN1_GPIO_PIN); + GPIO_ResetBits(M_MOTOR_IN2_GPIO_PORT, M_MOTOR_IN2_GPIO_PIN); + } + } + + //-------------------------------------------------------------------------------- + { //ÓÒµç»úÔËÐÐ + R_pwm_counter++; + if (R_pwm_counter >= PWM_RESOLUTION) + { + R_pwm_counter = 0; + } + + // ¸ù¾ÝÕ¼¿Õ±ÈºÍ·½Ïò¿ØÖƵç»ú + if (R_motor_dir == MOTOR_FORWARD) + { + if (R_pwm_counter < R_pwm_duty) { + // Õýת£ºIN1=1, IN2=0 + GPIO_SetBits(R_MOTOR_IN1_GPIO_PORT, R_MOTOR_IN1_GPIO_PIN); + GPIO_ResetBits(R_MOTOR_IN2_GPIO_PORT, R_MOTOR_IN2_GPIO_PIN); + } else { + // Í£Ö¹£¨»¬ÐУ© + GPIO_ResetBits(R_MOTOR_IN1_GPIO_PORT, R_MOTOR_IN1_GPIO_PIN); + GPIO_ResetBits(R_MOTOR_IN2_GPIO_PORT, R_MOTOR_IN2_GPIO_PIN); + } + } + else if (R_motor_dir == MOTOR_REVERSE) + { + if (R_pwm_counter < R_pwm_duty) { + // ·´×ª£ºIN1=0, IN2=1 + GPIO_ResetBits(R_MOTOR_IN1_GPIO_PORT, R_MOTOR_IN1_GPIO_PIN); + GPIO_SetBits(R_MOTOR_IN2_GPIO_PORT, R_MOTOR_IN2_GPIO_PIN); + } else { + // Í£Ö¹£¨»¬ÐУ© + GPIO_ResetBits(R_MOTOR_IN1_GPIO_PORT, R_MOTOR_IN1_GPIO_PIN); + GPIO_ResetBits(R_MOTOR_IN2_GPIO_PORT, R_MOTOR_IN2_GPIO_PIN); + } + } + else { + // ֹͣ״̬ + GPIO_ResetBits(R_MOTOR_IN1_GPIO_PORT, R_MOTOR_IN1_GPIO_PIN); + GPIO_ResetBits(R_MOTOR_IN2_GPIO_PORT, R_MOTOR_IN2_GPIO_PIN); + } + } + //--------------------------------------------------------------------------------- + } } -// ÉèÖõç»úËٶȺͷ½Ïò -void Motor_SetSpeed(uint8_t speed, MotorState direction) { +//=========µç»úËٶȺͷ½ÏòÉèÖÃ================================================ +// ÉèÖÃ×óµç»úËٶȺͷ½Ïò +void L_Motor_SetSpeed(uint8_t speed, MotorState direction) +{ // ÏÞÖÆËٶȷ¶Î§ if (speed > 100) speed = 100; // Èç¹ûËÙ¶ÈΪ0»ò100%£¬Ö±½ÓʹÓûù´¡¿ØÖÆ if (speed == 0) { - motor_dir = MOTOR_STOP; - pwm_duty = 0; - Motor_Control(MOTOR_STOP); + L_motor_dir = MOTOR_STOP; + L_pwm_duty = 0; + L_Motor_Control(MOTOR_STOP); } else if (speed == 100) { - motor_dir = direction; - pwm_duty = 100; - Motor_Control(direction); + L_motor_dir = direction; + L_pwm_duty = 100; + L_Motor_Control(direction); } else { // ÉèÖÃPWM²ÎÊý - motor_dir = direction; - pwm_duty = speed; // Ö±½ÓʹÓÃ°Ù·Ö±È + L_motor_dir = direction; + L_pwm_duty = speed; // Ö±½ÓʹÓÃ°Ù·Ö±È } } + +// ÉèÖÃÖеç»úËٶȺͷ½Ïò +void M_Motor_SetSpeed(uint8_t speed, MotorState direction) +{ + // ÏÞÖÆËٶȷ¶Î§ + if (speed > 100) speed = 100; + + // Èç¹ûËÙ¶ÈΪ0»ò100%£¬Ö±½ÓʹÓûù´¡¿ØÖÆ + if (speed == 0) { + M_motor_dir = MOTOR_STOP; + M_pwm_duty = 0; + M_Motor_Control(MOTOR_STOP); + } + else if (speed == 100) { + M_motor_dir = direction; + M_pwm_duty = 100; + M_Motor_Control(direction); + } + else { + // ÉèÖÃPWM²ÎÊý + M_motor_dir = direction; + M_pwm_duty = speed; // Ö±½ÓʹÓÃ°Ù·Ö±È + } +} + +// ÉèÖÃÓÒµç»úËٶȺͷ½Ïò +void R_Motor_SetSpeed(uint8_t speed, MotorState direction) +{ + // ÏÞÖÆËٶȷ¶Î§ + if (speed > 100) speed = 100; + + // Èç¹ûËÙ¶ÈΪ0»ò100%£¬Ö±½ÓʹÓûù´¡¿ØÖÆ + if (speed == 0) { + R_motor_dir = MOTOR_STOP; + R_pwm_duty = 0; + R_Motor_Control(MOTOR_STOP); + } + else if (speed == 100) { + R_motor_dir = direction; + R_pwm_duty = 100; + R_Motor_Control(direction); + } + else { + // ÉèÖÃPWM²ÎÊý + R_motor_dir = direction; + R_pwm_duty = speed; // Ö±½ÓʹÓÃ°Ù·Ö±È + } +} +//=====================µç»úÖ±½Ó¿ØÖÆ================================================================ +// ×óµç»ú»ù´¡¿ØÖƺ¯Êý +void L_Motor_Control(MotorState state) + { + switch(state) { + case MOTOR_STOP: // IN1=0, IN2=0 + GPIO_ResetBits(L_MOTOR_IN1_GPIO_PORT, L_MOTOR_IN1_GPIO_PIN); + GPIO_ResetBits(L_MOTOR_IN2_GPIO_PORT, L_MOTOR_IN2_GPIO_PIN); + break; + + case MOTOR_FORWARD: // IN1=1, IN2=0 + GPIO_SetBits(L_MOTOR_IN1_GPIO_PORT, L_MOTOR_IN1_GPIO_PIN); + GPIO_ResetBits(L_MOTOR_IN2_GPIO_PORT, L_MOTOR_IN2_GPIO_PIN); + break; + + case MOTOR_REVERSE: // IN1=0, IN2=1 + GPIO_ResetBits(L_MOTOR_IN1_GPIO_PORT, L_MOTOR_IN1_GPIO_PIN); + GPIO_SetBits(L_MOTOR_IN2_GPIO_PORT, L_MOTOR_IN2_GPIO_PIN); + break; + + case MOTOR_BRAKE: // IN1=1, IN2=1 + GPIO_SetBits(L_MOTOR_IN1_GPIO_PORT, L_MOTOR_IN1_GPIO_PIN); + GPIO_SetBits(L_MOTOR_IN2_GPIO_PORT, L_MOTOR_IN2_GPIO_PIN); + break; + } +} + +// Öеç»ú»ù´¡¿ØÖƺ¯Êý +void M_Motor_Control(MotorState state) + { + switch(state) { + case MOTOR_STOP: // IN1=0, IN2=0 + GPIO_ResetBits(M_MOTOR_IN1_GPIO_PORT, M_MOTOR_IN1_GPIO_PIN); + GPIO_ResetBits(M_MOTOR_IN2_GPIO_PORT, M_MOTOR_IN2_GPIO_PIN); + break; + + case MOTOR_FORWARD: // IN1=1, IN2=0 + GPIO_SetBits(M_MOTOR_IN1_GPIO_PORT, M_MOTOR_IN1_GPIO_PIN); + GPIO_ResetBits(M_MOTOR_IN2_GPIO_PORT, M_MOTOR_IN2_GPIO_PIN); + break; + + case MOTOR_REVERSE: // IN1=0, IN2=1 + GPIO_ResetBits(M_MOTOR_IN1_GPIO_PORT, M_MOTOR_IN1_GPIO_PIN); + GPIO_SetBits(M_MOTOR_IN2_GPIO_PORT, M_MOTOR_IN2_GPIO_PIN); + break; + + case MOTOR_BRAKE: // IN1=1, IN2=1 + GPIO_SetBits(M_MOTOR_IN1_GPIO_PORT, M_MOTOR_IN1_GPIO_PIN); + GPIO_SetBits(M_MOTOR_IN2_GPIO_PORT, M_MOTOR_IN2_GPIO_PIN); + break; + } +} + +// ÓÒµç»ú»ù´¡¿ØÖƺ¯Êý +void R_Motor_Control(MotorState state) + { + switch(state) { + case MOTOR_STOP: // IN1=0, IN2=0 + GPIO_ResetBits(R_MOTOR_IN1_GPIO_PORT, R_MOTOR_IN1_GPIO_PIN); + GPIO_ResetBits(R_MOTOR_IN2_GPIO_PORT, R_MOTOR_IN2_GPIO_PIN); + break; + + case MOTOR_FORWARD: // IN1=1, IN2=0 + GPIO_SetBits(R_MOTOR_IN1_GPIO_PORT, R_MOTOR_IN1_GPIO_PIN); + GPIO_ResetBits(R_MOTOR_IN2_GPIO_PORT, R_MOTOR_IN2_GPIO_PIN); + break; + + case MOTOR_REVERSE: // IN1=0, IN2=1 + GPIO_ResetBits(R_MOTOR_IN1_GPIO_PORT, R_MOTOR_IN1_GPIO_PIN); + GPIO_SetBits(R_MOTOR_IN2_GPIO_PORT, R_MOTOR_IN2_GPIO_PIN); + break; + + case MOTOR_BRAKE: // IN1=1, IN2=1 + GPIO_SetBits(R_MOTOR_IN1_GPIO_PORT, R_MOTOR_IN1_GPIO_PIN); + GPIO_SetBits(R_MOTOR_IN2_GPIO_PORT, R_MOTOR_IN2_GPIO_PIN); + break; + } +} +//-------------------------------------------------------------------------------------------- +// »ñÈ¡¹ÊÕÏ״̬ +uint8_t L_Motor_GetFaultStatus(void) { + // FAULTNÒý½ÅΪµÍµçƽʱ±íʾ¹ÊÕÏ + if (GPIO_ReadInputDataBit(L_MOTOR_FAULT_GPIO_PORT, L_MOTOR_FAULT_GPIO_PIN) == Bit_RESET) { + return 1; // ¹ÊÕÏ + } + return 0; // Õý³£ +} + +// °²È«µÄ·½ÏòÇл»£¨±ÜÃâµçÁ÷³å»÷£© +void L_Motor_SafeDirectionChange(MotorState new_direction) { + // ÏÈɲ³µ + L_Motor_Control(MOTOR_BRAKE); + delay_ms(5); // 5msÑÓ³Ù + + // ÔÙÇл»µ½Ð·½Ïò + L_Motor_Control(new_direction); +} + + +// »ñÈ¡¹ÊÕÏ״̬ +uint8_t M_Motor_GetFaultStatus(void) { + // FAULTNÒý½ÅΪµÍµçƽʱ±íʾ¹ÊÕÏ + if (GPIO_ReadInputDataBit(M_MOTOR_FAULT_GPIO_PORT, M_MOTOR_FAULT_GPIO_PIN) == Bit_RESET) { + return 1; // ¹ÊÕÏ + } + return 0; // Õý³£ +} + +// °²È«µÄ·½ÏòÇл»£¨±ÜÃâµçÁ÷³å»÷£© +void M_Motor_SafeDirectionChange(MotorState new_direction) { + // ÏÈɲ³µ + M_Motor_Control(MOTOR_BRAKE); + delay_ms(5); // 5msÑÓ³Ù + + // ÔÙÇл»µ½Ð·½Ïò + M_Motor_Control(new_direction); +} + +// »ñÈ¡¹ÊÕÏ״̬ +uint8_t R_Motor_GetFaultStatus(void) { + // FAULTNÒý½ÅΪµÍµçƽʱ±íʾ¹ÊÕÏ + if (GPIO_ReadInputDataBit(R_MOTOR_FAULT_GPIO_PORT, R_MOTOR_FAULT_GPIO_PIN) == Bit_RESET) { + return 1; // ¹ÊÕÏ + } + return 0; // Õý³£ +} + +// °²È«µÄ·½ÏòÇл»£¨±ÜÃâµçÁ÷³å»÷£© +void R_Motor_SafeDirectionChange(MotorState new_direction) { + // ÏÈɲ³µ + R_Motor_Control(MOTOR_BRAKE); + delay_ms(5); // 5msÑÓ³Ù + + // ÔÙÇл»µ½Ð·½Ïò + R_Motor_Control(new_direction); +} \ No newline at end of file diff --git a/HARDWARE/MOTOR/motor_driver.h b/HARDWARE/MOTOR/motor_driver.h index 039eb27..aa94e65 100644 --- a/HARDWARE/MOTOR/motor_driver.h +++ b/HARDWARE/MOTOR/motor_driver.h @@ -7,18 +7,47 @@ #include "stm32f4xx_rcc.h" #include "stm32f4xx_tim.h" -// Òý½Å¶¨Òå -#define MOTOR_IN1_GPIO_PORT GPIOE -#define MOTOR_IN1_GPIO_PIN GPIO_Pin_9 -#define MOTOR_IN1_GPIO_CLK RCC_AHB1Periph_GPIOE +// µç»ú×ó Òý½Å¶¨Òå //PE9 PE13 PE4 +#define L_MOTOR_IN1_GPIO_PORT GPIOE +#define L_MOTOR_IN1_GPIO_PIN GPIO_Pin_9 +#define L_MOTOR_IN1_GPIO_CLK RCC_AHB1Periph_GPIOE -#define MOTOR_IN2_GPIO_PORT GPIOE -#define MOTOR_IN2_GPIO_PIN GPIO_Pin_13 -#define MOTOR_IN2_GPIO_CLK RCC_AHB1Periph_GPIOE +#define L_MOTOR_IN2_GPIO_PORT GPIOE +#define L_MOTOR_IN2_GPIO_PIN GPIO_Pin_13 +#define L_MOTOR_IN2_GPIO_CLK RCC_AHB1Periph_GPIOE -#define MOTOR_FAULT_GPIO_PORT GPIOE -#define MOTOR_FAULT_GPIO_PIN GPIO_Pin_4 -#define MOTOR_FAULT_GPIO_CLK RCC_AHB1Periph_GPIOE +#define L_MOTOR_FAULT_GPIO_PORT GPIOE +#define L_MOTOR_FAULT_GPIO_PIN GPIO_Pin_4 +#define L_MOTOR_FAULT_GPIO_CLK RCC_AHB1Periph_GPIOE + + + + +// µç»úÖÐ Òý½Å¶¨Òå //PB3 PE14 PE5 +#define M_MOTOR_IN1_GPIO_PORT GPIOB +#define M_MOTOR_IN1_GPIO_PIN GPIO_Pin_3 +#define M_MOTOR_IN1_GPIO_CLK RCC_AHB1Periph_GPIOB + +#define M_MOTOR_IN2_GPIO_PORT GPIOE +#define M_MOTOR_IN2_GPIO_PIN GPIO_Pin_14 +#define M_MOTOR_IN2_GPIO_CLK RCC_AHB1Periph_GPIOE + +#define M_MOTOR_FAULT_GPIO_PORT GPIOE +#define M_MOTOR_FAULT_GPIO_PIN GPIO_Pin_5 +#define M_MOTOR_FAULT_GPIO_CLK RCC_AHB1Periph_GPIOE + +// µç»úÓÒ Òý½Å¶¨Òå //PD15 PE15 PE6 +#define R_MOTOR_IN1_GPIO_PORT GPIOD +#define R_MOTOR_IN1_GPIO_PIN GPIO_Pin_15 +#define R_MOTOR_IN1_GPIO_CLK RCC_AHB1Periph_GPIOD + +#define R_MOTOR_IN2_GPIO_PORT GPIOE +#define R_MOTOR_IN2_GPIO_PIN GPIO_Pin_15 +#define R_MOTOR_IN2_GPIO_CLK RCC_AHB1Periph_GPIOE + +#define R_MOTOR_FAULT_GPIO_PORT GPIOE +#define R_MOTOR_FAULT_GPIO_PIN GPIO_Pin_6 +#define R_MOTOR_FAULT_GPIO_CLK RCC_AHB1Periph_GPIOE // µç»ú״̬ typedef enum { @@ -34,5 +63,7 @@ void Motor_Control(MotorState state); uint8_t Motor_GetFaultStatus(void); void Motor_SetSpeed(uint8_t speed, MotorState direction); void PWM_Timer_Init(void); - +void L_Motor_Control(MotorState state); +void M_Motor_Control(MotorState state); +void R_Motor_Control(MotorState state); #endif /* 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zo7H%07HDhrx?3^odVI4Qtggjt$K9Y=^j9~l3G(h}{hQ6|AnQeV_jp*3+oC4e77c;# z?fRrGYP@anOIWfUsyD-Jed{>3Q0q5?CFsK-CLPYU=+A6X<81qJMB@2g`e)$jwP~_d z+JoHsJ%8wB4%z;Z`;L F{{V`LeKr69 diff --git a/OBJ/USART.build_log.htm b/OBJ/USART.build_log.htm index ad92669..ae1878f 100644 --- a/OBJ/USART.build_log.htm +++ b/OBJ/USART.build_log.htm @@ -3,45 +3,48 @@ 
 
µVision Build Log

 
Tool Versions:

-IDE-Version: ¦ÌVision V5.25.3.0
-Copyright (C) 2018 ARM Ltd and ARM Germany GmbH. All rights reserved.
-License Information: cgy cgy, cgy, LIC=CRMFW-QWL2E-RC0JZ-J6WMG-6WJZU-2F249
+IDE-Version: ¦ÌVision V5.38.0.0
+Copyright (C) 2022 ARM Ltd and ARM Germany GmbH. All rights reserved.
+License Information: baibaila3 baibaila3@163.com, keil, LIC=47GU5-GE5WI-JJF6S-L5PAY-BRK7N-23XAJ
  
 Tool Versions:
-Toolchain:       MDK-ARM Professional  Version: 5.15.0
+Toolchain:       MDK-ARM Plus  Version: 5.22
 Toolchain Path:  C:\Keil_v5\ARM\ARMCC\Bin
-C Compiler:      Armcc.exe V5.05 update 2 (build 169)
-Assembler:       Armasm.exe V5.05 update 2 (build 169)
-Linker/Locator:  ArmLink.exe V5.05 update 2 (build 169)
-Library Manager: ArmAr.exe V5.05 update 2 (build 169)
-Hex Converter:   FromElf.exe V5.05 update 2 (build 169)
-CPU DLL:         SARMCM3.DLL V5.15.0
-Dialog DLL:      DCM.DLL V1.13.2.0
-Target DLL:      STLink\ST-LINKIII-KEIL_SWO.dll V2.0.15.0_KEIL
-Dialog DLL:      TCM.DLL V1.14.5.0
+C Compiler:      Armcc.exe V5.06 update 4 (build 422)
+Assembler:       Armasm.exe V5.06 update 4 (build 422)
+Linker/Locator:  ArmLink.exe V5.06 update 4 (build 422)
+Library Manager: ArmAr.exe V5.06 update 4 (build 422)
+Hex Converter:   FromElf.exe V5.06 update 4 (build 422)
+CPU DLL:         SARMCM3.DLL V5.22
+Dialog DLL:      DCM.DLL V1.13.9.0
+Target DLL:      STLink\ST-LINKIII-KEIL_SWO.dll V2.0.18.0
+Dialog DLL:      TCM.DLL V1.21.0.0
  
 
Project:

-D:\fighterteam\project\gu\make\code\sensor_2026\sensor_2026\USER\USART.uvprojx
-Project File Date:  02/11/2026
+E:\CGY_2026\GIT\sensor_2026 - ¸±±¾\USER\USART.uvprojx
+Project File Date:  02/22/2026
 
 
Output:

-*** Using Compiler 'V5.05 update 2 (build 169)', folder: 'C:\Keil_v5\ARM\ARMCC\Bin'
+*** Using Compiler 'V5.06 update 4 (build 422)', folder: 'C:\Keil_v5\ARM\ARMCC\Bin'
 Build target 'USART'
+compiling main.c...
+linking...
+Program Size: Code=6820 RO-data=424 RW-data=120 ZI-data=1024  
+FromELF: creating hex file...
 "..\OBJ\USART.axf" - 0 Error(s), 0 Warning(s).
 
 
Software Packages used:

 
 Package Vendor: Keil
-                http://www.keil.com/pack/Keil.STM32F4xx_DFP.2.14.0.pack
-                Keil.STM32F4xx_DFP.2.14.0
+                http://www.keil.com/pack/Keil.STM32F4xx_DFP.2.11.0.pack
+                Keil.STM32F4xx_DFP.2.11.0
                 STMicroelectronics STM32F4 Series Device Support, Drivers and Examples
 
 
Collection of Component include folders:

-  .\RTE\_USART
-  C:\Keil_v5\ARM\PACK\Keil\STM32F4xx_DFP\2.14.0\Drivers\CMSIS\Device\ST\STM32F4xx\Include
+  C:/Keil_v5/ARM/PACK/Keil/STM32F4xx_DFP/2.11.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include
 
 
Collection of Component Files used:

-Build Time Elapsed:  00:00:00
+Build Time Elapsed:  00:00:01
diff --git a/OBJ/USART.htm b/OBJ/USART.htm index 0d343fa..460a8d2 100644 --- a/OBJ/USART.htm +++ b/OBJ/USART.htm @@ -3,7 +3,7 @@ Static Call Graph - [..\OBJ\USART.axf]

Static Call Graph for image ..\OBJ\USART.axf

-

#<CALLGRAPH># ARM Linker, 5050169: Last Updated: Wed Feb 11 09:09:32 2026 +

#<CALLGRAPH># ARM Linker, 5060422: Last Updated: Wed Feb 25 11:07:10 2026

Maximum Stack Usage = 124 bytes + Unknown(Cycles, Untraceable Function Pointers)

Call chain for Maximum Stack Depth:

@@ -111,7 +111,6 @@ Function Pointers
  • UsageFault_Handler from stm32f4xx_it.o(i.UsageFault_Handler) referenced from startup_stm32f40_41xxx.o(RESET)
  • WWDG_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  • __main from entry.o(.ARM.Collect$$$$00000000) referenced from startup_stm32f40_41xxx.o(.text) -
  • fputc from usart.o(i.fputc) referenced from printfb.o(i.__0printf$bare)
  • main from main.o(i.main) referenced from entry9a.o(.ARM.Collect$$$$0000000B)

    @@ -121,25 +120,25 @@ Global Symbols

    __main (Thumb, 0 bytes, Stack size unknown bytes, entry.o(.ARM.Collect$$$$00000000))
    [Address Reference Count : 1]

    • startup_stm32f40_41xxx.o(.text)
    -

    _main_stk (Thumb, 0 bytes, Stack size unknown bytes, entry2.o(.ARM.Collect$$$$00000001)) +

    _main_stk (Thumb, 0 bytes, Stack size unknown bytes, entry2.o(.ARM.Collect$$$$00000001)) -

    _main_scatterload (Thumb, 0 bytes, Stack size unknown bytes, entry5.o(.ARM.Collect$$$$00000004)) -

    [Calls]

    • >>   __scatterload +

      _main_scatterload (Thumb, 0 bytes, Stack size unknown bytes, entry5.o(.ARM.Collect$$$$00000004)) +

      [Calls]

      • >>   __scatterload
      -

      __main_after_scatterload (Thumb, 0 bytes, Stack size unknown bytes, entry5.o(.ARM.Collect$$$$00000004)) -

      [Called By]

      • >>   __scatterload +

        __main_after_scatterload (Thumb, 0 bytes, Stack size unknown bytes, entry5.o(.ARM.Collect$$$$00000004)) +

        [Called By]

        • >>   __scatterload
        -

        _main_clock (Thumb, 0 bytes, Stack size unknown bytes, entry7b.o(.ARM.Collect$$$$00000008)) +

        _main_clock (Thumb, 0 bytes, Stack size unknown bytes, entry7b.o(.ARM.Collect$$$$00000008)) -

        _main_cpp_init (Thumb, 0 bytes, Stack size unknown bytes, entry8b.o(.ARM.Collect$$$$0000000A)) +

        _main_cpp_init (Thumb, 0 bytes, Stack size unknown bytes, entry8b.o(.ARM.Collect$$$$0000000A)) -

        _main_init (Thumb, 0 bytes, Stack size unknown bytes, entry9a.o(.ARM.Collect$$$$0000000B)) +

        _main_init (Thumb, 0 bytes, Stack size unknown bytes, entry9a.o(.ARM.Collect$$$$0000000B)) -

        __rt_final_cpp (Thumb, 0 bytes, Stack size unknown bytes, entry10a.o(.ARM.Collect$$$$0000000D)) +

        __rt_final_cpp (Thumb, 0 bytes, Stack size unknown bytes, entry10a.o(.ARM.Collect$$$$0000000D)) -

        __rt_final_exit (Thumb, 0 bytes, Stack size unknown bytes, entry11a.o(.ARM.Collect$$$$0000000F)) +

        __rt_final_exit (Thumb, 0 bytes, Stack size unknown bytes, entry11a.o(.ARM.Collect$$$$0000000F))

        Reset_Handler (Thumb, 8 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
        [Address Reference Count : 1]

        • startup_stm32f40_41xxx.o(RESET) @@ -367,31 +366,31 @@ Global Symbols

          WWDG_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
          [Address Reference Count : 1]

          • startup_stm32f40_41xxx.o(RESET)
          -

          __scatterload (Thumb, 28 bytes, Stack size 0 bytes, init.o(.text)) -

          [Calls]

          • >>   __main_after_scatterload +

            __scatterload (Thumb, 28 bytes, Stack size 0 bytes, init.o(.text)) +

            [Calls]

            • >>   __main_after_scatterload
            -
            [Called By]
            • >>   _main_scatterload +
              [Called By]
              • >>   _main_scatterload
              -

              __scatterload_rt2 (Thumb, 0 bytes, Stack size 0 bytes, init.o(.text), UNUSED) +

              __scatterload_rt2 (Thumb, 0 bytes, Stack size 0 bytes, init.o(.text), UNUSED)

              BusFault_Handler (Thumb, 4 bytes, Stack size 0 bytes, stm32f4xx_it.o(i.BusFault_Handler))
              [Address Reference Count : 1]

              • startup_stm32f40_41xxx.o(RESET)
              -

              DRV8832_GPIO_Init (Thumb, 94 bytes, Stack size 16 bytes, motor_driver.o(i.DRV8832_GPIO_Init)) +

              DRV8832_GPIO_Init (Thumb, 346 bytes, Stack size 16 bytes, motor_driver.o(i.DRV8832_GPIO_Init))

              [Stack]

              • Max Depth = 36
              • Call Chain = DRV8832_GPIO_Init ⇒ GPIO_Init
              -
              [Calls]
              • >>   RCC_AHB1PeriphClockCmd -
              • >>   GPIO_Init -
              • >>   GPIO_ResetBits +
                [Calls]
                • >>   RCC_AHB1PeriphClockCmd +
                • >>   GPIO_Init +
                • >>   GPIO_ResetBits
                -
                [Called By]
                • >>   DRV8832_Init +
                  [Called By]
                  • >>   DRV8832_Init
                  -

                  DRV8832_Init (Thumb, 8 bytes, Stack size 8 bytes, motor_driver.o(i.DRV8832_Init)) +

                  DRV8832_Init (Thumb, 8 bytes, Stack size 8 bytes, motor_driver.o(i.DRV8832_Init))

                  [Stack]

                  • Max Depth = 44
                  • Call Chain = DRV8832_Init ⇒ DRV8832_GPIO_Init ⇒ GPIO_Init
                  -
                  [Calls]
                  • >>   DRV8832_GPIO_Init +
                    [Calls]
                    • >>   DRV8832_GPIO_Init

                    [Called By]
                    • >>   main
                    @@ -399,172 +398,181 @@ Global Symbols

                    DebugMon_Handler (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_it.o(i.DebugMon_Handler))
                    [Address Reference Count : 1]

                    • startup_stm32f40_41xxx.o(RESET)
                    -

                    GPIO_Init (Thumb, 144 bytes, Stack size 20 bytes, stm32f4xx_gpio.o(i.GPIO_Init)) +

                    GPIO_Init (Thumb, 144 bytes, Stack size 20 bytes, stm32f4xx_gpio.o(i.GPIO_Init))

                    [Stack]

                    • Max Depth = 20
                    • Call Chain = GPIO_Init
                    -
                    [Called By]
                    • >>   uart6_init -
                    • >>   uart5_init -
                    • >>   uart4_init -
                    • >>   uart3_init -
                    • >>   uart2_init -
                    • >>   uart1_init -
                    • >>   motor_spi2_init -
                    • >>   motor_spi1_init -
                    • >>   gpio_Init -
                    • >>   TIM4_PWM_Init -
                    • >>   TIM1_PWM_Init -
                    • >>   DRV8832_GPIO_Init +
                      [Called By]
                      • >>   uart6_init +
                      • >>   uart5_init +
                      • >>   uart4_init +
                      • >>   uart3_init +
                      • >>   uart2_init +
                      • >>   uart1_init +
                      • >>   motor_spi2_init +
                      • >>   motor_spi1_init +
                      • >>   gpio_Init +
                      • >>   DRV8832_GPIO_Init
                      -

                      GPIO_PinAFConfig (Thumb, 70 bytes, Stack size 20 bytes, stm32f4xx_gpio.o(i.GPIO_PinAFConfig)) +

                      GPIO_PinAFConfig (Thumb, 70 bytes, Stack size 20 bytes, stm32f4xx_gpio.o(i.GPIO_PinAFConfig))

                      [Stack]

                      • Max Depth = 20
                      • Call Chain = GPIO_PinAFConfig
                      -
                      [Called By]
                      • >>   uart6_init -
                      • >>   uart5_init -
                      • >>   uart4_init -
                      • >>   uart3_init -
                      • >>   uart2_init -
                      • >>   uart1_init -
                      • >>   motor_spi2_init -
                      • >>   motor_spi1_init -
                      • >>   TIM4_PWM_Init -
                      • >>   TIM1_PWM_Init +
                        [Called By]
                        • >>   uart6_init +
                        • >>   uart5_init +
                        • >>   uart4_init +
                        • >>   uart3_init +
                        • >>   uart2_init +
                        • >>   uart1_init +
                        • >>   motor_spi2_init +
                        • >>   motor_spi1_init
                        -

                        GPIO_ResetBits (Thumb, 4 bytes, Stack size 0 bytes, stm32f4xx_gpio.o(i.GPIO_ResetBits)) -

                        [Called By]

                        • >>   TIM4_PWM_Init -
                        • >>   TIM1_PWM_Init +

                          GPIO_ResetBits (Thumb, 4 bytes, Stack size 0 bytes, stm32f4xx_gpio.o(i.GPIO_ResetBits)) +

                          [Called By]

                          • >>   R_Motor_Control +
                          • >>   M_Motor_Control +
                          • >>   L_Motor_Control
                          • >>   TIM2_IRQHandler -
                          • >>   DRV8832_GPIO_Init +
                          • >>   DRV8832_GPIO_Init
                          -

                          GPIO_SetBits (Thumb, 4 bytes, Stack size 0 bytes, stm32f4xx_gpio.o(i.GPIO_SetBits)) -

                          [Called By]

                          • >>   TIM2_IRQHandler +

                            GPIO_SetBits (Thumb, 4 bytes, Stack size 0 bytes, stm32f4xx_gpio.o(i.GPIO_SetBits)) +

                            [Called By]

                            • >>   R_Motor_Control +
                            • >>   M_Motor_Control +
                            • >>   L_Motor_Control +
                            • >>   TIM2_IRQHandler

                            HardFault_Handler (Thumb, 4 bytes, Stack size 0 bytes, stm32f4xx_it.o(i.HardFault_Handler))
                            [Address Reference Count : 1]

                            • startup_stm32f40_41xxx.o(RESET)
                            +

                            L_Motor_Control (Thumb, 112 bytes, Stack size 8 bytes, motor_driver.o(i.L_Motor_Control)) +

                            [Stack]

                            • Max Depth = 8
                            • Call Chain = L_Motor_Control +
                            +
                            [Calls]
                            • >>   GPIO_SetBits +
                            • >>   GPIO_ResetBits +
                            +
                            [Called By]
                            • >>   main +
                            + +

                            M_Motor_Control (Thumb, 104 bytes, Stack size 8 bytes, motor_driver.o(i.M_Motor_Control)) +

                            [Stack]

                            • Max Depth = 8
                            • Call Chain = M_Motor_Control +
                            +
                            [Calls]
                            • >>   GPIO_SetBits +
                            • >>   GPIO_ResetBits +
                            +
                            [Called By]
                            • >>   main +
                            +

                            MemManage_Handler (Thumb, 4 bytes, Stack size 0 bytes, stm32f4xx_it.o(i.MemManage_Handler))
                            [Address Reference Count : 1]

                            • startup_stm32f40_41xxx.o(RESET)

                            NMI_Handler (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_it.o(i.NMI_Handler))
                            [Address Reference Count : 1]

                            • startup_stm32f40_41xxx.o(RESET)
                            -

                            NVIC_Init (Thumb, 106 bytes, Stack size 16 bytes, misc.o(i.NVIC_Init)) +

                            NVIC_Init (Thumb, 106 bytes, Stack size 16 bytes, misc.o(i.NVIC_Init))

                            [Stack]

                            • Max Depth = 16
                            • Call Chain = NVIC_Init
                            -
                            [Called By]
                            • >>   uart6_init -
                            • >>   uart5_init -
                            • >>   uart4_init -
                            • >>   uart3_init -
                            • >>   uart2_init -
                            • >>   uart1_init -
                            • >>   PWM_Timer_Init +
                              [Called By]
                              • >>   uart6_init +
                              • >>   uart5_init +
                              • >>   uart4_init +
                              • >>   uart3_init +
                              • >>   uart2_init +
                              • >>   uart1_init
                              -

                              NVIC_PriorityGroupConfig (Thumb, 10 bytes, Stack size 0 bytes, misc.o(i.NVIC_PriorityGroupConfig)) +

                              NVIC_PriorityGroupConfig (Thumb, 10 bytes, Stack size 0 bytes, misc.o(i.NVIC_PriorityGroupConfig))

                              [Called By]

                              • >>   main
                              -

                              PWM_Timer_Init (Thumb, 98 bytes, Stack size 24 bytes, motor_driver.o(i.PWM_Timer_Init)) -

                              [Stack]

                              • Max Depth = 40
                              • Call Chain = PWM_Timer_Init ⇒ NVIC_Init -
                              -
                              [Calls]
                              • >>   TIM_Cmd -
                              • >>   TIM_TimeBaseInit -
                              • >>   TIM_ITConfig -
                              • >>   RCC_APB1PeriphClockCmd -
                              • >>   NVIC_Init -
                              -
                              [Called By]
                              • >>   main -
                              -

                              PendSV_Handler (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_it.o(i.PendSV_Handler))
                              [Address Reference Count : 1]

                              • startup_stm32f40_41xxx.o(RESET)
                              -

                              RCC_AHB1PeriphClockCmd (Thumb, 26 bytes, Stack size 0 bytes, stm32f4xx_rcc.o(i.RCC_AHB1PeriphClockCmd)) -

                              [Called By]

                              • >>   uart6_init -
                              • >>   uart5_init -
                              • >>   uart4_init -
                              • >>   uart3_init -
                              • >>   uart2_init -
                              • >>   uart1_init -
                              • >>   motor_spi2_init -
                              • >>   motor_spi1_init -
                              • >>   gpio_Init -
                              • >>   TIM4_PWM_Init -
                              • >>   TIM1_PWM_Init -
                              • >>   DRV8832_GPIO_Init +

                                RCC_AHB1PeriphClockCmd (Thumb, 26 bytes, Stack size 0 bytes, stm32f4xx_rcc.o(i.RCC_AHB1PeriphClockCmd)) +

                                [Called By]

                                • >>   uart6_init +
                                • >>   uart5_init +
                                • >>   uart4_init +
                                • >>   uart3_init +
                                • >>   uart2_init +
                                • >>   uart1_init +
                                • >>   motor_spi2_init +
                                • >>   motor_spi1_init +
                                • >>   gpio_Init +
                                • >>   DRV8832_GPIO_Init
                                -

                                RCC_APB1PeriphClockCmd (Thumb, 26 bytes, Stack size 0 bytes, stm32f4xx_rcc.o(i.RCC_APB1PeriphClockCmd)) -

                                [Called By]

                                • >>   uart5_init -
                                • >>   uart4_init -
                                • >>   uart3_init -
                                • >>   uart2_init -
                                • >>   TIM4_PWM_Init -
                                • >>   PWM_Timer_Init +

                                  RCC_APB1PeriphClockCmd (Thumb, 26 bytes, Stack size 0 bytes, stm32f4xx_rcc.o(i.RCC_APB1PeriphClockCmd)) +

                                  [Called By]

                                  • >>   uart5_init +
                                  • >>   uart4_init +
                                  • >>   uart3_init +
                                  • >>   uart2_init
                                  -

                                  RCC_APB2PeriphClockCmd (Thumb, 26 bytes, Stack size 0 bytes, stm32f4xx_rcc.o(i.RCC_APB2PeriphClockCmd)) -

                                  [Called By]

                                  • >>   uart6_init -
                                  • >>   uart1_init -
                                  • >>   motor_spi2_init -
                                  • >>   motor_spi1_init -
                                  • >>   TIM1_PWM_Init +

                                    RCC_APB2PeriphClockCmd (Thumb, 26 bytes, Stack size 0 bytes, stm32f4xx_rcc.o(i.RCC_APB2PeriphClockCmd)) +

                                    [Called By]

                                    • >>   uart6_init +
                                    • >>   uart1_init +
                                    • >>   motor_spi2_init +
                                    • >>   motor_spi1_init
                                    -

                                    RCC_APB2PeriphResetCmd (Thumb, 26 bytes, Stack size 0 bytes, stm32f4xx_rcc.o(i.RCC_APB2PeriphResetCmd)) -

                                    [Called By]

                                    • >>   motor_spi2_init -
                                    • >>   motor_spi1_init +

                                      RCC_APB2PeriphResetCmd (Thumb, 26 bytes, Stack size 0 bytes, stm32f4xx_rcc.o(i.RCC_APB2PeriphResetCmd)) +

                                      [Called By]

                                      • >>   motor_spi2_init +
                                      • >>   motor_spi1_init
                                      -

                                      RCC_GetClocksFreq (Thumb, 214 bytes, Stack size 20 bytes, stm32f4xx_rcc.o(i.RCC_GetClocksFreq)) +

                                      RCC_GetClocksFreq (Thumb, 214 bytes, Stack size 20 bytes, stm32f4xx_rcc.o(i.RCC_GetClocksFreq))

                                      [Stack]

                                      • Max Depth = 20
                                      • Call Chain = RCC_GetClocksFreq
                                      -
                                      [Called By]
                                      • >>   USART_Init +
                                        [Called By]
                                        • >>   USART_Init
                                        -

                                        SPI1_ReadWriteByte (Thumb, 50 bytes, Stack size 8 bytes, spi.o(i.SPI1_ReadWriteByte)) +

                                        R_Motor_Control (Thumb, 112 bytes, Stack size 8 bytes, motor_driver.o(i.R_Motor_Control)) +

                                        [Stack]

                                        • Max Depth = 8
                                        • Call Chain = R_Motor_Control +
                                        +
                                        [Calls]
                                        • >>   GPIO_SetBits +
                                        • >>   GPIO_ResetBits +
                                        +
                                        [Called By]
                                        • >>   main +
                                        + +

                                        SPI1_ReadWriteByte (Thumb, 50 bytes, Stack size 8 bytes, spi.o(i.SPI1_ReadWriteByte))

                                        [Stack]

                                        • Max Depth = 8
                                        • Call Chain = SPI1_ReadWriteByte
                                        -
                                        [Calls]
                                        • >>   SPI_I2S_SendData -
                                        • >>   SPI_I2S_ReceiveData -
                                        • >>   SPI_I2S_GetFlagStatus +
                                          [Calls]
                                          • >>   SPI_I2S_SendData +
                                          • >>   SPI_I2S_ReceiveData +
                                          • >>   SPI_I2S_GetFlagStatus
                                          -
                                          [Called By]
                                          • >>   motor_spi2_init -
                                          • >>   motor_spi1_init +
                                            [Called By]
                                            • >>   motor_spi2_init +
                                            • >>   motor_spi1_init
                                            -

                                            SPI_Cmd (Thumb, 24 bytes, Stack size 0 bytes, stm32f4xx_spi.o(i.SPI_Cmd)) -

                                            [Called By]

                                            • >>   motor_spi2_init -
                                            • >>   motor_spi1_init +

                                              SPI_Cmd (Thumb, 24 bytes, Stack size 0 bytes, stm32f4xx_spi.o(i.SPI_Cmd)) +

                                              [Called By]

                                              • >>   motor_spi2_init +
                                              • >>   motor_spi1_init
                                              -

                                              SPI_I2S_GetFlagStatus (Thumb, 18 bytes, Stack size 0 bytes, stm32f4xx_spi.o(i.SPI_I2S_GetFlagStatus)) -

                                              [Called By]

                                              • >>   SPI1_ReadWriteByte +

                                                SPI_I2S_GetFlagStatus (Thumb, 18 bytes, Stack size 0 bytes, stm32f4xx_spi.o(i.SPI_I2S_GetFlagStatus)) +

                                                [Called By]

                                                • >>   SPI1_ReadWriteByte
                                                -

                                                SPI_I2S_ReceiveData (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_spi.o(i.SPI_I2S_ReceiveData)) -

                                                [Called By]

                                                • >>   SPI1_ReadWriteByte +

                                                  SPI_I2S_ReceiveData (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_spi.o(i.SPI_I2S_ReceiveData)) +

                                                  [Called By]

                                                  • >>   SPI1_ReadWriteByte
                                                  -

                                                  SPI_I2S_SendData (Thumb, 4 bytes, Stack size 0 bytes, stm32f4xx_spi.o(i.SPI_I2S_SendData)) -

                                                  [Called By]

                                                  • >>   SPI1_ReadWriteByte +

                                                    SPI_I2S_SendData (Thumb, 4 bytes, Stack size 0 bytes, stm32f4xx_spi.o(i.SPI_I2S_SendData)) +

                                                    [Called By]

                                                    • >>   SPI1_ReadWriteByte
                                                    -

                                                    SPI_Init (Thumb, 60 bytes, Stack size 8 bytes, stm32f4xx_spi.o(i.SPI_Init)) +

                                                    SPI_Init (Thumb, 60 bytes, Stack size 8 bytes, stm32f4xx_spi.o(i.SPI_Init))

                                                    [Stack]

                                                    • Max Depth = 8
                                                    • Call Chain = SPI_Init
                                                    -
                                                    [Called By]
                                                    • >>   motor_spi2_init -
                                                    • >>   motor_spi1_init +
                                                      [Called By]
                                                      • >>   motor_spi2_init +
                                                      • >>   motor_spi1_init

                                                      SVC_Handler (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_it.o(i.SVC_Handler))
                                                      [Address Reference Count : 1]

                                                      • startup_stm32f40_41xxx.o(RESET)
                                                      -

                                                      SysTick_CLKSourceConfig (Thumb, 40 bytes, Stack size 0 bytes, misc.o(i.SysTick_CLKSourceConfig)) -

                                                      [Called By]

                                                      • >>   delay_init +

                                                        SysTick_CLKSourceConfig (Thumb, 40 bytes, Stack size 0 bytes, misc.o(i.SysTick_CLKSourceConfig)) +

                                                        [Called By]

                                                        • >>   delay_init

                                                        SysTick_Handler (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_it.o(i.SysTick_Handler)) @@ -573,33 +581,17 @@ Global Symbols

                                                        SystemInit (Thumb, 88 bytes, Stack size 8 bytes, system_stm32f4xx.o(i.SystemInit))

                                                        [Stack]

                                                        • Max Depth = 20
                                                        • Call Chain = SystemInit ⇒ SetSysClock
                                                        -
                                                        [Calls]
                                                        • >>   SetSysClock +
                                                          [Calls]
                                                          • >>   SetSysClock

                                                          [Address Reference Count : 1]
                                                          • startup_stm32f40_41xxx.o(.text)
                                                          -

                                                          TIM1_PWM_Init (Thumb, 156 bytes, Stack size 56 bytes, timer.o(i.TIM1_PWM_Init)) -

                                                          [Stack]

                                                          • Max Depth = 76
                                                          • Call Chain = TIM1_PWM_Init ⇒ GPIO_Init -
                                                          -
                                                          [Calls]
                                                          • >>   RCC_APB2PeriphClockCmd -
                                                          • >>   RCC_AHB1PeriphClockCmd -
                                                          • >>   GPIO_Init -
                                                          • >>   GPIO_ResetBits -
                                                          • >>   TIM_TimeBaseInit -
                                                          • >>   TIM_OC1PreloadConfig -
                                                          • >>   TIM_OC1Init -
                                                          • >>   TIM_ARRPreloadConfig -
                                                          • >>   GPIO_PinAFConfig -
                                                          -
                                                          [Called By]
                                                          • >>   main -
                                                          - -

                                                          TIM2_IRQHandler (Thumb, 194 bytes, Stack size 8 bytes, motor_driver.o(i.TIM2_IRQHandler)) +

                                                          TIM2_IRQHandler (Thumb, 526 bytes, Stack size 8 bytes, motor_driver.o(i.TIM2_IRQHandler))

                                                          [Stack]

                                                          • Max Depth = 20
                                                          • Call Chain = TIM2_IRQHandler ⇒ TIM_GetITStatus
                                                          -
                                                          [Calls]
                                                          • >>   GPIO_SetBits -
                                                          • >>   GPIO_ResetBits -
                                                          • >>   TIM_GetITStatus -
                                                          • >>   TIM_ClearITPendingBit +
                                                            [Calls]
                                                            • >>   GPIO_SetBits +
                                                            • >>   GPIO_ResetBits +
                                                            • >>   TIM_GetITStatus +
                                                            • >>   TIM_ClearITPendingBit

                                                            [Address Reference Count : 1]
                                                            • startup_stm32f40_41xxx.o(RESET)
                                                            @@ -609,64 +601,16 @@ Global Symbols

                                                            TIM4_IRQHandler (Thumb, 2 bytes, Stack size 0 bytes, timer.o(i.TIM4_IRQHandler))
                                                            [Address Reference Count : 1]

                                                            • startup_stm32f40_41xxx.o(RESET)
                                                            -

                                                            TIM4_PWM_Init (Thumb, 156 bytes, Stack size 56 bytes, timer.o(i.TIM4_PWM_Init)) -

                                                            [Stack]

                                                            • Max Depth = 76
                                                            • Call Chain = TIM4_PWM_Init ⇒ GPIO_Init -
                                                            -
                                                            [Calls]
                                                            • >>   RCC_AHB1PeriphClockCmd -
                                                            • >>   GPIO_Init -
                                                            • >>   GPIO_ResetBits -
                                                            • >>   TIM_TimeBaseInit -
                                                            • >>   TIM_OC1PreloadConfig -
                                                            • >>   TIM_OC1Init -
                                                            • >>   TIM_ARRPreloadConfig -
                                                            • >>   RCC_APB1PeriphClockCmd -
                                                            • >>   GPIO_PinAFConfig -
                                                            -
                                                            [Called By]
                                                            • >>   main -
                                                            - -

                                                            TIM_ARRPreloadConfig (Thumb, 24 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_ARRPreloadConfig)) -

                                                            [Called By]

                                                            • >>   TIM4_PWM_Init -
                                                            • >>   TIM1_PWM_Init -
                                                            - -

                                                            TIM_ClearITPendingBit (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_ClearITPendingBit)) +

                                                            TIM_ClearITPendingBit (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_ClearITPendingBit))

                                                            [Called By]

                                                            • >>   TIM2_IRQHandler
                                                            -

                                                            TIM_Cmd (Thumb, 24 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_Cmd)) -

                                                            [Called By]

                                                            • >>   PWM_Timer_Init -
                                                            • >>   main -
                                                            - -

                                                            TIM_GetITStatus (Thumb, 34 bytes, Stack size 12 bytes, stm32f4xx_tim.o(i.TIM_GetITStatus)) +

                                                            TIM_GetITStatus (Thumb, 34 bytes, Stack size 12 bytes, stm32f4xx_tim.o(i.TIM_GetITStatus))

                                                            [Stack]

                                                            • Max Depth = 12
                                                            • Call Chain = TIM_GetITStatus

                                                            [Called By]
                                                            • >>   TIM2_IRQHandler
                                                            -

                                                            TIM_ITConfig (Thumb, 18 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_ITConfig)) -

                                                            [Called By]

                                                            • >>   PWM_Timer_Init -
                                                            - -

                                                            TIM_OC1Init (Thumb, 114 bytes, Stack size 16 bytes, stm32f4xx_tim.o(i.TIM_OC1Init)) -

                                                            [Stack]

                                                            • Max Depth = 16
                                                            • Call Chain = TIM_OC1Init -
                                                            -
                                                            [Called By]
                                                            • >>   TIM4_PWM_Init -
                                                            • >>   TIM1_PWM_Init -
                                                            - -

                                                            TIM_OC1PreloadConfig (Thumb, 18 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_OC1PreloadConfig)) -

                                                            [Called By]

                                                            • >>   TIM4_PWM_Init -
                                                            • >>   TIM1_PWM_Init -
                                                            - -

                                                            TIM_TimeBaseInit (Thumb, 104 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_TimeBaseInit)) -

                                                            [Called By]

                                                            • >>   TIM4_PWM_Init -
                                                            • >>   TIM1_PWM_Init -
                                                            • >>   PWM_Timer_Init -
                                                            -

                                                            UART4_IRQHandler (Thumb, 2 bytes, Stack size 0 bytes, usart.o(i.UART4_IRQHandler))
                                                            [Address Reference Count : 1]

                                                            • startup_stm32f40_41xxx.o(RESET)
                                                            @@ -676,40 +620,40 @@ Global Symbols

                                                            USART1_IRQHandler (Thumb, 144 bytes, Stack size 8 bytes, usart.o(i.USART1_IRQHandler))

                                                            [Stack]

                                                            • Max Depth = 24
                                                            • Call Chain = USART1_IRQHandler ⇒ USART_GetITStatus
                                                            -
                                                            [Calls]
                                                            • >>   USART_ReceiveData -
                                                            • >>   USART_GetITStatus -
                                                            • >>   USART_ClearITPendingBit +
                                                              [Calls]
                                                              • >>   USART_ReceiveData +
                                                              • >>   USART_GetITStatus +
                                                              • >>   USART_ClearITPendingBit

                                                              [Address Reference Count : 1]
                                                              • startup_stm32f40_41xxx.o(RESET)

                                                              USART2_IRQHandler (Thumb, 144 bytes, Stack size 8 bytes, usart.o(i.USART2_IRQHandler))

                                                              [Stack]

                                                              • Max Depth = 24
                                                              • Call Chain = USART2_IRQHandler ⇒ USART_GetITStatus
                                                              -
                                                              [Calls]
                                                              • >>   USART_ReceiveData -
                                                              • >>   USART_GetITStatus -
                                                              • >>   USART_ClearITPendingBit +
                                                                [Calls]
                                                                • >>   USART_ReceiveData +
                                                                • >>   USART_GetITStatus +
                                                                • >>   USART_ClearITPendingBit

                                                                [Address Reference Count : 1]
                                                                • startup_stm32f40_41xxx.o(RESET)

                                                                USART3_IRQHandler (Thumb, 144 bytes, Stack size 8 bytes, usart.o(i.USART3_IRQHandler))

                                                                [Stack]

                                                                • Max Depth = 24
                                                                • Call Chain = USART3_IRQHandler ⇒ USART_GetITStatus
                                                                -
                                                                [Calls]
                                                                • >>   USART_ReceiveData -
                                                                • >>   USART_GetITStatus -
                                                                • >>   USART_ClearITPendingBit +
                                                                  [Calls]
                                                                  • >>   USART_ReceiveData +
                                                                  • >>   USART_GetITStatus +
                                                                  • >>   USART_ClearITPendingBit

                                                                  [Address Reference Count : 1]
                                                                  • startup_stm32f40_41xxx.o(RESET)

                                                                  USART6_IRQHandler (Thumb, 144 bytes, Stack size 8 bytes, usart.o(i.USART6_IRQHandler))

                                                                  [Stack]

                                                                  • Max Depth = 24
                                                                  • Call Chain = USART6_IRQHandler ⇒ USART_GetITStatus
                                                                  -
                                                                  [Calls]
                                                                  • >>   USART_ReceiveData -
                                                                  • >>   USART_GetITStatus -
                                                                  • >>   USART_ClearITPendingBit +
                                                                    [Calls]
                                                                    • >>   USART_ReceiveData +
                                                                    • >>   USART_GetITStatus +
                                                                    • >>   USART_ClearITPendingBit

                                                                    [Address Reference Count : 1]
                                                                    • startup_stm32f40_41xxx.o(RESET)
                                                                    -

                                                                    USART_ClearITPendingBit (Thumb, 30 bytes, Stack size 8 bytes, stm32f4xx_usart.o(i.USART_ClearITPendingBit)) +

                                                                    USART_ClearITPendingBit (Thumb, 30 bytes, Stack size 8 bytes, stm32f4xx_usart.o(i.USART_ClearITPendingBit))

                                                                    [Stack]

                                                                    • Max Depth = 8
                                                                    • Call Chain = USART_ClearITPendingBit

                                                                    [Called By]
                                                                    • >>   USART6_IRQHandler @@ -718,21 +662,20 @@ Global Symbols
                                                                    • >>   USART1_IRQHandler
                                                                    -

                                                                    USART_Cmd (Thumb, 24 bytes, Stack size 0 bytes, stm32f4xx_usart.o(i.USART_Cmd)) -

                                                                    [Called By]

                                                                    • >>   uart6_init -
                                                                    • >>   uart5_init -
                                                                    • >>   uart4_init -
                                                                    • >>   uart3_init -
                                                                    • >>   uart2_init -
                                                                    • >>   uart1_init +

                                                                      USART_Cmd (Thumb, 24 bytes, Stack size 0 bytes, stm32f4xx_usart.o(i.USART_Cmd)) +

                                                                      [Called By]

                                                                      • >>   uart6_init +
                                                                      • >>   uart5_init +
                                                                      • >>   uart4_init +
                                                                      • >>   uart3_init +
                                                                      • >>   uart2_init +
                                                                      • >>   uart1_init
                                                                      -

                                                                      USART_GetFlagStatus (Thumb, 26 bytes, Stack size 0 bytes, stm32f4xx_usart.o(i.USART_GetFlagStatus)) -

                                                                      [Called By]

                                                                      • >>   Uart6_Send_data -
                                                                      • >>   Uart5_Send_data +

                                                                        USART_GetFlagStatus (Thumb, 26 bytes, Stack size 0 bytes, stm32f4xx_usart.o(i.USART_GetFlagStatus)) +

                                                                        [Called By]

                                                                        • >>   Uart6_Send_data
                                                                        -

                                                                        USART_GetITStatus (Thumb, 84 bytes, Stack size 16 bytes, stm32f4xx_usart.o(i.USART_GetITStatus)) +

                                                                        USART_GetITStatus (Thumb, 84 bytes, Stack size 16 bytes, stm32f4xx_usart.o(i.USART_GetITStatus))

                                                                        [Stack]

                                                                        • Max Depth = 16
                                                                        • Call Chain = USART_GetITStatus

                                                                        [Called By]
                                                                        • >>   USART6_IRQHandler @@ -741,56 +684,46 @@ Global Symbols
                                                                        • >>   USART1_IRQHandler
                                                                        -

                                                                        USART_ITConfig (Thumb, 74 bytes, Stack size 20 bytes, stm32f4xx_usart.o(i.USART_ITConfig)) +

                                                                        USART_ITConfig (Thumb, 74 bytes, Stack size 20 bytes, stm32f4xx_usart.o(i.USART_ITConfig))

                                                                        [Stack]

                                                                        • Max Depth = 20
                                                                        • Call Chain = USART_ITConfig
                                                                        -
                                                                        [Called By]
                                                                        • >>   uart6_init -
                                                                        • >>   uart5_init -
                                                                        • >>   uart4_init -
                                                                        • >>   uart3_init -
                                                                        • >>   uart2_init -
                                                                        • >>   uart1_init +
                                                                          [Called By]
                                                                          • >>   uart6_init +
                                                                          • >>   uart5_init +
                                                                          • >>   uart4_init +
                                                                          • >>   uart3_init +
                                                                          • >>   uart2_init +
                                                                          • >>   uart1_init
                                                                          -

                                                                          USART_Init (Thumb, 204 bytes, Stack size 48 bytes, stm32f4xx_usart.o(i.USART_Init)) +

                                                                          USART_Init (Thumb, 204 bytes, Stack size 48 bytes, stm32f4xx_usart.o(i.USART_Init))

                                                                          [Stack]

                                                                          • Max Depth = 68
                                                                          • Call Chain = USART_Init ⇒ RCC_GetClocksFreq
                                                                          -
                                                                          [Calls]
                                                                          • >>   RCC_GetClocksFreq +
                                                                            [Calls]
                                                                            • >>   RCC_GetClocksFreq
                                                                            -
                                                                            [Called By]
                                                                            • >>   uart6_init -
                                                                            • >>   uart5_init -
                                                                            • >>   uart4_init -
                                                                            • >>   uart3_init -
                                                                            • >>   uart2_init -
                                                                            • >>   uart1_init +
                                                                              [Called By]
                                                                              • >>   uart6_init +
                                                                              • >>   uart5_init +
                                                                              • >>   uart4_init +
                                                                              • >>   uart3_init +
                                                                              • >>   uart2_init +
                                                                              • >>   uart1_init
                                                                              -

                                                                              USART_ReceiveData (Thumb, 10 bytes, Stack size 0 bytes, stm32f4xx_usart.o(i.USART_ReceiveData)) +

                                                                              USART_ReceiveData (Thumb, 10 bytes, Stack size 0 bytes, stm32f4xx_usart.o(i.USART_ReceiveData))

                                                                              [Called By]

                                                                              • >>   USART6_IRQHandler
                                                                              • >>   USART3_IRQHandler
                                                                              • >>   USART2_IRQHandler
                                                                              • >>   USART1_IRQHandler
                                                                              -

                                                                              USART_SendData (Thumb, 8 bytes, Stack size 0 bytes, stm32f4xx_usart.o(i.USART_SendData)) -

                                                                              [Called By]

                                                                              • >>   Uart6_Send_data -
                                                                              • >>   Uart5_Send_data +

                                                                                USART_SendData (Thumb, 8 bytes, Stack size 0 bytes, stm32f4xx_usart.o(i.USART_SendData)) +

                                                                                [Called By]

                                                                                • >>   Uart6_Send_data
                                                                                -

                                                                                Uart5_Send_data (Thumb, 46 bytes, Stack size 16 bytes, usart.o(i.Uart5_Send_data)) -

                                                                                [Stack]

                                                                                • Max Depth = 16
                                                                                • Call Chain = Uart5_Send_data -
                                                                                -
                                                                                [Calls]
                                                                                • >>   USART_SendData -
                                                                                • >>   USART_GetFlagStatus -
                                                                                -
                                                                                [Called By]
                                                                                • >>   main -
                                                                                - -

                                                                                Uart6_Send_data (Thumb, 46 bytes, Stack size 16 bytes, usart.o(i.Uart6_Send_data)) +

                                                                                Uart6_Send_data (Thumb, 46 bytes, Stack size 16 bytes, usart.o(i.Uart6_Send_data))

                                                                                [Stack]

                                                                                • Max Depth = 16
                                                                                • Call Chain = Uart6_Send_data
                                                                                -
                                                                                [Calls]
                                                                                • >>   USART_SendData -
                                                                                • >>   USART_GetFlagStatus +
                                                                                  [Calls]
                                                                                  • >>   USART_SendData +
                                                                                  • >>   USART_GetFlagStatus

                                                                                  [Called By]
                                                                                  • >>   main
                                                                                  @@ -798,196 +731,195 @@ Global Symbols

                                                                                  UsageFault_Handler (Thumb, 4 bytes, Stack size 0 bytes, stm32f4xx_it.o(i.UsageFault_Handler))
                                                                                  [Address Reference Count : 1]

                                                                                  • startup_stm32f40_41xxx.o(RESET)
                                                                                  -

                                                                                  __0printf$bare (Thumb, 8 bytes, Stack size 0 bytes, printfb.o(i.__0printf$bare), UNUSED) -

                                                                                  [Calls]

                                                                                  • >>   _printf_core +

                                                                                    __scatterload_copy (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_copy), UNUSED) + +

                                                                                    __scatterload_null (Thumb, 2 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_null), UNUSED) + +

                                                                                    __scatterload_zeroinit (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_zeroinit), UNUSED) + +

                                                                                    crc8_calculate (Thumb, 122 bytes, Stack size 24 bytes, main.o(i.crc8_calculate)) +

                                                                                    [Stack]

                                                                                    • Max Depth = 24
                                                                                    • Call Chain = crc8_calculate +
                                                                                    +
                                                                                    [Called By]
                                                                                    • >>   crc8_standard
                                                                                    -

                                                                                    __1printf$bare (Thumb, 0 bytes, Stack size 0 bytes, printfb.o(i.__0printf$bare), UNUSED) - -

                                                                                    __2printf (Thumb, 0 bytes, Stack size 0 bytes, printfb.o(i.__0printf$bare)) -

                                                                                    [Called By]

                                                                                    • >>   main +

                                                                                      crc8_standard (Thumb, 24 bytes, Stack size 16 bytes, main.o(i.crc8_standard)) +

                                                                                      [Stack]

                                                                                      • Max Depth = 40
                                                                                      • Call Chain = crc8_standard ⇒ crc8_calculate +
                                                                                      +
                                                                                      [Calls]
                                                                                      • >>   crc8_calculate +
                                                                                      +
                                                                                      [Called By]
                                                                                      • >>   main
                                                                                      -

                                                                                      __scatterload_copy (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_copy), UNUSED) - -

                                                                                      __scatterload_null (Thumb, 2 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_null), UNUSED) - -

                                                                                      __scatterload_zeroinit (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_zeroinit), UNUSED) - -

                                                                                      delay_init (Thumb, 52 bytes, Stack size 8 bytes, delay.o(i.delay_init)) +

                                                                                      delay_init (Thumb, 52 bytes, Stack size 8 bytes, delay.o(i.delay_init))

                                                                                      [Stack]

                                                                                      • Max Depth = 8
                                                                                      • Call Chain = delay_init
                                                                                      -
                                                                                      [Calls]
                                                                                      • >>   SysTick_CLKSourceConfig +
                                                                                        [Calls]
                                                                                        • >>   SysTick_CLKSourceConfig

                                                                                        [Called By]
                                                                                        • >>   main
                                                                                        -

                                                                                        delay_ms (Thumb, 56 bytes, Stack size 16 bytes, delay.o(i.delay_ms)) +

                                                                                        delay_ms (Thumb, 56 bytes, Stack size 16 bytes, delay.o(i.delay_ms))

                                                                                        [Stack]

                                                                                        • Max Depth = 16
                                                                                        • Call Chain = delay_ms
                                                                                        -
                                                                                        [Calls]
                                                                                        • >>   delay_xms +
                                                                                          [Calls]
                                                                                          • >>   delay_xms

                                                                                          [Called By]
                                                                                          • >>   main
                                                                                          -

                                                                                          delay_xms (Thumb, 72 bytes, Stack size 0 bytes, delay.o(i.delay_xms)) -

                                                                                          [Called By]

                                                                                          • >>   delay_ms +

                                                                                            delay_xms (Thumb, 72 bytes, Stack size 0 bytes, delay.o(i.delay_xms)) +

                                                                                            [Called By]

                                                                                            • >>   delay_ms
                                                                                            -

                                                                                            fputc (Thumb, 24 bytes, Stack size 0 bytes, usart.o(i.fputc)) -
                                                                                            [Address Reference Count : 1]

                                                                                            • printfb.o(i.__0printf$bare) -
                                                                                            -

                                                                                            gpio_Init (Thumb, 200 bytes, Stack size 16 bytes, led.o(i.gpio_Init)) +

                                                                                            gpio_Init (Thumb, 200 bytes, Stack size 16 bytes, led.o(i.gpio_Init))

                                                                                            [Stack]

                                                                                            • Max Depth = 36
                                                                                            • Call Chain = gpio_Init ⇒ GPIO_Init
                                                                                            -
                                                                                            [Calls]
                                                                                            • >>   RCC_AHB1PeriphClockCmd -
                                                                                            • >>   GPIO_Init +
                                                                                              [Calls]
                                                                                              • >>   RCC_AHB1PeriphClockCmd +
                                                                                              • >>   GPIO_Init

                                                                                              [Called By]
                                                                                              • >>   main
                                                                                              -

                                                                                              main (Thumb, 316 bytes, Stack size 16 bytes, main.o(i.main)) +

                                                                                              main (Thumb, 742 bytes, Stack size 16 bytes, main.o(i.main))

                                                                                              [Stack]

                                                                                              • Max Depth = 124
                                                                                              • Call Chain = main ⇒ uart6_init ⇒ USART_Init ⇒ RCC_GetClocksFreq
                                                                                              -
                                                                                              [Calls]
                                                                                              • >>   uart6_init -
                                                                                              • >>   uart5_init -
                                                                                              • >>   uart4_init -
                                                                                              • >>   uart3_init -
                                                                                              • >>   uart2_init -
                                                                                              • >>   uart1_init -
                                                                                              • >>   motor_spi2_init -
                                                                                              • >>   motor_spi1_init -
                                                                                              • >>   gpio_Init -
                                                                                              • >>   delay_ms -
                                                                                              • >>   delay_init -
                                                                                              • >>   Uart6_Send_data -
                                                                                              • >>   Uart5_Send_data -
                                                                                              • >>   TIM_Cmd -
                                                                                              • >>   TIM4_PWM_Init -
                                                                                              • >>   TIM1_PWM_Init -
                                                                                              • >>   PWM_Timer_Init -
                                                                                              • >>   NVIC_PriorityGroupConfig -
                                                                                              • >>   DRV8832_Init -
                                                                                              • >>   __2printf +
                                                                                                [Calls]
                                                                                                • >>   uart6_init +
                                                                                                • >>   uart5_init +
                                                                                                • >>   uart4_init +
                                                                                                • >>   uart3_init +
                                                                                                • >>   uart2_init +
                                                                                                • >>   uart1_init +
                                                                                                • >>   motor_spi2_init +
                                                                                                • >>   motor_spi1_init +
                                                                                                • >>   gpio_Init +
                                                                                                • >>   delay_ms +
                                                                                                • >>   delay_init +
                                                                                                • >>   Uart6_Send_data +
                                                                                                • >>   R_Motor_Control +
                                                                                                • >>   NVIC_PriorityGroupConfig +
                                                                                                • >>   M_Motor_Control +
                                                                                                • >>   L_Motor_Control +
                                                                                                • >>   DRV8832_Init +
                                                                                                • >>   crc8_standard

                                                                                                [Address Reference Count : 1]
                                                                                                • entry9a.o(.ARM.Collect$$$$0000000B)
                                                                                                -

                                                                                                motor_spi1_init (Thumb, 186 bytes, Stack size 32 bytes, spi.o(i.motor_spi1_init)) +

                                                                                                motor_spi1_init (Thumb, 186 bytes, Stack size 32 bytes, spi.o(i.motor_spi1_init))

                                                                                                [Stack]

                                                                                                • Max Depth = 52
                                                                                                • Call Chain = motor_spi1_init ⇒ GPIO_Init
                                                                                                -
                                                                                                [Calls]
                                                                                                • >>   RCC_APB2PeriphResetCmd -
                                                                                                • >>   RCC_APB2PeriphClockCmd -
                                                                                                • >>   RCC_AHB1PeriphClockCmd -
                                                                                                • >>   GPIO_Init -
                                                                                                • >>   SPI_Init -
                                                                                                • >>   SPI_Cmd -
                                                                                                • >>   SPI1_ReadWriteByte -
                                                                                                • >>   GPIO_PinAFConfig +
                                                                                                  [Calls]
                                                                                                  • >>   RCC_APB2PeriphResetCmd +
                                                                                                  • >>   RCC_APB2PeriphClockCmd +
                                                                                                  • >>   RCC_AHB1PeriphClockCmd +
                                                                                                  • >>   GPIO_Init +
                                                                                                  • >>   SPI_Init +
                                                                                                  • >>   SPI_Cmd +
                                                                                                  • >>   SPI1_ReadWriteByte +
                                                                                                  • >>   GPIO_PinAFConfig

                                                                                                  [Called By]
                                                                                                  • >>   main
                                                                                                  -

                                                                                                  motor_spi2_init (Thumb, 232 bytes, Stack size 32 bytes, spi.o(i.motor_spi2_init)) +

                                                                                                  motor_spi2_init (Thumb, 232 bytes, Stack size 32 bytes, spi.o(i.motor_spi2_init))

                                                                                                  [Stack]

                                                                                                  • Max Depth = 52
                                                                                                  • Call Chain = motor_spi2_init ⇒ GPIO_Init
                                                                                                  -
                                                                                                  [Calls]
                                                                                                  • >>   RCC_APB2PeriphResetCmd -
                                                                                                  • >>   RCC_APB2PeriphClockCmd -
                                                                                                  • >>   RCC_AHB1PeriphClockCmd -
                                                                                                  • >>   GPIO_Init -
                                                                                                  • >>   SPI_Init -
                                                                                                  • >>   SPI_Cmd -
                                                                                                  • >>   SPI1_ReadWriteByte -
                                                                                                  • >>   GPIO_PinAFConfig +
                                                                                                    [Calls]
                                                                                                    • >>   RCC_APB2PeriphResetCmd +
                                                                                                    • >>   RCC_APB2PeriphClockCmd +
                                                                                                    • >>   RCC_AHB1PeriphClockCmd +
                                                                                                    • >>   GPIO_Init +
                                                                                                    • >>   SPI_Init +
                                                                                                    • >>   SPI_Cmd +
                                                                                                    • >>   SPI1_ReadWriteByte +
                                                                                                    • >>   GPIO_PinAFConfig

                                                                                                    [Called By]
                                                                                                    • >>   main
                                                                                                    -

                                                                                                    uart1_init (Thumb, 164 bytes, Stack size 40 bytes, usart.o(i.uart1_init)) +

                                                                                                    uart1_init (Thumb, 164 bytes, Stack size 40 bytes, usart.o(i.uart1_init))

                                                                                                    [Stack]

                                                                                                    • Max Depth = 108
                                                                                                    • Call Chain = uart1_init ⇒ USART_Init ⇒ RCC_GetClocksFreq
                                                                                                    -
                                                                                                    [Calls]
                                                                                                    • >>   RCC_APB2PeriphClockCmd -
                                                                                                    • >>   RCC_AHB1PeriphClockCmd -
                                                                                                    • >>   GPIO_Init -
                                                                                                    • >>   USART_Init -
                                                                                                    • >>   USART_ITConfig -
                                                                                                    • >>   USART_Cmd -
                                                                                                    • >>   NVIC_Init -
                                                                                                    • >>   GPIO_PinAFConfig +
                                                                                                      [Calls]
                                                                                                      • >>   RCC_APB2PeriphClockCmd +
                                                                                                      • >>   RCC_AHB1PeriphClockCmd +
                                                                                                      • >>   GPIO_Init +
                                                                                                      • >>   USART_Init +
                                                                                                      • >>   USART_ITConfig +
                                                                                                      • >>   USART_Cmd +
                                                                                                      • >>   NVIC_Init +
                                                                                                      • >>   GPIO_PinAFConfig

                                                                                                      [Called By]
                                                                                                      • >>   main
                                                                                                      -

                                                                                                      uart2_init (Thumb, 162 bytes, Stack size 40 bytes, usart.o(i.uart2_init)) +

                                                                                                      uart2_init (Thumb, 162 bytes, Stack size 40 bytes, usart.o(i.uart2_init))

                                                                                                      [Stack]

                                                                                                      • Max Depth = 108
                                                                                                      • Call Chain = uart2_init ⇒ USART_Init ⇒ RCC_GetClocksFreq
                                                                                                      -
                                                                                                      [Calls]
                                                                                                      • >>   RCC_AHB1PeriphClockCmd -
                                                                                                      • >>   GPIO_Init -
                                                                                                      • >>   USART_Init -
                                                                                                      • >>   USART_ITConfig -
                                                                                                      • >>   USART_Cmd -
                                                                                                      • >>   RCC_APB1PeriphClockCmd -
                                                                                                      • >>   NVIC_Init -
                                                                                                      • >>   GPIO_PinAFConfig +
                                                                                                        [Calls]
                                                                                                        • >>   RCC_AHB1PeriphClockCmd +
                                                                                                        • >>   GPIO_Init +
                                                                                                        • >>   USART_Init +
                                                                                                        • >>   USART_ITConfig +
                                                                                                        • >>   USART_Cmd +
                                                                                                        • >>   RCC_APB1PeriphClockCmd +
                                                                                                        • >>   NVIC_Init +
                                                                                                        • >>   GPIO_PinAFConfig

                                                                                                        [Called By]
                                                                                                        • >>   main
                                                                                                        -

                                                                                                        uart3_init (Thumb, 164 bytes, Stack size 40 bytes, usart.o(i.uart3_init)) +

                                                                                                        uart3_init (Thumb, 164 bytes, Stack size 40 bytes, usart.o(i.uart3_init))

                                                                                                        [Stack]

                                                                                                        • Max Depth = 108
                                                                                                        • Call Chain = uart3_init ⇒ USART_Init ⇒ RCC_GetClocksFreq
                                                                                                        -
                                                                                                        [Calls]
                                                                                                        • >>   RCC_AHB1PeriphClockCmd -
                                                                                                        • >>   GPIO_Init -
                                                                                                        • >>   USART_Init -
                                                                                                        • >>   USART_ITConfig -
                                                                                                        • >>   USART_Cmd -
                                                                                                        • >>   RCC_APB1PeriphClockCmd -
                                                                                                        • >>   NVIC_Init -
                                                                                                        • >>   GPIO_PinAFConfig +
                                                                                                          [Calls]
                                                                                                          • >>   RCC_AHB1PeriphClockCmd +
                                                                                                          • >>   GPIO_Init +
                                                                                                          • >>   USART_Init +
                                                                                                          • >>   USART_ITConfig +
                                                                                                          • >>   USART_Cmd +
                                                                                                          • >>   RCC_APB1PeriphClockCmd +
                                                                                                          • >>   NVIC_Init +
                                                                                                          • >>   GPIO_PinAFConfig

                                                                                                          [Called By]
                                                                                                          • >>   main
                                                                                                          -

                                                                                                          uart4_init (Thumb, 162 bytes, Stack size 40 bytes, usart.o(i.uart4_init)) +

                                                                                                          uart4_init (Thumb, 162 bytes, Stack size 40 bytes, usart.o(i.uart4_init))

                                                                                                          [Stack]

                                                                                                          • Max Depth = 108
                                                                                                          • Call Chain = uart4_init ⇒ USART_Init ⇒ RCC_GetClocksFreq
                                                                                                          -
                                                                                                          [Calls]
                                                                                                          • >>   RCC_AHB1PeriphClockCmd -
                                                                                                          • >>   GPIO_Init -
                                                                                                          • >>   USART_Init -
                                                                                                          • >>   USART_ITConfig -
                                                                                                          • >>   USART_Cmd -
                                                                                                          • >>   RCC_APB1PeriphClockCmd -
                                                                                                          • >>   NVIC_Init -
                                                                                                          • >>   GPIO_PinAFConfig +
                                                                                                            [Calls]
                                                                                                            • >>   RCC_AHB1PeriphClockCmd +
                                                                                                            • >>   GPIO_Init +
                                                                                                            • >>   USART_Init +
                                                                                                            • >>   USART_ITConfig +
                                                                                                            • >>   USART_Cmd +
                                                                                                            • >>   RCC_APB1PeriphClockCmd +
                                                                                                            • >>   NVIC_Init +
                                                                                                            • >>   GPIO_PinAFConfig

                                                                                                            [Called By]
                                                                                                            • >>   main
                                                                                                            -

                                                                                                            uart5_init (Thumb, 206 bytes, Stack size 40 bytes, usart.o(i.uart5_init)) +

                                                                                                            uart5_init (Thumb, 206 bytes, Stack size 40 bytes, usart.o(i.uart5_init))

                                                                                                            [Stack]

                                                                                                            • Max Depth = 108
                                                                                                            • Call Chain = uart5_init ⇒ USART_Init ⇒ RCC_GetClocksFreq
                                                                                                            -
                                                                                                            [Calls]
                                                                                                            • >>   RCC_AHB1PeriphClockCmd -
                                                                                                            • >>   GPIO_Init -
                                                                                                            • >>   USART_Init -
                                                                                                            • >>   USART_ITConfig -
                                                                                                            • >>   USART_Cmd -
                                                                                                            • >>   RCC_APB1PeriphClockCmd -
                                                                                                            • >>   NVIC_Init -
                                                                                                            • >>   GPIO_PinAFConfig +
                                                                                                              [Calls]
                                                                                                              • >>   RCC_AHB1PeriphClockCmd +
                                                                                                              • >>   GPIO_Init +
                                                                                                              • >>   USART_Init +
                                                                                                              • >>   USART_ITConfig +
                                                                                                              • >>   USART_Cmd +
                                                                                                              • >>   RCC_APB1PeriphClockCmd +
                                                                                                              • >>   NVIC_Init +
                                                                                                              • >>   GPIO_PinAFConfig

                                                                                                              [Called By]
                                                                                                              • >>   main
                                                                                                              -

                                                                                                              uart6_init (Thumb, 162 bytes, Stack size 40 bytes, usart.o(i.uart6_init)) +

                                                                                                              uart6_init (Thumb, 162 bytes, Stack size 40 bytes, usart.o(i.uart6_init))

                                                                                                              [Stack]

                                                                                                              • Max Depth = 108
                                                                                                              • Call Chain = uart6_init ⇒ USART_Init ⇒ RCC_GetClocksFreq
                                                                                                              -
                                                                                                              [Calls]
                                                                                                              • >>   RCC_APB2PeriphClockCmd -
                                                                                                              • >>   RCC_AHB1PeriphClockCmd -
                                                                                                              • >>   GPIO_Init -
                                                                                                              • >>   USART_Init -
                                                                                                              • >>   USART_ITConfig -
                                                                                                              • >>   USART_Cmd -
                                                                                                              • >>   NVIC_Init -
                                                                                                              • >>   GPIO_PinAFConfig +
                                                                                                                [Calls]
                                                                                                                • >>   RCC_APB2PeriphClockCmd +
                                                                                                                • >>   RCC_AHB1PeriphClockCmd +
                                                                                                                • >>   GPIO_Init +
                                                                                                                • >>   USART_Init +
                                                                                                                • >>   USART_ITConfig +
                                                                                                                • >>   USART_Cmd +
                                                                                                                • >>   NVIC_Init +
                                                                                                                • >>   GPIO_PinAFConfig

                                                                                                                [Called By]
                                                                                                                • >>   main
                                                                                                                @@ -995,15 +927,11 @@ Global Symbols

                                                                                                                Local Symbols

                                                                                                                -

                                                                                                                SetSysClock (Thumb, 220 bytes, Stack size 12 bytes, system_stm32f4xx.o(i.SetSysClock)) +

                                                                                                                SetSysClock (Thumb, 220 bytes, Stack size 12 bytes, system_stm32f4xx.o(i.SetSysClock))

                                                                                                                [Stack]

                                                                                                                • Max Depth = 12
                                                                                                                • Call Chain = SetSysClock

                                                                                                                [Called By]
                                                                                                                • >>   SystemInit
                                                                                                                - -

                                                                                                                _printf_core (Thumb, 34 bytes, Stack size 24 bytes, printfb.o(i._printf_core), UNUSED) -

                                                                                                                [Called By]

                                                                                                                • >>   __0printf$bare -

                                                                                                                Undefined Global Symbols diff --git a/OBJ/USART.lnp b/OBJ/USART.lnp index ffb14d7..f909bb0 100644 --- a/OBJ/USART.lnp +++ b/OBJ/USART.lnp @@ -1,4 +1,4 @@ ---cpu=Cortex-M4.fp +--cpu=Cortex-M4.fp.sp "..\obj\main.o" "..\obj\stm32f4xx_it.o" "..\obj\system_stm32f4xx.o" diff --git a/OBJ/USART.sct b/OBJ/USART.sct index a0a60b6..eab6f57 100644 --- a/OBJ/USART.sct +++ b/OBJ/USART.sct @@ -7,6 +7,7 @@ LR_IROM1 0x08000000 0x00080000 { ; load region size_region *.o (RESET, +First) *(InRoot$$Sections) .ANY (+RO) + .ANY (+XO) } RW_IRAM1 0x20000000 0x00020000 { ; RW data .ANY (+RW +ZI) diff --git a/OBJ/USART_USART.dep b/OBJ/USART_USART.dep index 43f4876..f316020 100644 --- a/OBJ/USART_USART.dep +++ b/OBJ/USART_USART.dep @@ -1,810 +1,811 @@ Dependencies for Project 'USART', Target 'USART': (DO NOT MODIFY !) -F (.\main.c)(0x698BD63E)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -W -O0 --apcs=interwork --split_sections -I ..\CORE -I ..\SYSTEM\delay -I ..\SYSTEM\sys -I ..\SYSTEM\usart -I ..\FWLIB\STM32F4xx_StdPeriph_Driver\inc -I ..\USER -I ..\HARDWARE\LED -I ..\HARDWARE\BEEP -I ..\HARDWARE\KEY -I ..\FWLIB\inc -I ..\HARDWARE -I ..\HARDWARE\MOTOR -I.\RTE\_USART -IC:\Keil_v5\ARM\PACK\Keil\STM32F4xx_DFP\2.14.0\Drivers\CMSIS\Device\ST\STM32F4xx\Include -IC:\Keil_v5\ARM\CMSIS\Include -D__UVISION_VERSION="525" -DSTM32F407xx -DSTM32F40_41xxx -DUSE_STDPERIPH_DRIVER -o ..\obj\main.o --omf_browse ..\obj\main.crf --depend ..\obj\main.d) -I (..\SYSTEM\sys\sys.h)(0x69893236) -I (..\USER\stm32f4xx.h)(0x69893236) -I (..\CORE\core_cm4.h)(0x69893236) -I (C:\Keil_v5\ARM\ARMCC\include\stdint.h)(0x54C245B8) -I (..\CORE\core_cmInstr.h)(0x69893236) -I (..\CORE\core_cmFunc.h)(0x69893236) -I (..\CORE\core_cm4_simd.h)(0x69893236) -I (..\USER\system_stm32f4xx.h)(0x69893236) -I (..\USER\stm32f4xx_conf.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_adc.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_crc.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_dbgmcu.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_dma.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_exti.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_flash.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_gpio.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_i2c.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_iwdg.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_pwr.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_rcc.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_rtc.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_sdio.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_spi.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_syscfg.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_tim.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_usart.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_wwdg.h)(0x69893236) -I (..\FWLIB\inc\misc.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_cryp.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_hash.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_rng.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_can.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_dac.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_dcmi.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_fsmc.h)(0x69893236) -I (..\SYSTEM\delay\delay.h)(0x69893236) -I (..\SYSTEM\usart\usart.h)(0x698A8341) -I (C:\Keil_v5\ARM\ARMCC\include\stdio.h)(0x54C245B8) -I (..\HARDWARE\LED\led.h)(0x698BD294) -I (..\HARDWARE\BEEP\beep.h)(0x69893236) -I (..\HARDWARE\KEY\key.h)(0x69893236) -I (..\HARDWARE\MOTOR\motor_driver.h)(0x698BD294) -F (.\stm32f4xx_it.c)(0x69893236)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -W -O0 --apcs=interwork --split_sections -I ..\CORE -I ..\SYSTEM\delay -I ..\SYSTEM\sys -I ..\SYSTEM\usart -I ..\FWLIB\STM32F4xx_StdPeriph_Driver\inc -I ..\USER -I ..\HARDWARE\LED -I ..\HARDWARE\BEEP -I ..\HARDWARE\KEY -I ..\FWLIB\inc -I ..\HARDWARE -I ..\HARDWARE\MOTOR -I.\RTE\_USART -IC:\Keil_v5\ARM\PACK\Keil\STM32F4xx_DFP\2.14.0\Drivers\CMSIS\Device\ST\STM32F4xx\Include -IC:\Keil_v5\ARM\CMSIS\Include -D__UVISION_VERSION="525" -DSTM32F407xx -DSTM32F40_41xxx -DUSE_STDPERIPH_DRIVER -o ..\obj\stm32f4xx_it.o --omf_browse ..\obj\stm32f4xx_it.crf --depend ..\obj\stm32f4xx_it.d) -I (stm32f4xx_it.h)(0x69893236) -I (stm32f4xx.h)(0x69893236) -I (..\CORE\core_cm4.h)(0x69893236) -I (C:\Keil_v5\ARM\ARMCC\include\stdint.h)(0x54C245B8) -I (..\CORE\core_cmInstr.h)(0x69893236) -I (..\CORE\core_cmFunc.h)(0x69893236) -I (..\CORE\core_cm4_simd.h)(0x69893236) -I (system_stm32f4xx.h)(0x69893236) -I (stm32f4xx_conf.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_adc.h)(0x69893236) -I (..\USER\stm32f4xx.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_crc.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_dbgmcu.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_dma.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_exti.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_flash.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_gpio.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_i2c.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_iwdg.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_pwr.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_rcc.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_rtc.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_sdio.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_spi.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_syscfg.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_tim.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_usart.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_wwdg.h)(0x69893236) -I (..\FWLIB\inc\misc.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_cryp.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_hash.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_rng.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_can.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_dac.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_dcmi.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_fsmc.h)(0x69893236) -F (.\system_stm32f4xx.c)(0x69893236)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -W -O0 --apcs=interwork --split_sections -I ..\CORE -I ..\SYSTEM\delay -I ..\SYSTEM\sys -I ..\SYSTEM\usart -I ..\FWLIB\STM32F4xx_StdPeriph_Driver\inc -I ..\USER -I ..\HARDWARE\LED -I ..\HARDWARE\BEEP -I ..\HARDWARE\KEY -I ..\FWLIB\inc -I ..\HARDWARE -I ..\HARDWARE\MOTOR -I.\RTE\_USART -IC:\Keil_v5\ARM\PACK\Keil\STM32F4xx_DFP\2.14.0\Drivers\CMSIS\Device\ST\STM32F4xx\Include -IC:\Keil_v5\ARM\CMSIS\Include -D__UVISION_VERSION="525" -DSTM32F407xx -DSTM32F40_41xxx -DUSE_STDPERIPH_DRIVER -o ..\obj\system_stm32f4xx.o --omf_browse ..\obj\system_stm32f4xx.crf --depend ..\obj\system_stm32f4xx.d) -I (stm32f4xx.h)(0x69893236) -I (..\CORE\core_cm4.h)(0x69893236) -I (C:\Keil_v5\ARM\ARMCC\include\stdint.h)(0x54C245B8) -I (..\CORE\core_cmInstr.h)(0x69893236) -I (..\CORE\core_cmFunc.h)(0x69893236) -I (..\CORE\core_cm4_simd.h)(0x69893236) -I (system_stm32f4xx.h)(0x69893236) -I (stm32f4xx_conf.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_adc.h)(0x69893236) -I (..\USER\stm32f4xx.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_crc.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_dbgmcu.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_dma.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_exti.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_flash.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_gpio.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_i2c.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_iwdg.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_pwr.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_rcc.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_rtc.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_sdio.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_spi.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_syscfg.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_tim.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_usart.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_wwdg.h)(0x69893236) -I (..\FWLIB\inc\misc.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_cryp.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_hash.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_rng.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_can.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_dac.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_dcmi.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_fsmc.h)(0x69893236) -F (..\HARDWARE\LED\led.c)(0x698BD294)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -W -O0 --apcs=interwork --split_sections -I ..\CORE -I ..\SYSTEM\delay -I ..\SYSTEM\sys -I ..\SYSTEM\usart -I ..\FWLIB\STM32F4xx_StdPeriph_Driver\inc -I ..\USER -I ..\HARDWARE\LED -I ..\HARDWARE\BEEP -I ..\HARDWARE\KEY -I ..\FWLIB\inc -I ..\HARDWARE -I ..\HARDWARE\MOTOR -I.\RTE\_USART -IC:\Keil_v5\ARM\PACK\Keil\STM32F4xx_DFP\2.14.0\Drivers\CMSIS\Device\ST\STM32F4xx\Include -IC:\Keil_v5\ARM\CMSIS\Include -D__UVISION_VERSION="525" -DSTM32F407xx -DSTM32F40_41xxx -DUSE_STDPERIPH_DRIVER -o ..\obj\led.o --omf_browse ..\obj\led.crf --depend ..\obj\led.d) -I (..\HARDWARE\LED\led.h)(0x698BD294) -I (..\SYSTEM\sys\sys.h)(0x69893236) -I (..\USER\stm32f4xx.h)(0x69893236) -I (..\CORE\core_cm4.h)(0x69893236) -I (C:\Keil_v5\ARM\ARMCC\include\stdint.h)(0x54C245B8) -I (..\CORE\core_cmInstr.h)(0x69893236) -I (..\CORE\core_cmFunc.h)(0x69893236) -I (..\CORE\core_cm4_simd.h)(0x69893236) -I (..\USER\system_stm32f4xx.h)(0x69893236) -I (..\USER\stm32f4xx_conf.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_adc.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_crc.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_dbgmcu.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_dma.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_exti.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_flash.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_gpio.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_i2c.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_iwdg.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_pwr.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_rcc.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_rtc.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_sdio.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_spi.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_syscfg.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_tim.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_usart.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_wwdg.h)(0x69893236) -I (..\FWLIB\inc\misc.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_cryp.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_hash.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_rng.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_can.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_dac.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_dcmi.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_fsmc.h)(0x69893236) -F (..\HARDWARE\BEEP\beep.c)(0x69893236)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -W -O0 --apcs=interwork --split_sections -I ..\CORE -I ..\SYSTEM\delay -I ..\SYSTEM\sys -I ..\SYSTEM\usart -I ..\FWLIB\STM32F4xx_StdPeriph_Driver\inc -I ..\USER -I ..\HARDWARE\LED -I ..\HARDWARE\BEEP -I ..\HARDWARE\KEY -I ..\FWLIB\inc -I ..\HARDWARE -I ..\HARDWARE\MOTOR -I.\RTE\_USART -IC:\Keil_v5\ARM\PACK\Keil\STM32F4xx_DFP\2.14.0\Drivers\CMSIS\Device\ST\STM32F4xx\Include -IC:\Keil_v5\ARM\CMSIS\Include -D__UVISION_VERSION="525" -DSTM32F407xx -DSTM32F40_41xxx -DUSE_STDPERIPH_DRIVER -o ..\obj\beep.o --omf_browse ..\obj\beep.crf --depend ..\obj\beep.d) -I (..\HARDWARE\BEEP\beep.h)(0x69893236) -I (..\SYSTEM\sys\sys.h)(0x69893236) -I (..\USER\stm32f4xx.h)(0x69893236) -I (..\CORE\core_cm4.h)(0x69893236) -I (C:\Keil_v5\ARM\ARMCC\include\stdint.h)(0x54C245B8) -I (..\CORE\core_cmInstr.h)(0x69893236) -I (..\CORE\core_cmFunc.h)(0x69893236) -I (..\CORE\core_cm4_simd.h)(0x69893236) -I (..\USER\system_stm32f4xx.h)(0x69893236) -I (..\USER\stm32f4xx_conf.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_adc.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_crc.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_dbgmcu.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_dma.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_exti.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_flash.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_gpio.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_i2c.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_iwdg.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_pwr.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_rcc.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_rtc.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_sdio.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_spi.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_syscfg.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_tim.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_usart.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_wwdg.h)(0x69893236) -I (..\FWLIB\inc\misc.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_cryp.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_hash.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_rng.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_can.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_dac.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_dcmi.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_fsmc.h)(0x69893236) -F (..\HARDWARE\KEY\key.c)(0x69893236)(--c99 -c --cpu Cortex-M4.fp -D__MICROLIB -g -W -O0 --apcs=interwork --split_sections -I ..\CORE -I ..\SYSTEM\delay -I ..\SYSTEM\sys -I ..\SYSTEM\usart -I ..\FWLIB\STM32F4xx_StdPeriph_Driver\inc -I ..\USER -I ..\HARDWARE\LED -I ..\HARDWARE\BEEP -I ..\HARDWARE\KEY -I ..\FWLIB\inc -I ..\HARDWARE -I ..\HARDWARE\MOTOR -I.\RTE\_USART -IC:\Keil_v5\ARM\PACK\Keil\STM32F4xx_DFP\2.14.0\Drivers\CMSIS\Device\ST\STM32F4xx\Include -IC:\Keil_v5\ARM\CMSIS\Include -D__UVISION_VERSION="525" -DSTM32F407xx -DSTM32F40_41xxx -DUSE_STDPERIPH_DRIVER -o ..\obj\key.o --omf_browse ..\obj\key.crf --depend ..\obj\key.d) -I (..\HARDWARE\KEY\key.h)(0x69893236) -I (..\SYSTEM\sys\sys.h)(0x69893236) -I (..\USER\stm32f4xx.h)(0x69893236) -I (..\CORE\core_cm4.h)(0x69893236) -I (C:\Keil_v5\ARM\ARMCC\include\stdint.h)(0x54C245B8) -I (..\CORE\core_cmInstr.h)(0x69893236) -I (..\CORE\core_cmFunc.h)(0x69893236) -I (..\CORE\core_cm4_simd.h)(0x69893236) -I (..\USER\system_stm32f4xx.h)(0x69893236) -I (..\USER\stm32f4xx_conf.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_adc.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_crc.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_dbgmcu.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_dma.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_exti.h)(0x69893236) -I (..\FWLIB\inc\stm32f4xx_flash.h)(0x69893236) -I 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..\HARDWARE\MOTOR -IC:\Keil_v5\ARM\PACK\Keil\STM32F4xx_DFP\2.11.0\Drivers\CMSIS\Device\ST\STM32F4xx\Include -D__UVISION_VERSION="538" -DSTM32F407xx -DSTM32F40_41xxx -DUSE_STDPERIPH_DRIVER -o ..\obj\stm32f4xx_tim.o --omf_browse ..\obj\stm32f4xx_tim.crf --depend ..\obj\stm32f4xx_tim.d) +I (..\FWLIB\inc\stm32f4xx_tim.h)(0x69992AC3) +I (..\USER\stm32f4xx.h)(0x69992AC3) +I (..\CORE\core_cm4.h)(0x69992AC3) +I (C:\Keil_v5\ARM\ARMCC\include\stdint.h)(0x57F606B8) +I (..\CORE\core_cmInstr.h)(0x69992AC3) +I (..\CORE\core_cmFunc.h)(0x69992AC3) +I (..\CORE\core_cm4_simd.h)(0x69992AC3) +I (..\USER\system_stm32f4xx.h)(0x69992AC3) +I (..\USER\stm32f4xx_conf.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_adc.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_crc.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_dbgmcu.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_dma.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_exti.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_flash.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_gpio.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_i2c.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_iwdg.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_pwr.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_rcc.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_rtc.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_sdio.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_spi.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_syscfg.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_usart.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_wwdg.h)(0x69992AC3) +I (..\FWLIB\inc\misc.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_cryp.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_hash.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_rng.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_can.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_dac.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_dcmi.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_fsmc.h)(0x69992AC3) +F (..\FWLIB\src\stm32f4xx_spi.c)(0x69992AC3)(--c99 -c --cpu Cortex-M4.fp.sp -D__MICROLIB -g -W -O0 --apcs=interwork --split_sections -I ..\CORE -I ..\SYSTEM\delay -I ..\SYSTEM\sys -I ..\SYSTEM\usart -I ..\FWLIB\STM32F4xx_StdPeriph_Driver\inc -I ..\USER -I ..\HARDWARE\LED -I ..\HARDWARE\BEEP -I ..\HARDWARE\KEY -I ..\FWLIB\inc -I ..\HARDWARE -I ..\HARDWARE\MOTOR -IC:\Keil_v5\ARM\PACK\Keil\STM32F4xx_DFP\2.11.0\Drivers\CMSIS\Device\ST\STM32F4xx\Include -D__UVISION_VERSION="538" -DSTM32F407xx -DSTM32F40_41xxx -DUSE_STDPERIPH_DRIVER -o ..\obj\stm32f4xx_spi.o --omf_browse ..\obj\stm32f4xx_spi.crf --depend ..\obj\stm32f4xx_spi.d) +I (..\FWLIB\inc\stm32f4xx_spi.h)(0x69992AC3) +I (..\USER\stm32f4xx.h)(0x69992AC3) +I (..\CORE\core_cm4.h)(0x69992AC3) +I (C:\Keil_v5\ARM\ARMCC\include\stdint.h)(0x57F606B8) +I (..\CORE\core_cmInstr.h)(0x69992AC3) +I (..\CORE\core_cmFunc.h)(0x69992AC3) +I (..\CORE\core_cm4_simd.h)(0x69992AC3) +I (..\USER\system_stm32f4xx.h)(0x69992AC3) +I (..\USER\stm32f4xx_conf.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_adc.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_crc.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_dbgmcu.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_dma.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_exti.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_flash.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_gpio.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_i2c.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_iwdg.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_pwr.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_rcc.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_rtc.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_sdio.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_syscfg.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_tim.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_usart.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_wwdg.h)(0x69992AC3) +I (..\FWLIB\inc\misc.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_cryp.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_hash.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_rng.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_can.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_dac.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_dcmi.h)(0x69992AC3) +I (..\FWLIB\inc\stm32f4xx_fsmc.h)(0x69992AC3) +F (..\readme.txt)(0x69992AC3)() diff --git a/OBJ/USART_sct.Bak b/OBJ/USART_sct.Bak index eab6f57..a0a60b6 100644 --- a/OBJ/USART_sct.Bak +++ b/OBJ/USART_sct.Bak @@ -7,7 +7,6 @@ LR_IROM1 0x08000000 0x00080000 { ; load region size_region *.o (RESET, +First) *(InRoot$$Sections) .ANY (+RO) - .ANY (+XO) } RW_IRAM1 0x20000000 0x00020000 { ; RW data .ANY (+RW +ZI) diff --git a/OBJ/adc.crf b/OBJ/adc.crf index 387341dfe432fd63705768e1e4dea24016e2a785..9d4b5880bd6b6dfa91154df7909c2a8695a6dbdc 100644 GIT binary patch delta 833 zcmaESLhA7esR`;_hp#?4!^Qvv(Gv|N{o%Y{Hx(F|MD+AxLW5m{Vv0+0jg8VwDk}6c z7~o3EZ^|<;2?Lcl`v^GA1i9$|ATMCc85#Ah@ZM3mN4Q+>FVLEHcK4Dapv@2@~NDkUoLrA{2eh zlXY2SCL1tuBFsMwQa3rCi47sdIa!cRMliLaBoo=r`pI*cR1k_Z!HUugGV_rYb%AZo zG(xe}7Nm5tJu^E(cOO_?K{;wDfdz|_Q8Y6{1WQl^KY>mBfNUbjW+j9L?}0v5MR1pa zO)1IDMRx2*ppRsPN{bVVN|1#)K!%%?m#3s7i#EW5+%4S4(%n3X5{vm$wWD#SB+C?rG_yV%%n&IJI9J_x=5 delta 833 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g_rx6_buffer[0] == 0xBC ) //¿ØÖƵç»úÆô¶¯ BC 01 00 00 XX 66 //¹Ø±Õ1µç»ú + //BC 01 00 FF XX 66 //Æô¶¯1µç»ú { g_usart6_rx_buf[0] = g_rx6_buffer[0]; - g_usart6_rx_sta = 1; - } + g_usart6_rx_sta = 1; + } else if( g_usart6_rx_sta != 0 ) { - g_usart6_rx_buf[g_usart6_rx_sta & 0X3FFF] = g_rx6_buffer[0]; - g_usart6_rx_sta++; - if(g_usart6_rx_sta > (USART_REC_LEN - 1)) - { - g_usart6_rx_sta = 0; - g_usart6_rx_state = 1; + g_usart6_rx_buf[g_usart6_rx_sta & 0X3FFF] = g_rx6_buffer[0]; + g_usart6_rx_sta++; + if(g_usart6_rx_sta > (USART_REC_LEN - 1)) + { + g_usart6_rx_sta = 0; + g_usart6_rx_state = 1; // memset(g_usart1_rx_buf, 0x0, 6); // g_rx1_buffer[0] = 0x0; - } - } + } + } } else if(USART_GetITStatus(USART6, USART_IT_TXE) != RESET) diff --git a/USER/USART.uvguix.baiba b/USER/USART.uvguix.baiba index c4b595d..a68bfe4 100644 --- a/USER/USART.uvguix.baiba +++ b/USER/USART.uvguix.baiba @@ -15,17 +15,17 @@ 38003 Registers - 124 100 + 132 133 346 Code Coverage - 877 603 + 553 484 204 Performance Analyzer - 1037 155 155 133 + 449 132 132 324 @@ -70,7 +70,7 @@ 466 Source Browser 500 - 166 + 300 @@ -93,8 +93,8 @@ 2 3 - -32000 - -32000 + -1 + -1 -1 @@ -102,16 +102,16 @@ 0 - 1 - 159 + 3 + 161 39 0 - 1218 - 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898 @@ -3606,18 +3606,18 @@ 0 .\main.c - 0 - 231 - 242 + 45 + 439 + 444 1 0 ..\SYSTEM\usart\usart.c - 70 - 337 - 357 + 31 + 67 + 80 1 0 @@ -3634,7 +3634,7 @@ ..\FWLIB\src\stm32f4xx_usart.c 0 - 1089 + 542 543 1 @@ -3642,8 +3642,8 @@ ..\SYSTEM\usart\usart.h - 47 - 1 + 45 + 2 40 1 @@ -3651,9 +3651,9 @@ ..\SYSTEM\delay\delay.c - 16 - 195 - 220 + 0 + 196 + 206 1 0 @@ -3670,7 +3670,7 @@ ..\HARDWARE\elemachinery\elemachinery.c 35 - 516 + 339 340 1 @@ -3696,27 +3696,36 @@ ..\HARDWARE\MOTOR\motor_driver.h - 30 - 1 - 27 + 0 + 23 + 54 0 0 ..\HARDWARE\MOTOR\motor_driver.c - 10 - 62 - 81 + 0 + 335 + 345 0 0 ..\HARDWARE\TIMER\timer.c - 35 - 132 - 142 + 0 + 15 + 16 + 1 + + 0 + + + C:\Keil_v5\ARM\ARMCC\include\stdint.h + 39 + 49 + 63 1 0 diff --git a/USER/USART.uvoptx b/USER/USART.uvoptx index 9b23c3a..1e5f0db 100644 --- a/USER/USART.uvoptx +++ b/USER/USART.uvoptx @@ -103,7 +103,7 @@ 1 0 0 - 11 + 5 @@ -153,63 +153,14 @@ (105=-1,-1,-1,-1,0) - - - 0 - 0 - 339 - 1 -
                                                                                                                134220986
                                                                                                                - 0 - 0 - 0 - 0 - 0 - 1 - ..\SYSTEM\usart\usart.c - - \\USART\../SYSTEM/usart/usart.c\339 -                                                                                                                 - - 1 - 0 - 294 - 1 -
                                                                                                                134222574
                                                                                                                - 0 - 0 - 0 - 0 - 0 - 1 - .\main.c - - \\USART\main.c\294 -                                                                                                                 - - 2 - 0 - 226 - 1 -
                                                                                                                0
                                                                                                                - 0 - 0 - 0 - 0 - 0 - 0 - .\main.c - - -                                                                                                                 -                                                                                                                 + 0 0 0 - 1 + 0 0 0 0 @@ -247,6 +198,7 @@ 1 + 0 0 2 10000000 diff --git a/USER/USART.uvprojx b/USER/USART.uvprojx index 492c043..4965b4b 100644 --- a/USER/USART.uvprojx +++ b/USER/USART.uvprojx @@ -10,14 +10,14 @@ USART 0x4 ARM-ADS - 5050169::V5.05 update 2 (build 169)::ARMCC + 5060422::V5.06 update 4 (build 422)::ARMCC 0 STM32F407VETx STMicroelectronics - Keil.STM32F4xx_DFP.2.14.0 - http://www.keil.com/pack/ + Keil.STM32F4xx_DFP.2.11.0 + http://www.keil.com/pack IRAM(0x20000000,0x00020000) IRAM2(0x10000000,0x00010000) IROM(0x08000000,0x00080000) CPUTYPE("Cortex-M4") FPU2 CLOCK(12000000) ELITTLE @@ -184,6 +184,9 @@ 0 0 2 + 0 + 0 + 0 1 0 8 @@ -350,7 +353,7 @@ 0 0 0 - 0 + 4 diff --git a/USER/main.c b/USER/main.c index ba7471f..331e5b5 100644 --- a/USER/main.c +++ b/USER/main.c @@ -178,6 +178,8 @@ extern uint16_t g_usart3_rx_sta; extern uint16_t g_usart3_rx_state; +extern uint16_t g_usart6_rx_state; + extern uint8_t g_rx1_buffer[RXBUFFERSIZE]; /* HAL¿âʹÓõĴ®¿Ú½ÓÊÕ»º³å */ /* ½ÓÊÕ»º³å, ×î´óUSART_REC_LEN¸ö×Ö½Ú. */ extern uint8_t g_usart2_rx_buf[USART_REC_LEN]; @@ -200,13 +202,22 @@ extern uint8_t g_usart6_rx_buf[USART_REC_LEN]; extern uint16_t g_usart6_rx_sta; extern uint8_t g_rx6_buffer[RXBUFFERSIZE]; /* HAL¿âʹÓõĴ®¿Ú½ÓÊÕ»º³å */ - +#define D_value 100 //ÂöÂç²îÖµ int main(void) { u8 t; u8 len; u16 times=0; + u8 start_vein_flg =0; //Ñ°ÂöÆô¶¯±êÖ¾ + int16_t adc1_zoo =0; + int16_t adc2_zoo =0; + int16_t adc3_zoo =0; //Èý·ÂöµÄÁãµã + + int16_t adc1_current =0; + int16_t adc2_current =0; + int16_t adc3_current =0; //Èý·ÂöµÄµ±Ç°Öµ + uint8_t frame_updata[6] = {0x30,0x30,0x30,0x30,0x30,0x30}; NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//ÉèÖÃϵͳÖжÏÓÅÏȼ¶·Ö×é2 delay_init(168); //ÑÓʱ³õʼ»¯ @@ -217,18 +228,18 @@ int main(void) uart5_init(115200); uart6_init(115200); //´®¿Ú6³õʼ»¯²¨ÌØÂÊΪ115200 ÉÏ´«µ½slide gpio_Init(); //³õʼ»¯gpio - TIM1_PWM_Init(16, 32); + //TIM1_PWM_Init(16, 32); //TIM2_PWM_Init(16, 32); - TIM4_PWM_Init(16, 32); - TIM_Cmd(TIM1, DISABLE); + //TIM4_PWM_Init(16, 32); + //TIM_Cmd(TIM1, DISABLE); //TIM_Cmd(TIM2, DISABLE); - TIM_Cmd(TIM4, DISABLE); + //TIM_Cmd(TIM4, DISABLE); //--------------------------------------------- // ³õʼ»¯DRV8832µç»úÇý¶¯ DRV8832_Init(); // ³õʼ»¯PWM¶¨Ê±Æ÷£¨Èç¹ûÐèÒªµ÷ËÙ£© - PWM_Timer_Init(); + // PWM_Timer_Init(); motor_spi1_init(); motor_spi2_init(); @@ -237,45 +248,100 @@ int main(void) // ʹÄÜÈ«¾ÖÖÐ¶Ï __enable_irq(); //======================================================================= + L_Motor_Control(MOTOR_REVERSE); + M_Motor_Control(MOTOR_REVERSE); + R_Motor_Control(MOTOR_REVERSE); + delay_ms(2000); + L_Motor_Control(MOTOR_STOP); + M_Motor_Control(MOTOR_STOP); + R_Motor_Control(MOTOR_STOP); //Éϵç³õʼ»¯ºó£¬ÏȽ«µç»úÌáÉýµ½ÉÏ룬²»Ò»¶¨Êǵ½¶¥£¬Õâ¸ö¿ÉÒÔºóÆÚ´ý¶¨ + //======================================================================= + //²âÊÔµç»ú3· while(0) { - // ʾÀý1£º»ù±¾¿ØÖÆ£¨È«ËÙÕý·´×ª£© - Motor_Control(MOTOR_FORWARD); // Õýת - delay_ms(5000); - Motor_SafeDirectionChange(MOTOR_REVERSE); // °²È«Çл»µ½·´×ª - delay_ms(5000); - - Motor_Control(MOTOR_BRAKE); // ɲ³µ - delay_ms(500); - - Motor_Control(MOTOR_STOP); // Í£Ö¹£¨»¬ÐУ© - delay_ms(1000); - - // ʾÀý2£ºPWMµ÷ËÙÑÝʾ - // Õýת¼ÓËÙ -// for(uint8_t speed = 0; speed <= 100; speed += 10) { -// Motor_SetSpeed(speed, MOTOR_FORWARD); -// delay_ms(200); -// } -// delay_ms(2000); +// // ʾÀý1£º»ù±¾¿ØÖÆ£¨È«ËÙÕý·´×ª£© +// Motor_Control(MOTOR_FORWARD); // Õýת +// // delay_ms(5000); +// Motor_SafeDirectionChange(MOTOR_REVERSE); // °²È«Çл»µ½·´×ª +// // delay_ms(5000); // -// // Õýת¼õËÙ -// for(uint8_t speed = 100; speed > 0; speed -= 10) { -// Motor_SetSpeed(speed, MOTOR_FORWARD); -// delay_ms(200); -// } -// Motor_SetSpeed(0, MOTOR_STOP); +// Motor_Control(MOTOR_BRAKE); // ɲ³µ +// delay_ms(500); +// +// Motor_Control(MOTOR_STOP); // Í£Ö¹£¨»¬ÐУ© // delay_ms(1000); + // ʾÀý2£ºPWMµ÷ËÙÑÝʾ + +// L_Motor_SetSpeed(50, MOTOR_FORWARD); +// M_Motor_SetSpeed(50, MOTOR_FORWARD); +// R_Motor_SetSpeed(50, MOTOR_FORWARD); +// delay_ms(5000); +// L_Motor_Control(MOTOR_STOP); +// M_Motor_Control(MOTOR_STOP); +// R_Motor_Control(MOTOR_STOP); +// +// L_Motor_SetSpeed(50, MOTOR_REVERSE); +// M_Motor_SetSpeed(50, MOTOR_REVERSE); +// R_Motor_SetSpeed(50, MOTOR_REVERSE); +// delay_ms(5000); +// L_Motor_Control(MOTOR_STOP); +// M_Motor_Control(MOTOR_STOP); +// R_Motor_Control(MOTOR_STOP); +// // Õýת¼ÓËÙ + for(uint8_t speed = 0; speed <= 100; speed += 10) + { + L_Motor_SetSpeed(speed, MOTOR_FORWARD); + M_Motor_SetSpeed(speed, MOTOR_FORWARD); + R_Motor_SetSpeed(speed, MOTOR_FORWARD); + delay_ms(200); + } + delay_ms(2000); + +// // Õýת¼õËÙ +// for(uint8_t speed = 100; speed > 0; speed -= 10) +// { +// L_Motor_SetSpeed(speed, MOTOR_FORWARD); +// M_Motor_SetSpeed(speed, MOTOR_FORWARD); +// R_Motor_SetSpeed(speed, MOTOR_FORWARD); +// delay_ms(200); +// } + + + L_Motor_SetSpeed(0, MOTOR_STOP); + M_Motor_SetSpeed(0, MOTOR_STOP); + R_Motor_SetSpeed(0, MOTOR_STOP); + // ·´×ª¼ÓËÙ + for(uint8_t speed = 0; speed <= 100; speed += 10) + { + L_Motor_SetSpeed(speed, MOTOR_REVERSE); + M_Motor_SetSpeed(speed, MOTOR_REVERSE); + R_Motor_SetSpeed(speed, MOTOR_REVERSE); + delay_ms(200); + } + delay_ms(2000); + +// // ·´×ª¼õËÙ +// for(uint8_t speed = 100; speed > 0; speed -= 10) +// { +// L_Motor_SetSpeed(speed, MOTOR_REVERSE); +// M_Motor_SetSpeed(speed, MOTOR_REVERSE); +// R_Motor_SetSpeed(speed, MOTOR_REVERSE); +// delay_ms(200); +// } + + + delay_ms(1000); + // ¼ì²é¹ÊÕÏ״̬ - if(Motor_GetFaultStatus()) { + if(L_Motor_GetFaultStatus()) { // ·¢Éú¹ÊÕÏ£¬Í£Ö¹µç»ú - Motor_Control(MOTOR_STOP); + L_Motor_Control(MOTOR_STOP); // ¿ÉÒÔÌí¼Ó¹ÊÕÏ´¦Àí´úÂ룬ÈçÉÁ˸LED»ò´®¿ÚÊä³ö // ... // µÈ´ý¹ÊÕÏÇå³ý - while(Motor_GetFaultStatus()) { + while(L_Motor_GetFaultStatus()) { delay_ms(100); } } @@ -285,23 +351,166 @@ int main(void) //======================================================================= while(1) { - printf("I love you lao zhang\n"); +// printf("I love you lao zhang\n"); - delay_ms(300); +// delay_ms(300); - printf("I love you zhengshuo\n"); +// printf("I love you zhengshuo\n"); - delay_ms(300); +// delay_ms(300); - Uart5_Send_data(frame_updata,6); - //------------------------------------------------- - if(g_usart1_rx_state == 1) - { + // Uart5_Send_data(frame_updata,6); + //¸ù¾ÝÖ¸Áî¿ØÖƵç»úµÄ¶¯×÷ + if(g_usart6_rx_state==1) //´®¿Ú6µÄ½ÓÊÕÊý¾Ý + { + + g_usart6_rx_state = 0; + if(g_usart6_rx_buf[1]==0x01) //1ͨµÀ BC 01 00 55 XX 66 Æô¶¯ + { + if(g_usart6_rx_buf[3]==0x55) + { + L_Motor_Control(MOTOR_FORWARD); //Æô¶¯µç»úÕý´« + } + if(g_usart6_rx_buf[3]==0xaa) //BC 01 00 aa XX 66 ·´×ª + { + + L_Motor_Control(MOTOR_REVERSE); + } + if(g_usart6_rx_buf[3]==0xff) //BC 01 00 ff XX 66 ¹Ø±Õ + { + + L_Motor_Control(MOTOR_STOP); + } + + } + if(g_usart6_rx_buf[1]==0x02) //2ͨµÀ + { + if(g_usart6_rx_buf[3]==0x55) + { + M_Motor_Control(MOTOR_FORWARD); //Æô¶¯µç»úÕý´« + } + if(g_usart6_rx_buf[3]==0xaa) //BC 02 00 aa XX 66 ·´×ª + { + + M_Motor_Control(MOTOR_REVERSE); + } + if(g_usart6_rx_buf[3]==0xff) //BC 02 00 ff XX 66 ¹Ø±Õ + { + + M_Motor_Control(MOTOR_STOP); + } + + } + if(g_usart6_rx_buf[1]==0x03) //3ͨµÀ + { + if(g_usart6_rx_buf[3]==0x55) + { + R_Motor_Control(MOTOR_FORWARD); //Æô¶¯µç»úÕý´« + } + if(g_usart6_rx_buf[3]==0xaa) //BC 03 00 aa XX 66 ·´×ª + { + + R_Motor_Control(MOTOR_REVERSE); + } + if(g_usart6_rx_buf[3]==0xff) //BC 03 00 ff XX 66 ¹Ø±Õ + { + + R_Motor_Control(MOTOR_STOP); + } + } + //--------------------------------------------------------------- + if(g_usart6_rx_buf[1]==0x04) //Èç¹ûµØÖ·ÊÇ04 ÔòÊÇÆô¶¯ÕïÂöÈý¸öµç»úÔËÐУ¬ÏÈÔËÐÐÖмäµç»ú£¬ÆäËûÁ½¸öµç»úÑÓʱºóÆô¶¯£¬Öмäµç»úÑ°µ½Âöºó£¬Í£Ö¹£¬ + //ÆäËûÁ½¸öµç»úÒ²ÊÇ×Ô¶¯Ñ°µ½ÂöºóÍ£Ö¹ + { + if(g_usart6_rx_buf[3]==0xaa) + { + start_vein_flg =1; //Ñ°ÂöÆô¶¯±êÖ¾ + } + if(g_usart6_rx_buf[3]==0x55) + { + start_vein_flg =2; //ֹͣѰÂö£¬¿ªÊ¼ÕïÂö + } + if(g_usart6_rx_buf[3]==0xff) + { + start_vein_flg =0; //Í£Ö¹ÕïÂö£¬µç»úÌáÉýºóÍ£Ö¹ + } + //¿ÉÒÔÔö¼ÓÖ¸Áָµ¼µç»úÔÚÕïÂö¹ý³ÌÖнøÐи¡ÖгÁÂöµÄ¶¯×÷ + } + } + //============================================================================================= + //ÒÔÏÂÊÇ×Ô¶¯¿ØÖƲ¿·Ö£¬ÊÇ·ñҪתÒƵ½¶¨ÖÆÖжÏÖд¦Àí£¿ + if(start_vein_flg == 1) + { + if((adc1_current-adc1_zoo)<= D_value) + { + L_Motor_Control(MOTOR_FORWARD); //µç»ú1Õý´« + } + else + { + L_Motor_Control(MOTOR_STOP); //µç»ú1Í£Ö¹ + } + + if((adc2_current-adc2_zoo)<= D_value) + { + M_Motor_Control(MOTOR_FORWARD); //µç»ú2Õý´« + } + else + { + M_Motor_Control(MOTOR_STOP); //µç»ú2Í£Ö¹ + } + + if((adc1_current-adc1_zoo)<= D_value) + { + R_Motor_Control(MOTOR_FORWARD); //µç»ú3Õý´« + } + else + { + R_Motor_Control(MOTOR_STOP); //µç»ú3Í£Ö¹ + } + } + if(start_vein_flg == 0) //Í£Ö¹ + { + L_Motor_Control(MOTOR_REVERSE); + M_Motor_Control(MOTOR_REVERSE); + R_Motor_Control(MOTOR_REVERSE); + delay_ms(2000); + L_Motor_Control(MOTOR_STOP); + M_Motor_Control(MOTOR_STOP); + R_Motor_Control(MOTOR_STOP); //Í£Ö¹ÕïÂöºóµç»úÌáÉý + } + + //============================================================== + //ÒÔÏÂÊÇADC²É¼¯ + //½ÓÊÕµ½µÄADCÊý¾Ý Ê×λBB ½áβÊÇ66 ÖмäµÄÊý¾ÝÊÇ 01 ADCL ADCH CRC8 + //BB 01 A2 08 73 66 + //BB -Ê×λ + //01 - + //A2 -ADCL + //08 -ADCH + //73 -CRC8 + //66 -½áβ // + //ÒÔÉÏÊý¾Ý£¬Èç¹û´«¸øÉÏλ»ú£¬ÎÞ·¨·ÖÇå³þÊÇÄĸöͨµÀµÄÊý¾Ý,Òò´Ë½«µÚ¶þ¸öÊý¾ÝÉèÖÃΪͨµÀ + + if(g_usart1_rx_state == 1) + { // g_usart1_rx_buf[1] = 0x01; // g_usart1_rx_buf[3] = 0x34; // g_usart1_rx_buf[4] = crc8_standard(g_usart1_rx_buf,4); - g_usart1_rx_state = 0; + if(start_vein_flg==0) //δÆô¶¯Ç°£¬²É¼¯µ½µÄÊý¾ÝΪµ±Ç°Í¨µÀµÄÁãµã + { + adc1_zoo =((uint16_t)g_usart1_rx_buf[3]<<8)|g_usart1_rx_buf[2]; + + } + else //µ±Ç°²É¼¯µ½µÄÖµ + { + adc1_current = ((uint16_t)g_usart1_rx_buf[3]<<8)|g_usart1_rx_buf[2]; + } + g_usart1_rx_state = 0; + //-------------------------------------------------------------- + g_usart1_rx_buf[1]=0x01; //ʵ¼ÊÕâ¸öÊÇԭʼÊý¾ÝûÓб仯 + g_usart1_rx_buf[4] = crc8_standard(g_usart1_rx_buf,4); //ÖØÐÂУÑé + //-------------------------------------------------------------- memcpy(frame_updata,g_usart1_rx_buf,6 ); memset(g_usart1_rx_buf, 0x0, 6); g_rx1_buffer[0] = 0x0; @@ -309,11 +518,21 @@ int main(void) } if(g_usart2_rx_state == 1) { - // g_usart1_rx_buf[1] = 0x01; - // g_usart1_rx_buf[3] = 0x34; - // g_usart1_rx_buf[4] = crc8_standard(g_usart1_rx_buf,4); - + + if(start_vein_flg==0) //δÆô¶¯Ç°£¬²É¼¯µ½µÄÊý¾ÝΪµ±Ç°Í¨µÀµÄÁãµã + { + adc2_zoo=((uint16_t)g_usart2_rx_buf[3]<<8)|g_usart2_rx_buf[2]; + + } + else //µ±Ç°²É¼¯µ½µÄÖµ + { + adc2_current = ((uint16_t)g_usart2_rx_buf[3]<<8)|g_usart2_rx_buf[2]; + } g_usart2_rx_state = 0; + //------------------------------------------------------------------- + g_usart2_rx_buf[1]=0x02; //ͨµÀÉèÖÃΪ02 + g_usart2_rx_buf[4] = crc8_standard(g_usart2_rx_buf,4); //ÖØÐÂУÑé + //------------------------------------------------------------------- memcpy(frame_updata,g_usart2_rx_buf,6 ); memset(g_usart2_rx_buf, 0x0, 6); g_rx2_buffer[0] = 0x0; @@ -321,11 +540,22 @@ int main(void) } if(g_usart3_rx_state == 1) { - // g_usart1_rx_buf[1] = 0x01; - // g_usart1_rx_buf[3] = 0x34; - // g_usart1_rx_buf[4] = crc8_standard(g_usart1_rx_buf,4); - + + if(start_vein_flg==0) //δÆô¶¯Ç°£¬²É¼¯µ½µÄÊý¾ÝΪµ±Ç°Í¨µÀµÄÁãµã + { + adc3_zoo=((uint16_t)g_usart3_rx_buf[3]<<8)|g_usart3_rx_buf[2]; + + } + else //µ±Ç°²É¼¯µ½µÄÖµ + { + adc3_current = ((uint16_t)g_usart3_rx_buf[3]<<8)|g_usart3_rx_buf[2]; + } + g_usart3_rx_state = 0; + //------------------------------------------------------------------- + g_usart3_rx_buf[1]=0x03; //ͨµÀÉèÖÃΪ03 + g_usart3_rx_buf[4] = crc8_standard(g_usart3_rx_buf,4); //ÖØÐÂУÑé + //------------------------------------------------------------------- memcpy(frame_updata,g_usart3_rx_buf,6 ); memset(g_usart3_rx_buf, 0x0, 6); g_rx3_buffer[0] = 0x0; @@ -333,30 +563,6 @@ int main(void) } //------------------------------------------------- - -// if(USART_RX_STA&0x8000) -// { -// len=USART_RX_STA&0x3fff;//µÃµ½´Ë´Î½ÓÊÕµ½µÄÊý¾Ý³¤¶È -// printf("\r\nÄú·¢Ë͵ÄÏûϢΪ:\r\n"); -// for(t=0;t