diff --git a/Core/Inc/main.h b/Core/Inc/main.h
index 9e6ffde..2b0e719 100644
--- a/Core/Inc/main.h
+++ b/Core/Inc/main.h
@@ -36,7 +36,13 @@ extern "C" {
/* Exported types ------------------------------------------------------------*/
/* USER CODE BEGIN ET */
+extern uint8_t ArrFlag; /* 加速度Flag */
+extern float Acc; /* 加速度 */
+extern uint8_t PulseNum; /* 脉冲段计数 */
+extern uint32_t AllPulseCNT;
+extern uint8_t EndFlag;
+extern uint8_t FullFlag;
/* USER CODE END ET */
/* Exported constants --------------------------------------------------------*/
@@ -57,6 +63,14 @@ void Error_Handler(void);
/* USER CODE END EFP */
/* Private defines -----------------------------------------------------------*/
+#define Y15_Pin GPIO_PIN_6
+#define Y15_GPIO_Port GPIOH
+#define Y14_Pin GPIO_PIN_7
+#define Y14_GPIO_Port GPIOH
+#define Y13_Pin GPIO_PIN_8
+#define Y13_GPIO_Port GPIOH
+#define Y12_Pin GPIO_PIN_9
+#define Y12_GPIO_Port GPIOH
/* USER CODE BEGIN Private defines */
diff --git a/Core/Inc/stm32f4xx_it.h b/Core/Inc/stm32f4xx_it.h
index a453eb7..b4ab761 100644
--- a/Core/Inc/stm32f4xx_it.h
+++ b/Core/Inc/stm32f4xx_it.h
@@ -55,7 +55,7 @@ void SVC_Handler(void);
void DebugMon_Handler(void);
void PendSV_Handler(void);
void SysTick_Handler(void);
-void TIM1_BRK_TIM9_IRQHandler(void);
+void TIM2_IRQHandler(void);
void USART1_IRQHandler(void);
void DMA2_Stream2_IRQHandler(void);
void DMA2_Stream7_IRQHandler(void);
diff --git a/Core/Inc/tim.h b/Core/Inc/tim.h
index a67653e..dbcfe47 100644
--- a/Core/Inc/tim.h
+++ b/Core/Inc/tim.h
@@ -32,7 +32,7 @@ extern "C" {
/* USER CODE END Includes */
-extern TIM_HandleTypeDef htim9;
+extern TIM_HandleTypeDef htim2;
extern TIM_HandleTypeDef htim10;
@@ -40,7 +40,7 @@ extern TIM_HandleTypeDef htim10;
/* USER CODE END Private defines */
-void MX_TIM9_Init(void);
+void MX_TIM2_Init(void);
void MX_TIM10_Init(void);
void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
diff --git a/Core/Inc/usart.h b/Core/Inc/usart.h
index 10c6193..972b42f 100644
--- a/Core/Inc/usart.h
+++ b/Core/Inc/usart.h
@@ -35,7 +35,12 @@ extern "C" {
extern UART_HandleTypeDef huart1;
/* USER CODE BEGIN Private defines */
+#define RX_BUFFER_SIZE 1024
+extern uint8_t RX1DataTemp;
+extern uint8_t RX1Data[RX_BUFFER_SIZE];
+extern uint8_t RX1Flag;
+extern volatile uint16_t RX1Count;
/* USER CODE END Private defines */
void MX_USART1_UART_Init(void);
diff --git a/Core/Src/gpio.c b/Core/Src/gpio.c
index 33eb032..f641b36 100644
--- a/Core/Src/gpio.c
+++ b/Core/Src/gpio.c
@@ -45,20 +45,19 @@ void MX_GPIO_Init(void)
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* GPIO Ports Clock Enable */
- __HAL_RCC_GPIOI_CLK_ENABLE();
__HAL_RCC_GPIOF_CLK_ENABLE();
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOI, GPIO_PIN_8, GPIO_PIN_RESET);
+ HAL_GPIO_WritePin(GPIOH, Y15_Pin|Y14_Pin|Y13_Pin|Y12_Pin, GPIO_PIN_RESET);
- /*Configure GPIO pin : PI8 */
- GPIO_InitStruct.Pin = GPIO_PIN_8;
+ /*Configure GPIO pins : PHPin PHPin PHPin PHPin */
+ GPIO_InitStruct.Pin = Y15_Pin|Y14_Pin|Y13_Pin|Y12_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
- HAL_GPIO_Init(GPIOI, &GPIO_InitStruct);
+ HAL_GPIO_Init(GPIOH, &GPIO_InitStruct);
}
diff --git a/Core/Src/main.c b/Core/Src/main.c
index 1cd84dd..fb9a0a6 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -26,13 +26,18 @@
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "PLSR.h"
-#include "includes.h"
+#include "includes.h"
+#include "modbus.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
uint8_t ArrFlag = 0; /* 加速度Flag */
-int32_t Acc; /* 加速度 */
+float Acc; /* 加速度 */
+uint32_t AllPulseCNT = 0;
+
+uint8_t EndFlag = 0;
+uint8_t FullFlag = 0;
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
@@ -54,7 +59,7 @@ int32_t Acc; /*
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
-
+void PVD_Init(void);
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
@@ -62,20 +67,28 @@ void SystemClock_Config(void);
/* 任务优先级 */
#define TASK_Y1Direction 4
-
+#define TASK_PulseStart 4
+#define TASK_DirOutput 4
+
/* 任务堆栈大小 */
- #define Task_Y1Direction_SIZE 256
-
+#define Task_Y1Direction_SIZE 256
+#define Task_PulseStart_SIZE 256
+#define Task_DirOutput_SIZE 256
+
/* 任务控制块 */
- OS_TCB Y1Direction_Tsk;
-
+OS_TCB Y1Direction_Tsk;
+OS_TCB PulseStart_Tsk;
+OS_TCB DirOutput_Tsk;
/* 任务栈 */
CPU_STK Task_Y1Direction_STK[Task_Y1Direction_SIZE];
+CPU_STK Task_PulseStart_STK[Task_PulseStart_SIZE];
+CPU_STK Task_DirOutput_STK[Task_DirOutput_SIZE];
/* 任务函数 */
void Y1Direction(void *p_arg);
-
+void PulseStartTsk(void *p_arg);
+void DirOutput(void *p_arg);
/* USER CODE END 0 */
@@ -95,14 +108,16 @@ int main(void)
HAL_Init();
/* USER CODE BEGIN Init */
-
+ PVD_Init();
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
-
+ HAL_PWR_EnableBkUpAccess();/* 使能备份域访问 */
+ __HAL_RCC_BKPSRAM_CLK_ENABLE();/* 使能备份SRAM时钟 */
+ HAL_PWREx_EnableBkUpReg();/* 使能备份SRAM */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
@@ -110,38 +125,64 @@ int main(void)
MX_DMA_Init();
MX_USART1_UART_Init();
MX_TIM10_Init();
- MX_TIM9_Init();
+ MX_TIM2_Init();
/* USER CODE BEGIN 2 */
+ PulseBaseInit(0, 0, 200);//设置为第0段脉冲开始，相对模式, 最大脉冲为0
+ AccCount = 50;
-// PulseInit(0, 0, 0);//设置为第0段脉冲开始，相对模式, 最大脉冲为0
-// Base.AccCount = 50;
- SetPulse(0, 1, 5, 0, 1);
-// SetPulse(1, 100, 200, 0, -1);
-
-
+ PulseInit(0, 1, 5, 0); //第几段脉冲，频率，数量，下一段脉冲
+ AddPulse(1, 100, -200, 0);
+ AddPulse(2, 1, 55, 0);
+
- __HAL_TIM_SET_AUTORELOAD(&htim9,5-1); //设置要输出的PWM脉冲数 5个
- HAL_TIM_Base_Start_IT(&htim9); //启动从定时器
-// PulseStart(); //开始产生脉冲
-// HAL_TIM_PWM_Start(&htim10, TIM_CHANNEL_1); //启动主定时器PWM输出
- BSP_Init();
+ BSP_Init();
OSInit(&err);
- OSTaskCreate((OS_TCB * )&Y1Direction_Tsk, /* 任务控制块 */
- (CPU_CHAR* )"Y1Direction", /* 任务名字 */
- (OS_TASK_PTR)Y1Direction, /* 任务函数 */
- (void * )0, /* 传递给任务函数的参数 */
+ /* 任务1 */
+ OSTaskCreate((OS_TCB * )&Y1Direction_Tsk, /* 任务控制块 */
+ (CPU_CHAR* )"Y1Direction", /* 任务名字 */
+ (OS_TASK_PTR)Y1Direction, /* 任务函数 */
+ (void * )0, /* 传递给任务函数的参数 */
(OS_PRIO )TASK_Y1Direction, /* 任务优先级 */
(CPU_STK * )&Task_Y1Direction_STK[0], /* 任务堆栈基地址 */
(CPU_STK_SIZE)Task_Y1Direction_SIZE/10, /* 任务堆栈深度限位 */
- (CPU_STK_SIZE)Task_Y1Direction_SIZE, /* 任务堆栈大小 */
+ (CPU_STK_SIZE)Task_Y1Direction_SIZE, /* 任务堆栈大小 */
(OS_MSG_QTY)0, /* 任务内部消息队列能够接收的最大消息数目,为0时禁止接收消息 */
(OS_TICK )0, /* 当使能时间片轮转时的时间片长度，为0时为默认长度 */
(void * )0, /* 用户补充的存储区 */
(OS_OPT )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR, /* 任务选项 */
(OS_ERR * )&err); /* 存放该函数错误时的返回值 */
+ /* 任务2 */
+ OSTaskCreate((OS_TCB * )&PulseStart_Tsk,
+ (CPU_CHAR* )"PulseStartTsk",
+ (OS_TASK_PTR)PulseStartTsk,
+ (void * )0,
+ (OS_PRIO )TASK_PulseStart,
+ (CPU_STK * )&Task_PulseStart_STK[0],
+ (CPU_STK_SIZE)Task_PulseStart_SIZE/10,
+ (CPU_STK_SIZE)Task_PulseStart_SIZE,
+ (OS_MSG_QTY)0,
+ (OS_TICK )0,
+ (void * )0,
+ (OS_OPT )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR,
+ (OS_ERR * )&err);
+ /* 任务3 */
+ OSTaskCreate((OS_TCB * )&DirOutput_Tsk,
+ (CPU_CHAR* )"DirOutput_Tsk",
+ (OS_TASK_PTR)DirOutput,
+ (void * )0,
+ (OS_PRIO )TASK_DirOutput,
+ (CPU_STK * )&Task_DirOutput_STK[0],
+ (CPU_STK_SIZE)Task_DirOutput_SIZE/10,
+ (CPU_STK_SIZE)Task_DirOutput_SIZE,
+ (OS_MSG_QTY)0,
+ (OS_TICK )0,
+ (void * )0,
+ (OS_OPT )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR,
+ (OS_ERR * )&err);
+
OSStart(&err);
/* USER CODE END 2 */
@@ -174,12 +215,11 @@ void SystemClock_Config(void)
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
- RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
- RCC_OscInitStruct.HSIState = RCC_HSI_ON;
- RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
+ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
+ RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
- RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
- RCC_OscInitStruct.PLL.PLLM = 8;
+ RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
+ RCC_OscInitStruct.PLL.PLLM = 6;
RCC_OscInitStruct.PLL.PLLN = 72;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 4;
@@ -206,27 +246,136 @@ void SystemClock_Config(void)
/* USER CODE BEGIN 4 */
/**
-* @brief 任务1，Y1的方向
+* @brief 任务1，获取总脉冲数, 脉冲加减速
* @return 无
*/
void Y1Direction(void *p_arg)
{
p_arg = p_arg;
+ OS_ERR err;
while(1)
{
- if (PulseOutput[Base.NowPulse].Direction == 1)
+ /* 脉冲加减速 */
+ if (ArrFlag == 1)
{
- HAL_GPIO_WritePin(GPIOI, GPIO_PIN_8, GPIO_PIN_SET);
+ if(TIM2->CNT < AccCount)
+ {
+ SetFrequency(0, PulseOutput[PrePulse].Frequency + TIM2->CNT * Acc);
+ }
+ else
+ {
+ SetFrequency(0, PulseOutput[NowPulse].Frequency);
+ ArrFlag = 0;
+ }
}
- else
+
+ /* 获取总的脉冲数 */
+ if(EndFlag || FullFlag)
{
- HAL_GPIO_WritePin(GPIOI, GPIO_PIN_8, GPIO_PIN_RESET);
+ if(EndFlag)
+ {
+ AllPulseCNT = GetBase(NowPulse) + PulseOutput[NowPulse].PulseCount;
+ }
+ if(FullFlag)
+ {
+ AllPulseCNT = MAX_Pulse;
+ }
+
}
+ else
+ {
+ AllPulseCNT = TIM2->CNT + GetBase(NowPulse);
+ }
+ OSTimeDly(100, OS_OPT_TIME_DLY, &err); // 延时 100 个节拍
}
-
}
+/**
+* @brief 任务2，脉冲开始
+* @return 无
+*/
+void PulseStartTsk(void *p_arg)
+{
+ p_arg = p_arg;
+ OS_ERR err;
+ uint8_t EN = 1;
+ while(1)
+ {
+ if(Register_L[3000] == 0x01 && EN == 1)
+ {
+ PulseStart();
+ EN = 0;
+ }
+ else if(Register_L[3000] == 0x02 && EN == 0)
+ {
+ EN = 1;
+ }
+ OSTimeDly(100, OS_OPT_TIME_DLY, &err); // 延时 100 个节拍
+ }
+}
+
+/**
+* @brief 任务3，脉冲方向输出
+* @return 无
+*/
+void DirOutput(void *p_arg)
+{
+ p_arg = p_arg;
+ OS_ERR err;
+
+ while(1)
+ {
+ if (Options.DirPost == 0)
+ {
+ if (Options.Dir == 1)
+ {
+ HAL_GPIO_WritePin(GPIOH, Y12_Pin, GPIO_PIN_SET);
+ }
+ else
+ {
+ HAL_GPIO_WritePin(GPIOH, Y12_Pin, GPIO_PIN_RESET);
+ }
+ }
+ if (Options.DirPost == 1)
+ {
+ if (Options.Dir == 1)
+ {
+ HAL_GPIO_WritePin(GPIOH, Y13_Pin, GPIO_PIN_SET);
+ }
+ else
+ {
+ HAL_GPIO_WritePin(GPIOH, Y13_Pin, GPIO_PIN_RESET);
+ }
+ }
+ if (Options.DirPost == 2)
+ {
+ if (Options.Dir == 1)
+ {
+ HAL_GPIO_WritePin(GPIOH, Y14_Pin, GPIO_PIN_SET);
+ }
+ else
+ {
+ HAL_GPIO_WritePin(GPIOH, Y14_Pin, GPIO_PIN_RESET);
+ }
+ }
+ if (Options.DirPost == 3)
+ {
+ if (Options.Dir == 1)
+ {
+ HAL_GPIO_WritePin(GPIOH, Y15_Pin, GPIO_PIN_SET);
+ }
+ else
+ {
+ HAL_GPIO_WritePin(GPIOH, Y15_Pin, GPIO_PIN_RESET);
+ }
+ }
+ OSTimeDly(100, OS_OPT_TIME_DLY, &err); // 延时 100 个节拍
+ }
+}
+
+#if 0
+
/**
* @brief 定时器中断回调（PWM计数）
* @return 无
@@ -235,26 +384,32 @@ void HAL_TIM_PWM_PulseFinishedCallback(TIM_HandleTypeDef *htim)
{
if (htim->Instance == TIM10)
{
+ PulseCount++;
if (1 == Base.PulseMod) /* 如果是绝对模式 */
{
- if (AllPulseCount == Base.MAX_Pulse) /* 达到了最大脉冲数 */
+ if (TIM2->CNT == Base.MAX_Pulse) /* 达到了最大脉冲数 */
{
HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
- HAL_GPIO_WritePin(GPIOF, GPIO_PIN_6, GPIO_PIN_RESET);
}
- else if(PulseCount == PulseOutput[Base.NowPulse].PulseCount) /* 如果当前段的计数等于要求的计数 */
+ else if(PulseCount == PulseOutput[NowPulse].PulseCount) /* 如果当前段的计数等于要求的计数 */
{
PulseCount = 0;
- HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
- HAL_GPIO_WritePin(GPIOF, GPIO_PIN_6, GPIO_PIN_RESET);
+ HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
- if(PulseOutput[Base.NowPulse].NextPulse != -1)
+ if(Base.PulseNum - NowPulse >= 1)
{
- Base.PrePulse = Base.NowPulse; /* 保存之前的脉冲段 */
- Base.NowPulse = PulseOutput[Base.NowPulse].NextPulse; /* 进入下一段脉冲 */
+ Base.PrePulse = NowPulse; /* 保存之前的脉冲段 */
+ if(PulseOutput[NowPulse].NextPulse == 0)
+ {
+ NowPulse = NowPulse+ 1;
+ }
+ else
+ {
+ NowPulse = PulseOutput[NowPulse].NextPulse; /* 进入下一段脉冲 */
+ }
Acc = GetAcc(PulseOutput[Base.PrePulse].Frequency,
- PulseOutput[Base.NowPulse].Frequency, Base.AccCount); /* 计算Acc */
+ PulseOutput[NowPulse].Frequency, Base.AccCount); /* 计算Acc */
ArrFlag = 1;
PulseStart(); //开始产生脉冲
}
@@ -262,27 +417,32 @@ void HAL_TIM_PWM_PulseFinishedCallback(TIM_HandleTypeDef *htim)
}
else if (0 == Base.PulseMod) /* 如果是相对模式 */
{
- if (PulseCount == PulseOutput[Base.NowPulse].PulseCount) /* 如果当前段的计数等于要求的计数 */
+ if (PulseCount == PulseOutput[NowPulse].PulseCount) /* 如果当前段的计数等于要求的计数 */
{
PulseCount = 0;
- HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
- HAL_GPIO_WritePin(GPIOF, GPIO_PIN_6, GPIO_PIN_RESET);
-
- if(PulseOutput[Base.NowPulse].NextPulse != -1)
+ HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
+ if(Base.PulseNum - NowPulse > 1)
{
- Base.PrePulse = Base.NowPulse; /* 保存之前的脉冲段 */
- Base.NowPulse = PulseOutput[Base.NowPulse].NextPulse; /* 进入下一段脉冲 */
+ Base.PrePulse = NowPulse; /* 保存之前的脉冲段 */
+ if(PulseOutput[NowPulse].NextPulse == 0)
+ {
+ NowPulse = NowPulse+ 1;
+ }
+ else
+ {
+ NowPulse = PulseOutput[NowPulse].NextPulse; /* 进入下一段脉冲 */
+ }
Acc = GetAcc(PulseOutput[Base.PrePulse].Frequency,
- PulseOutput[Base.NowPulse].Frequency, Base.AccCount); /* 计算Acc */
+ PulseOutput[NowPulse].Frequency, Base.AccCount); /* 计算Acc */
ArrFlag = 1;
PulseStart(); //开始产生脉冲
}
+ else
+ {
+ PulseCount = 0;
+ HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
+ }
}
- else
- {
- PulseCount++;
- AllPulseCount++;
- }
}
if (ArrFlag == 1)
{
@@ -292,7 +452,7 @@ void HAL_TIM_PWM_PulseFinishedCallback(TIM_HandleTypeDef *htim)
}
else
{
- SetFrequency(0, PulseOutput[Base.NowPulse].Frequency);
+ SetFrequency(0, PulseOutput[NowPulse].Frequency);
ArrFlag = 0;
}
}
@@ -300,16 +460,42 @@ void HAL_TIM_PWM_PulseFinishedCallback(TIM_HandleTypeDef *htim)
}
}
-void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
+#endif
+
+/**
+* @brief 掉电中断
+* @return 无
+*/
+void HAL_PWR_PVDCallback(void)
{
- if(htim == &htim9)
- {
- if(__HAL_TIM_GET_FLAG(&htim9, TIM_FLAG_CC2) != RESET) //判断是否触发中断
- {
- __HAL_TIM_CLEAR_FLAG(&htim9, TIM_FLAG_CC2); //清除中断标志
- HAL_GPIO_TogglePin(GPIOI, GPIO_PIN_8);
- }
- }
+ OSIntEnter(); /* 进入中断 */
+ // 检查电压是否低于阈值
+ if (__HAL_PWR_GET_FLAG(PWR_FLAG_PVDO))
+ {
+ /* 掉电处理内容 */
+ PLSRSramSave();
+ }
+
+
+ OSIntExit(); /* 退出中断 */
+}
+
+/**
+* @brief PVD配置
+* @return 无
+*/
+void PVD_Init(void)
+{
+ PWR_PVDTypeDef PvdStruct;
+
+ HAL_PWR_EnablePVD(); /* 使能PVD */
+
+ PvdStruct.PVDLevel = PWR_PVDLEVEL_3; /* PVD阈值3.1V */
+ PvdStruct.Mode = PWR_PVD_MODE_IT_RISING; /* 检测掉电 */
+ HAL_PWR_ConfigPVD(&PvdStruct);
+
+ HAL_NVIC_SetPriority(PVD_IRQn, 0, 0); /* 配置PVD中断优先级 */
+ HAL_NVIC_EnableIRQ(PVD_IRQn); /* 使能PVD中断 */
}
/* USER CODE END 4 */
diff --git a/Core/Src/stm32f4xx_it.c b/Core/Src/stm32f4xx_it.c
index 85604ca..8937dc6 100644
--- a/Core/Src/stm32f4xx_it.c
+++ b/Core/Src/stm32f4xx_it.c
@@ -22,6 +22,11 @@
#include "stm32f4xx_it.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
+#include "PLSR.h"
+#include "tim.h"
+#include "usart.h"
+#include "modbus.h"
+#include "string.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -55,7 +60,7 @@
/* USER CODE END 0 */
/* External variables --------------------------------------------------------*/
-extern TIM_HandleTypeDef htim9;
+extern TIM_HandleTypeDef htim2;
extern DMA_HandleTypeDef hdma_usart1_rx;
extern DMA_HandleTypeDef hdma_usart1_tx;
extern UART_HandleTypeDef huart1;
@@ -202,17 +207,93 @@ void SysTick_Handler(void)
/******************************************************************************/
/**
- * @brief This function handles TIM1 break interrupt and TIM9 global interrupt.
+ * @brief This function handles TIM2 global interrupt.
*/
-void TIM1_BRK_TIM9_IRQHandler(void)
+void TIM2_IRQHandler(void)
{
- /* USER CODE BEGIN TIM1_BRK_TIM9_IRQn 0 */
-
- /* USER CODE END TIM1_BRK_TIM9_IRQn 0 */
- HAL_TIM_IRQHandler(&htim9);
- /* USER CODE BEGIN TIM1_BRK_TIM9_IRQn 1 */
-
- /* USER CODE END TIM1_BRK_TIM9_IRQn 1 */
+ /* USER CODE BEGIN TIM2_IRQn 0 */
+
+ /* USER CODE END TIM2_IRQn 0 */
+ HAL_TIM_IRQHandler(&htim2);
+ /* USER CODE BEGIN TIM2_IRQn 1 */
+
+ PulseNum ++; /* 脉冲段数增加 */
+
+ if(Options.RunMod == 0)
+ {
+ /* 如果之后还有脉冲 */
+ if(Options.AllPulse - PulseNum > 0)
+ {
+ PrePulse = NowPulse; /* 保存之前的脉冲段 */
+ if(PulseOutput[NowPulse].NextPulse == 0)
+ {
+ NowPulse = NowPulse + 1; /* 进入下一段脉冲 */
+ }
+ else
+ {
+ NowPulse = PulseOutput[NowPulse].NextPulse; /* 进入下一段脉冲 */
+ }
+
+ /* 准备加减速 */
+ Acc = GetAcc(PulseOutput[PrePulse].Frequency,
+ PulseOutput[NowPulse].Frequency, AccCount); /* 计算加速度 */
+ ArrFlag = 1;
+
+ SetNextPulse();/* 设置下一次进入中断的脉冲数 */
+ PulseStart(); /* 开始产生脉冲 */
+ }
+ /* 如果之后没有脉冲 */
+ else
+ {
+ PulseCount = 0;
+ HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
+ EndFlag = 1;
+ }
+ }
+ else
+ {
+ if(AllPulseCNT >= MAX_Pulse)
+ {
+ PulseCount = 0;
+ HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
+ FullFlag = 1;
+ }
+ else
+ {
+ /* 如果之后还有脉冲 */
+ if(Options.AllPulse - PulseNum > 0)
+ {
+ PrePulse = NowPulse; /* 保存之前的脉冲段 */
+ if(PulseOutput[NowPulse].NextPulse == 0)
+ {
+ NowPulse = NowPulse + 1; /* 进入下一段脉冲 */
+ }
+ else
+ {
+ NowPulse = PulseOutput[NowPulse].NextPulse; /* 进入下一段脉冲 */
+ }
+
+ /* 准备加减速 */
+ Acc = GetAcc(PulseOutput[PrePulse].Frequency,
+ PulseOutput[NowPulse].Frequency, AccCount); /* 计算加速度 */
+ ArrFlag = 1;
+
+ SetNextPulse();/* 设置下一次进入中断的脉冲数 */
+ PulseStart(); /* 开始产生脉冲 */
+ }
+ /* 如果之后没有脉冲 */
+ else
+ {
+ PulseCount = 0;
+ HAL_TIM_PWM_Stop_IT(&htim10,TIM_CHANNEL_1); /* 停止PWM输出 */
+ EndFlag = 1;
+ }
+ }
+ }
+
+
+
+ /* USER CODE END TIM2_IRQn 1 */
}
/**
@@ -221,7 +302,29 @@ void TIM1_BRK_TIM9_IRQHandler(void)
void USART1_IRQHandler(void)
{
/* USER CODE BEGIN USART1_IRQn 0 */
-
+
+ uint32_t temp;
+ // 空闲中断处理
+ if(__HAL_UART_GET_FLAG(&huart1, UART_FLAG_IDLE))
+ {
+ __HAL_UART_CLEAR_IDLEFLAG(&huart1);
+ temp = huart1.Instance->SR;
+ temp = huart1.Instance->DR;
+ HAL_UART_DMAStop(&huart1);
+ // 计算接收到的数据长度
+ uint16_t len = RX_BUFFER_SIZE - __HAL_DMA_GET_COUNTER(&hdma_usart1_rx);
+
+ // 处理数据
+ if(len > 0)
+ {
+ ProcessModbusFrame(RX1Data, len); /* 处理完整帧 */
+// HAL_UART_Transmit(&huart1, RX1Data, len, 0xffff); // 将接收到的数据再发出
+ len = 0;
+ memset(RX1Data, 0, RX_BUFFER_SIZE);
+ HAL_UART_Receive_DMA(&huart1, RX1Data, RX_BUFFER_SIZE); /* 继续接收 */
+ }
+ }
+
/* USER CODE END USART1_IRQn 0 */
HAL_UART_IRQHandler(&huart1);
/* USER CODE BEGIN USART1_IRQn 1 */
diff --git a/Core/Src/tim.c b/Core/Src/tim.c
index d0aa509..a0e4720 100644
--- a/Core/Src/tim.c
+++ b/Core/Src/tim.c
@@ -24,41 +24,51 @@
/* USER CODE END 0 */
-TIM_HandleTypeDef htim9;
+TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim10;
-/* TIM9 init function */
-void MX_TIM9_Init(void)
+/* TIM2 init function */
+void MX_TIM2_Init(void)
{
- /* USER CODE BEGIN TIM9_Init 0 */
+ /* USER CODE BEGIN TIM2_Init 0 */
- /* USER CODE END TIM9_Init 0 */
+ /* USER CODE END TIM2_Init 0 */
- TIM_SlaveConfigTypeDef sSlaveConfig = {0};
+ TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+ TIM_MasterConfigTypeDef sMasterConfig = {0};
- /* USER CODE BEGIN TIM9_Init 1 */
+ /* USER CODE BEGIN TIM2_Init 1 */
- /* USER CODE END TIM9_Init 1 */
- htim9.Instance = TIM9;
- htim9.Init.Prescaler = 0;
- htim9.Init.CounterMode = TIM_COUNTERMODE_UP;
- htim9.Init.Period = 65535;
- htim9.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
- htim9.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
- if (HAL_TIM_Base_Init(&htim9) != HAL_OK)
+ /* USER CODE END TIM2_Init 1 */
+ htim2.Instance = TIM2;
+ htim2.Init.Prescaler = 0;
+ htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
+ htim2.Init.Period = 4294967295;
+ htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+ htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+ if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
{
Error_Handler();
}
- sSlaveConfig.SlaveMode = TIM_SLAVEMODE_GATED;
- sSlaveConfig.InputTrigger = TIM_TS_ITR2;
- if (HAL_TIM_SlaveConfigSynchro(&htim9, &sSlaveConfig) != HAL_OK)
+ sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_ETRMODE2;
+ sClockSourceConfig.ClockPolarity = TIM_CLOCKPOLARITY_NONINVERTED;
+ sClockSourceConfig.ClockPrescaler = TIM_CLOCKPRESCALER_DIV1;
+ sClockSourceConfig.ClockFilter = 0;
+ if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
- /* USER CODE BEGIN TIM9_Init 2 */
- __HAL_TIM_CLEAR_FLAG(&htim9, TIM_FLAG_CC2); //清除中断标志
- /* USER CODE END TIM9_Init 2 */
+ sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+ sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+ if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ /* USER CODE BEGIN TIM2_Init 2 */
+ __HAL_TIM_CLEAR_FLAG(&htim2, TIM_FLAG_UPDATE);
+ HAL_TIM_Base_Start_IT(&htim2);
+ /* USER CODE END TIM2_Init 2 */
}
/* TIM10 init function */
@@ -90,7 +100,7 @@ void MX_TIM10_Init(void)
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 32767;
- sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+ sConfigOC.OCPolarity = TIM_OCPOLARITY_LOW;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim10, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
{
@@ -113,20 +123,32 @@ void MX_TIM10_Init(void)
void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
{
- if(tim_baseHandle->Instance==TIM9)
+ GPIO_InitTypeDef GPIO_InitStruct = {0};
+ if(tim_baseHandle->Instance==TIM2)
{
- /* USER CODE BEGIN TIM9_MspInit 0 */
+ /* USER CODE BEGIN TIM2_MspInit 0 */
+
+ /* USER CODE END TIM2_MspInit 0 */
+ /* TIM2 clock enable */
+ __HAL_RCC_TIM2_CLK_ENABLE();
- /* USER CODE END TIM9_MspInit 0 */
- /* TIM9 clock enable */
- __HAL_RCC_TIM9_CLK_ENABLE();
+ __HAL_RCC_GPIOA_CLK_ENABLE();
+ /**TIM2 GPIO Configuration
+ PA15 ------> TIM2_ETR
+ */
+ GPIO_InitStruct.Pin = GPIO_PIN_15;
+ GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+ GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
+ HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
- /* TIM9 interrupt Init */
- HAL_NVIC_SetPriority(TIM1_BRK_TIM9_IRQn, 0, 0);
- HAL_NVIC_EnableIRQ(TIM1_BRK_TIM9_IRQn);
- /* USER CODE BEGIN TIM9_MspInit 1 */
+ /* TIM2 interrupt Init */
+ HAL_NVIC_SetPriority(TIM2_IRQn, 0, 0);
+ HAL_NVIC_EnableIRQ(TIM2_IRQn);
+ /* USER CODE BEGIN TIM2_MspInit 1 */
- /* USER CODE END TIM9_MspInit 1 */
+ /* USER CODE END TIM2_MspInit 1 */
}
else if(tim_baseHandle->Instance==TIM10)
{
@@ -171,19 +193,24 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
{
- if(tim_baseHandle->Instance==TIM9)
+ if(tim_baseHandle->Instance==TIM2)
{
- /* USER CODE BEGIN TIM9_MspDeInit 0 */
+ /* USER CODE BEGIN TIM2_MspDeInit 0 */
- /* USER CODE END TIM9_MspDeInit 0 */
+ /* USER CODE END TIM2_MspDeInit 0 */
/* Peripheral clock disable */
- __HAL_RCC_TIM9_CLK_DISABLE();
+ __HAL_RCC_TIM2_CLK_DISABLE();
+
+ /**TIM2 GPIO Configuration
+ PA15 ------> TIM2_ETR
+ */
+ HAL_GPIO_DeInit(GPIOA, GPIO_PIN_15);
- /* TIM9 interrupt Deinit */
- HAL_NVIC_DisableIRQ(TIM1_BRK_TIM9_IRQn);
- /* USER CODE BEGIN TIM9_MspDeInit 1 */
+ /* TIM2 interrupt Deinit */
+ HAL_NVIC_DisableIRQ(TIM2_IRQn);
+ /* USER CODE BEGIN TIM2_MspDeInit 1 */
- /* USER CODE END TIM9_MspDeInit 1 */
+ /* USER CODE END TIM2_MspDeInit 1 */
}
else if(tim_baseHandle->Instance==TIM10)
{
diff --git a/Core/Src/usart.c b/Core/Src/usart.c
index c746da6..683b96a 100644
--- a/Core/Src/usart.c
+++ b/Core/Src/usart.c
@@ -21,7 +21,10 @@
#include "usart.h"
/* USER CODE BEGIN 0 */
-
+uint8_t RX1DataTemp = 0;
+uint8_t RX1Data[RX_BUFFER_SIZE] = {0};
+uint8_t RX1Flag = 0;
+volatile uint16_t RX1Count = 0;
/* USER CODE END 0 */
UART_HandleTypeDef huart1;
@@ -42,9 +45,9 @@ void MX_USART1_UART_Init(void)
/* USER CODE END USART1_Init 1 */
huart1.Instance = USART1;
huart1.Init.BaudRate = 19200;
- huart1.Init.WordLength = UART_WORDLENGTH_8B;
+ huart1.Init.WordLength = UART_WORDLENGTH_9B;
huart1.Init.StopBits = UART_STOPBITS_1;
- huart1.Init.Parity = UART_PARITY_NONE;
+ huart1.Init.Parity = UART_PARITY_ODD;
huart1.Init.Mode = UART_MODE_TX_RX;
huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart1.Init.OverSampling = UART_OVERSAMPLING_16;
@@ -53,7 +56,8 @@ void MX_USART1_UART_Init(void)
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
-
+ __HAL_UART_ENABLE_IT(&huart1, UART_IT_IDLE);
+ HAL_UART_Receive_DMA(&huart1, RX1Data, RX_BUFFER_SIZE);
/* USER CODE END USART1_Init 2 */
}
diff --git a/EWARM/PLSR.dep b/EWARM/PLSR.dep
index 7867334..35acaef 100644
--- a/EWARM/PLSR.dep
+++ b/EWARM/PLSR.dep
@@ -1,424 +1,396 @@
4
- 3933514701
+ 1083477749
PLSR
- $PROJ_DIR$\PLSR\Obj\cpu_c.__cstat.et
- $PROJ_DIR$\PLSR\Obj\os_mem.o
- $PROJ_DIR$\..\cmsis\uCOS-III\Ports\ARM-Cortex-M4\Generic\IAR\os_cpu_c.c
- $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal.__cstat.et
- $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_dma.xcl
- $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h
- $PROJ_DIR$\PLSR\Obj\os_cfg_app.__cstat.et
- $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_uart.xcl
- $PROJ_DIR$\PLSR\Obj\os_q.o
- $PROJ_DIR$\PLSR\Obj\os_core.xcl
- $PROJ_DIR$\PLSR\Obj\main.xcl
- $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_dma.__cstat.et
- $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_tim.xcl
- $PROJ_DIR$\..\Drivers\CMSIS\Include\core_cm4.h
- $PROJ_DIR$\PLSR\Obj\os_int.o
- $PROJ_DIR$\PLSR\Obj\PLSR.pbd
- $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_flash.xcl
- $TOOLKIT_DIR$\inc\c\string.h
- $PROJ_DIR$\..\Core\Inc\main.h
- $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h
- $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_uart.__cstat.et
+ $PROJ_DIR$\PLSR\Obj\os_task.xcl
+ $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_msp.__cstat.et
+ $PROJ_DIR$\PLSR\Obj\cpu_a.o
+ $PROJ_DIR$\PLSR\Obj\os_core.__cstat.et
+ $PROJ_DIR$\PLSR\Obj\os_tmr.o
$PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h
- $PROJ_DIR$\PLSR\Obj\os_task.__cstat.et
- $PROJ_DIR$\..\cmsis\uCOS-III\Ports\ARM-Cortex-M4\Generic\IAR\os_cpu_a.asm
- $PROJ_DIR$\PLSR\Exe\PLSR.out
- $PROJ_DIR$\PLSR\Obj\os_cfg_app.o
+ $PROJ_DIR$\PLSR\Obj\stm32f4xx_it.__cstat.et
+ $PROJ_DIR$\..\Drivers\CMSIS\Include\core_cm4.h
+ $PROJ_DIR$\PLSR\Obj\PLSR.o
+ $PROJ_DIR$\PLSR\Obj\os_dbg.xcl
+ $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_exti.o
+ $PROJ_DIR$\PLSR\Obj\os_pend_multi.o
+ $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_tim.xcl
+ $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_rcc_ex.o
+ $PROJ_DIR$\PLSR\Obj\modbus.__cstat.et
$PROJ_DIR$\PLSR\Obj\gpio.__cstat.et
- $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h
- $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_flash_ramfunc.xcl
+ $PROJ_DIR$\PLSR\Obj\os_cpu_c.__cstat.et
$PROJ_DIR$\PLSR\Obj\bsp.o
- $PROJ_DIR$\PLSR\Obj\os_msg.xcl
- $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_tim.o
- $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_uart.o
- $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_msp.xcl
- $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_rcc.xcl
- $PROJ_DIR$\PLSR\Obj\sram.xcl
- $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_rcc_ex.o
- $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_rcc.__cstat.et
- $PROJ_DIR$\PLSR\Obj\os_tick.xcl
- $PROJ_DIR$\PLSR\Obj\os_time.o
- $PROJ_DIR$\..\Core\Inc\gpio.h
- $PROJ_DIR$\PLSR\Obj\os_tmr.xcl
- $PROJ_DIR$\PLSR\List\PLSR.map
- $PROJ_DIR$\PLSR\Obj\modbus.xcl
- $PROJ_DIR$\PLSR\Obj\lib_str.xcl
- $PROJ_DIR$\PLSR\Obj\CRC.o
- $PROJ_DIR$\PLSR\Obj\os_prio.o
- $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h
- $PROJ_DIR$\PLSR\Obj\os_pend_multi.o
- $PROJ_DIR$\PLSR\Obj\bsp.__cstat.et
- $PROJ_DIR$\..\cmsis\uCOS-III\Source\os.h
- $TOOLKIT_DIR$\inc\c\DLib_Defaults.h
- $PROJ_DIR$\PLSR\Obj\tim.xcl
- $PROJ_DIR$\PLSR\Obj\dma.xcl
- $PROJ_DIR$\PLSR\Obj\os_mutex.o
- $PROJ_DIR$\PLSR\Obj\os_sem.__cstat.et
- $PROJ_DIR$\PLSR\Obj\system_stm32f4xx.o
- $PROJ_DIR$\PLSR\Obj\tim.__cstat.et
- $PROJ_DIR$\PLSR\Obj\os_cpu_c.xcl
- $PROJ_DIR$\..\Hardware\PSCARR.h
- $PROJ_DIR$\PLSR\Obj\os_task.xcl
- $PROJ_DIR$\PLSR\Obj\dma.__cstat.et
- $PROJ_DIR$\..\Hardware\modbus.h
$PROJ_DIR$\..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h
- $PROJ_DIR$\PLSR\Obj\sram.__cstat.et
- $PROJ_DIR$\PLSR\Obj\gpio.o
- $PROJ_DIR$\PLSR\Obj\cpu_core.xcl
- $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_flash.o
- $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h
- $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_tim.__cstat.et
- $PROJ_DIR$\PLSR\Obj\PSCARR.xcl
- $TOOLKIT_DIR$\inc\c\math.h
- $PROJ_DIR$\PLSR\Obj\usart.__cstat.et
- $PROJ_DIR$\..\Core\Inc\stm32f4xx_it.h
- $PROJ_DIR$\PLSR\Obj\modbus.o
- $PROJ_DIR$\PLSR\Obj\PSCARR.o
- $TOOLKIT_DIR$\inc\c\stdarg.h
- $PROJ_DIR$\PLSR\Obj\os_int.__cstat.et
- $PROJ_DIR$\PLSR\Obj\dma.o
- $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h
- $PROJ_DIR$\PLSR\Obj\stm32f4xx_it.xcl
+ $PROJ_DIR$\PLSR\Obj\os_tmr.__cstat.et
+ $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_uart.__cstat.et
+ $PROJ_DIR$\PLSR\Obj\os_tick.o
+ $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h
$PROJ_DIR$\PLSR\Obj\os_mem.__cstat.et
- $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_pwr.o
- $PROJ_DIR$\PLSR\Obj\sram.o
- $PROJ_DIR$\..\Hardware\sram.h
- $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_cortex.o
- $PROJ_DIR$\PLSR\Obj\os_cpu_a.o
- $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal.xcl
- $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c
- $PROJ_DIR$\..\Core\Src\stm32f4xx_it.c
- $PROJ_DIR$\..\Core\Src\usart.c
- $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c
- $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c
- $PROJ_DIR$\..\Core\Src\dma.c
- $PROJ_DIR$\..\Core\Src\tim.c
- $PROJ_DIR$\..\Core\Src\stm32f4xx_hal_msp.c
- $PROJ_DIR$\..\Core\Src\system_stm32f4xx.c
- $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c
- $PROJ_DIR$\PLSR\Obj\usart.xcl
- $PROJ_DIR$\PLSR\Obj\lib_math.xcl
- $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_exti.o
- $TOOLKIT_DIR$\inc\c\ctype.h
- $PROJ_DIR$\PLSR\Obj\stm32f4xx_it.o
- $PROJ_DIR$\PLSR\Obj\os_flag.o
- $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_pwr_ex.o
- $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h
- $PROJ_DIR$\PLSR\Obj\os_flag.xcl
- $PROJ_DIR$\PLSR\Obj\lib_math.o
- $PROJ_DIR$\..\cmsis\uCOS-III\Source\os_type.h
- $PROJ_DIR$\PLSR\Obj\PLSR.__cstat.et
- $PROJ_DIR$\..\Hardware\PLSR.h
- $PROJ_DIR$\PLSR\Obj\PSCARR.__cstat.et
- $PROJ_DIR$\PLSR\Obj\cpu_a.o
- $PROJ_DIR$\PLSR\Obj\usart.o
+ $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_cortex.__cstat.et
+ $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_dma_ex.xcl
+ $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_gpio.o
+ $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h
$PROJ_DIR$\PLSR\Obj\cpu_c.xcl
- $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_cortex.xcl
- $PROJ_DIR$\PLSR\Obj\cpu_core.o
- $TOOLKIT_DIR$\inc\c\DLib_float_setup.h
- $TOOLKIT_DIR$\inc\c\stdio.h
+ $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h
+ $PROJ_DIR$\PLSR\Obj\dma.__cstat.et
$PROJ_DIR$\..\Drivers\CMSIS\Include\cmsis_iccarm.h
- $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_cortex.__cstat.et
- $PROJ_DIR$\PLSR\Obj\startup_stm32f407xx.o
- $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_rcc.o
- $PROJ_DIR$\PLSR\Obj\os_sem.o
- $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h
- $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h
- $PROJ_DIR$\PLSR\Obj\os_var.o
- $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_dma_ex.__cstat.et
- $TOOLKIT_DIR$\lib\rt7M_tl.a
- $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_exti.__cstat.et
- $PROJ_DIR$\PLSR\Obj\os_pend_multi.xcl
- $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_tim_ex.o
- $PROJ_DIR$\PLSR\Obj\lib_mem.xcl
- $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h
- $PROJ_DIR$\PLSR\Obj\os_stat.xcl
- $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_rcc_ex.__cstat.et
- $TOOLKIT_DIR$\inc\c\ycheck.h
- $TOOLKIT_DIR$\inc\c\stdint.h
- $PROJ_DIR$\PLSR\Obj\os_prio.xcl
- $PROJ_DIR$\PLSR\Obj\os_mutex.xcl
- $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_dma.o
- $TOOLKIT_DIR$\inc\c\ysizet.h
- $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h
- $PROJ_DIR$\PLSR\Obj\stm32f4xx_hal_msp.o
- $PROJ_DIR$\PLSR\Obj\os_dbg.__cstat.et
- $PROJ_DIR$\PLSR\Obj\os_flag.__cstat.et
- $TOOLKIT_DIR$\inc\c\iccarm_builtin.h
- $PROJ_DIR$\..\Core\Inc\stm32f4xx_hal_conf.h
- $PROJ_DIR$\PLSR\Obj\os_time.xcl
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+ BICOMP
+ 223
ICCARM
- 220 206 182 146 257 51 158 274 160 210 229 191
+ 318 71 106 109 236 220 188 200 179 154 152 123 68 114 115 85 125 124 246 110
@@ -1029,653 +1006,676 @@
ICCARM
- 152
+ 201
- BICOMP
- 134
+ __cstat
+ 202
- __cstat
- 261
+ BICOMP
+ 285
ICCARM
- 50 240 209 206 182 146 257 51 158 274 160 210 229 191 193 246 214 220 108 217
+ 318 71 106 109 236 220 188 200 179 154 152 123 68 114 115 85 125 124 246 110
- $PROJ_DIR$\..\cmsis\uCOS-III\Source\os_task.c
+ $PROJ_DIR$\..\cmsis\uCOS-Config\os_app_hooks.c
ICCARM
- 184
+ 208
- BICOMP
- 60
+ __cstat
+ 145
- __cstat
- 22
+ BICOMP
+ 34
ICCARM
- 50 240 209 206 182 146 257 51 158 274 160 210 229 191 193 246 214 220 108 217
+ 318 71 106 109 236 220 188 200 179 154 152 123 68 114 115 85 125 124 246 110 70
- $PROJ_DIR$\..\cmsis\uC-CPU\cpu_core.c
+ $PROJ_DIR$\..\Hardware\PLSR.c
ICCARM
- 116
+ 8
- BICOMP
- 66
+ __cstat
+ 147
- __cstat
- 264
+ BICOMP
+ 164
ICCARM
- 209 206 182 146 257 51 158 274 160 210 229 191 193 246 214 220
+ 314 217 304 188 200 179 154 171 313 295 302 186 129 196 219 18 7 144 175 31 220 218 277 119 308 238 5 29 177 159 279 252 22 185 247 172 239 132 286 133 27 281 173 298 180 151 275 139 35
- $PROJ_DIR$\..\Hardware\CRC.c
+ $PROJ_DIR$\..\cmsis\uCOS-III\Source\os_cfg_app.c
ICCARM
- 45
+ 263
- BICOMP
- 310
+ __cstat
+ 166
- __cstat
- 265
+ BICOMP
+ 288
ICCARM
- 180 137 136 257 51 158 274
+ 86 318 71 106 109 236 220 188 200 179 154 152 123 68 114 115 85 125 124 246 110
- $PROJ_DIR$\..\Hardware\PLSR.c
+ $PROJ_DIR$\..\Hardware\PSCARR.c
ICCARM
- 174
+ 297
- BICOMP
- 260
+ __cstat
+ 241
- __cstat
- 109
+ BICOMP
+ 253
ICCARM
- 110 137 136 257 51 158 274 59 157 18 270 147 79 168 286 63 13 312 268 119 146 255 176 27 258 141 21 175 142 256 183 305 19 254 125 105 124 47 133 68 5
+ 171 217 304 188 200 179 154
- $PROJ_DIR$\..\Hardware\PSCARR.c
+ $PROJ_DIR$\..\cmsis\uCOS-III\Source\os_flag.c
ICCARM
- 75
+ 259
- BICOMP
- 70
+ __cstat
+ 260
- __cstat
- 111
+ BICOMP
+ 225
ICCARM
- 59 137 136 257 51 158 274
+ 318 71 106 109 236 220 188 200 179 154 152 123 68 114 115 85 125 124 246 110
- $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c
+ $PROJ_DIR$\..\cmsis\uCOS-BSP\bsp.c
ICCARM
- 82
+ 17
- BICOMP
- 177
+ __cstat
+ 258
- __cstat
- 308
+ BICOMP
+ 221
ICCARM
- 270 147 79 168 286 63 13 137 136 257 51 158 274 312 268 119 146 255 176 27 258 141 21 175 142 256 183 305 19 254 125 105 124 47 133 68 5
+ 83 250 304 188 200 179 154 238 173 298 169 139 35 235 135 274 318 71 106 109 236 220 152 123 68 114 115 85 125 124 246 110 111 95 67 302 186 129 196 219 18 7 217 144 175 31 218 277 119 308 5 29 177 159 279 252 22 185 247 172 239 132 286 133 27
- $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c
+ $PROJ_DIR$\..\cmsis\uCOS-III\Source\os_mutex.c
ICCARM
- 185
+ 278
- BICOMP
- 87
+ __cstat
+ 197
- __cstat
- 3
+ BICOMP
+ 212
ICCARM
- 270 147 79 168 286 63 13 137 136 257 51 158 274 312 268 119 146 255 176 27 258 141 21 175 142 256 183 305 19 254 125 105 124 47 133 68 5
+ 318 71 106 109 236 220 188 200 179 154 152 123 68 114 115 85 125 124 246 110
- $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c
+ $PROJ_DIR$\..\cmsis\uCOS-III\Source\os_prio.c
ICCARM
- 178
+ 311
- BICOMP
- 273
+ __cstat
+ 287
- __cstat
- 127
+ BICOMP
+ 143
ICCARM
- 270 147 79 168 286 63 13 137 136 257 51 158 274 312 268 119 146 255 176 27 258 141 21 175 142 256 183 305 19 254 125 105 124 47 133 68 5
+ 318 71 106 109 236 220 188 200 179 154 152 123 68 114 115 85 125 124 246 110
- $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c
+ $PROJ_DIR$\..\cmsis\uCOS-III\Source\os_q.c
ICCARM
- 140
+ 203
- BICOMP
- 4
+ __cstat
+ 155
- __cstat
- 11
+ BICOMP
+ 36
ICCARM
- 270 147 79 168 286 63 13 137 136 257 51 158 274 312 268 119 146 255 176 27 258 141 21 175 142 256 183 305 19 254 125 105 124 47 133 68 5
+ 318 71 106 109 236 220 188 200 179 154 152 123 68 114 115 85 125 124 246 110
- $PROJ_DIR$\..\cmsis\uCOS-BSP\bsp.c
+ $PROJ_DIR$\..\cmsis\uCOS-III\Source\os_msg.c
ICCARM
- 29
+ 38
- BICOMP
- 190
+ __cstat
+ 231
- __cstat
- 49
+ BICOMP
+ 256
ICCARM
- 236 118 136 257 51 158 274 141 17 283 101 315 285 76 71 117 50 240 209 206 182 146 160 210 229 191 193 246 214 220 108 217 199 226 235 270 147 79 168 286 63 13 137 312 268 119 255 176 27 258 21 175 142 256 183 305 19 254 125 105 124 47 133 68 5
+ 318 71 106 109 236 220 188 200 179 154 152 123 68 114 115 85 125 124 246 110
- $PROJ_DIR$\..\cmsis\uCOS-Config\os_app_hooks.c
+ $PROJ_DIR$\..\Hardware\modbus.c
ICCARM
- 282
+ 146
- BICOMP
- 162
+ __cstat
+ 14
- __cstat
- 164
+ BICOMP
+ 206
ICCARM
- 50 240 209 206 182 146 257 51 158 274 160 210 229 191 193 246 214 220 108 217 234
+ 180 151 295 302 186 129 196 219 18 7 217 304 188 200 179 154 144 175 31 220 218 277 119 308 238 5 29 177 159 279 252 22 185 247 172 239 132 286 133 27 281 275 173 298 139 35 314
- $PROJ_DIR$\..\Hardware\sram.c
+ $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c
ICCARM
- 83
+ 309
- BICOMP
- 35
+ __cstat
+ 142
- __cstat
- 64
+ BICOMP
+ 276
ICCARM
- 84 18 270 147 79 168 286 63 13 137 136 257 51 158 274 312 268 119 146 255 176 27 258 141 21 175 142 256 183 305 19 254 125 105 124 47 133 68 5
+ 302 186 129 196 219 18 7 217 304 188 200 179 154 144 175 31 220 218 277 119 308 238 5 29 177 159 279 252 22 185 247 172 239 132 286 133 27
- $PROJ_DIR$\..\cmsis\uCOS-III\Source\os_core.c
+ $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c
ICCARM
- 153
+ 198
- BICOMP
- 9
+ __cstat
+ 24
- __cstat
- 266
+ BICOMP
+ 290
ICCARM
- 50 240 209 206 182 146 257 51 158 274 160 210 229 191 193 246 214 220 108 217
+ 302 186 129 196 219 18 7 217 304 188 200 179 154 144 175 31 220 218 277 119 308 238 5 29 177 159 279 252 22 185 247 172 239 132 286 133 27
- $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c
+ $PROJ_DIR$\..\Hardware\sram.c
ICCARM
- 290
+ 160
- BICOMP
- 161
+ __cstat
+ 273
- __cstat
- 297
+ BICOMP
+ 153
ICCARM
- 270 147 79 168 286 63 13 137 136 257 51 158 274 312 268 119 146 255 176 27 258 141 21 175 142 256 183 305 19 254 125 105 124 47 133 68 5
+ 281 295 302 186 129 196 219 18 7 217 304 188 200 179 154 144 175 31 220 218 277 119 308 238 5 29 177 159 279 252 22 185 247 172 239 132 286 133 27
- $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c
+ $PROJ_DIR$\..\cmsis\uC-CPU\cpu_core.c
ICCARM
- 104
+ 158
- BICOMP
- 263
+ __cstat
+ 33
- __cstat
- 171
+ BICOMP
+ 233
ICCARM
- 270 147 79 168 286 63 13 137 136 257 51 158 274 312 268 119 146 255 176 27 258 141 21 175 142 256 183 305 19 254 125 105 124 47 133 68 5
+ 106 109 236 220 188 200 179 154 152 123 68 114 115 85 125 124
- $PROJ_DIR$\..\cmsis\uCOS-III\Source\os_flag.c
+ $PROJ_DIR$\..\cmsis\uC-LIB\lib_mem.c
ICCARM
- 103
+ 265
- BICOMP
- 106
+ __cstat
+ 210
- __cstat
- 145
+ BICOMP
+ 112
ICCARM
- 50 240 209 206 182 146 257 51 158 274 160 210 229 191 193 246 214 220 108 217
+ 115 109 236 220 188 200 179 154 152 123 68 106 114 125 124 85 111
- $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c
+ $PROJ_DIR$\..\cmsis\uCOS-III\Source\os_time.c
ICCARM
- 85
+ 176
- BICOMP
- 115
+ __cstat
+ 174
- __cstat
- 120
+ BICOMP
+ 192
ICCARM
- 270 147 79 168 286 63 13 137 136 257 51 158 274 312 268 119 146 255 176 27 258 141 21 175 142 256 183 305 19 254 125 105 124 47 133 68 5
+ 318 71 106 109 236 220 188 200 179 154 152 123 68 114 115 85 125 124 246 110
- $PROJ_DIR$\..\cmsis\uCOS-III\Source\os_cfg_app.c
+ $PROJ_DIR$\..\cmsis\uCOS-III\Source\os_tick.c
ICCARM
- 25
+ 21
- BICOMP
- 179
+ __cstat
+ 165
- __cstat
- 6
+ BICOMP
+ 170
ICCARM
- 247 50 240 209 206 182 146 257 51 158 274 160 210 229 191 193 246 214 220 108 217
+ 318 71 106 109 236 220 188 200 179 154 152 123 68 114 115 85 125 124 246 110
- $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c
+ $PROJ_DIR$\..\cmsis\uCOS-III\Source\os_tmr.c
ICCARM
- 309
+ 4
- BICOMP
- 302
+ __cstat
+ 19
- __cstat
- 188
+ BICOMP
+ 234
ICCARM
- 270 147 79 168 286 63 13 137 136 257 51 158 274 312 268 119 146 255 176 27 258 141 21 175 142 256 183 305 19 254 125 105 124 47 133 68 5
+ 318 71 106 109 236 220 188 200 179 154 152 123 68 114 115 85 125 124 246 110
- $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c
+ $PROJ_DIR$\..\cmsis\uC-LIB\lib_ascii.c
ICCARM
- 32
+ 137
- BICOMP
- 7
+ __cstat
+ 315
- __cstat
- 20
+ BICOMP
+ 163
ICCARM
- 270 147 79 168 286 63 13 137 136 257 51 158 274 312 268 119 146 255 176 27 258 141 21 175 142 256 183 305 19 254 125 105 124 47 133 68 5
+ 124 109 236 220 188 200 179 154 152 123 68 114
- $PROJ_DIR$\..\cmsis\uCOS-III\Source\os_dbg.c
+ $PROJ_DIR$\..\cmsis\uCOS-III\Ports\ARM-Cortex-M4\Generic\IAR\os_cpu_c.c
ICCARM
- 169
+ 157
- BICOMP
- 173
+ __cstat
+ 16
- __cstat
- 144
+ BICOMP
+ 316
ICCARM
- 50 240 209 206 182 146 257 51 158 274 160 210 229 191 193 246 214 220 108 217
+ 318 71 106 109 236 220 188 200 179 154 152 123 68 114 115 85 125 124 246 110
- $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c
+ $PROJ_DIR$\..\cmsis\uCOS-III\Ports\ARM-Cortex-M4\Generic\IAR\os_cpu_a.asm
- ICCARM
- 67
+ AARM
+ 140
+
+
+
+ $PROJ_DIR$\..\cmsis\uC-CPU\ARM-Cortex-M4\IAR\cpu_a.asm
+
- BICOMP
- 16
+ AARM
+ 2
+
+
+
+
+ $PROJ_DIR$\..\cmsis\uC-LIB\lib_math.c
+
+
+ ICCARM
+ 205
__cstat
- 276
+ 193
+
+
+ BICOMP
+ 307
ICCARM
- 270 147 79 168 286 63 13 137 136 257 51 158 274 312 268 119 146 255 176 27 258 141 21 175 142 256 183 305 19 254 125 105 124 47 133 68 5
+ 111 109 236 220 188 200 179 154 152 123 68 106 114 115 85 125 124
- $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c
+ $PROJ_DIR$\..\cmsis\uC-LIB\Ports\ARM-Cortex-M4\IAR\lib_mem_a.asm
- ICCARM
- 284
+ AARM
+ 214
+
+
+
+ $PROJ_DIR$\..\cmsis\uCOS-III\Source\os_var.c
+
- BICOMP
- 28
+ ICCARM
+ 226
__cstat
- 159
+ 199
+
+
+ BICOMP
+ 128
ICCARM
- 270 147 79 168 286 63 13 137 136 257 51 158 274 312 268 119 146 255 176 27 258 141 21 175 142 256 183 305 19 254 125 105 124 47 133 68 5
+ 318 71 106 109 236 220 188 200 179 154 152 123 68 114 115 85 125 124 246 110
- $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c
+ $PROJ_DIR$\..\cmsis\uC-LIB\lib_str.c
ICCARM
- 100
+ 99
- BICOMP
- 279
+ __cstat
+ 41
- __cstat
- 129
+ BICOMP
+ 141
ICCARM
- 270 147 79 168 286 63 13 137 136 257 51 158 274 312 268 119 146 255 176 27 258 141 21 175 142 256 183 305 19 254 125 105 124 47 133 68 5
+ 125 109 236 220 188 200 179 154 152 123 68 114 124 85
- $PROJ_DIR$\..\Hardware\modbus.c
+ $PROJ_DIR$\..\cmsis\uC-CPU\ARM-Cortex-M4\IAR\cpu_c.c
ICCARM
- 74
+ 156
- BICOMP
- 43
+ __cstat
+ 32
- __cstat
- 307
+ BICOMP
+ 28
ICCARM
- 62 311 18 270 147 79 168 286 63 13 137 136 257 51 158 274 312 268 119 146 255 176 27 258 141 21 175 142 256 183 305 19 254 125 105 124 47 133 68 5 84 180 17 283 315 285
+ 109 236 220 188 200 179 154 152 123 68 106 114 115 85 125 124
- $PROJ_DIR$\..\Core\Src\gpio.c
+ $PROJ_DIR$\..\cmsis\uCOS-III\Source\os_task.c
ICCARM
- 65
+ 136
- BICOMP
- 154
+ __cstat
+ 215
- __cstat
- 26
+ BICOMP
+ 0
ICCARM
- 40 18 270 147 79 168 286 63 13 137 136 257 51 158 274 312 268 119 146 255 176 27 258 141 21 175 142 256 183 305 19 254 125 105 124 47 133 68 5
+ 318 71 106 109 236 220 188 200 179 154 152 123 68 114 115 85 125 124 246 110
- $PROJ_DIR$\startup_stm32f407xx.s
-
-
- AARM
- 121
-
-
-
-
- $PROJ_DIR$\..\Core\Src\main.c
+ $PROJ_DIR$\PLSR\Exe\PLSR.out
- ICCARM
- 277
-
-
- BICOMP
- 10
+ ILINK
+ 229
- __cstat
- 292
+ OBJCOPY
+ 216
- ICCARM
- 18 270 147 79 168 286 63 13 137 136 257 51 158 274 312 268 119 146 255 176 27 258 141 21 175 142 256 183 305 19 254 125 105 124 47 133 68 5 186 157 311 40 110 236 118 17 283 101 315 285 76 71 117 50 240 209 206 182 160 210 229 191 193 246 214 220 108 217 199 226 235
+ ILINK
+ 251 17 2 156 158 195 126 267 137 205 265 214 99 245 146 208 263 262 140 157 121 259 264 150 38 278 11 311 203 104 201 136 21 176 4 226 8 297 160 194 309 198 182 248 10 189 305 183 26 266 209 289 293 13 291 190 167 149 108 130 292 178 187 232 244
+
+ [ROOT_NODE]
+
+
+ ILINK
+ 222 229
+
+
+
diff --git a/EWARM/PLSR.ewp b/EWARM/PLSR.ewp
index 919036a..48db6a9 100644
--- a/EWARM/PLSR.ewp
+++ b/EWARM/PLSR.ewp
@@ -356,7 +356,7 @@
$PROJ_DIR$/../Drivers/CMSIS/Device/ST/STM32F4xx/Include
$PROJ_DIR$/../Drivers/CMSIS/Include
$PROJ_DIR$\..\Hardware
- C:\Users\Chiri\Desktop\PLSR\cmsis\uC-CPU
+ $PROJ_DIR$\..\cmsis\uC-CPU
$PROJ_DIR$\..\cmsis\uC-CPU\ARM-Cortex-M4\IAR
$PROJ_DIR$\..\cmsis\uC-LIB
$PROJ_DIR$\..\cmsis\uC-LIB\Ports\ARM-Cortex-M4\IAR
diff --git a/EWARM/settings/PLSR.PLSR.cspy.bat b/EWARM/settings/PLSR.PLSR.cspy.bat
index 765114a..12c3b15 100644
--- a/EWARM/settings/PLSR.PLSR.cspy.bat
+++ b/EWARM/settings/PLSR.PLSR.cspy.bat
@@ -25,7 +25,7 @@ if not "%~1" == "" goto debugFile
@echo on
-"D:\IAR8.40.1\common\bin\cspybat" -f "C:\Users\Chiri\Desktop\PLSR\EWARM\settings\PLSR.PLSR.general.xcl" --backend -f "C:\Users\Chiri\Desktop\PLSR\EWARM\settings\PLSR.PLSR.driver.xcl"
+"D:\IAR8.40.1\common\bin\cspybat" -f "C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\EWARM\settings\PLSR.PLSR.general.xcl" --backend -f "C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\EWARM\settings\PLSR.PLSR.driver.xcl"
@echo off
goto end
@@ -34,7 +34,7 @@ goto end
@echo on
-"D:\IAR8.40.1\common\bin\cspybat" -f "C:\Users\Chiri\Desktop\PLSR\EWARM\settings\PLSR.PLSR.general.xcl" "--debug_file=%~1" --backend -f "C:\Users\Chiri\Desktop\PLSR\EWARM\settings\PLSR.PLSR.driver.xcl"
+"D:\IAR8.40.1\common\bin\cspybat" -f "C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\EWARM\settings\PLSR.PLSR.general.xcl" "--debug_file=%~1" --backend -f "C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\EWARM\settings\PLSR.PLSR.driver.xcl"
@echo off
:end
\ No newline at end of file
diff --git a/EWARM/settings/PLSR.PLSR.cspy.ps1 b/EWARM/settings/PLSR.PLSR.cspy.ps1
index 3fe29cd..7aef21b 100644
--- a/EWARM/settings/PLSR.PLSR.cspy.ps1
+++ b/EWARM/settings/PLSR.PLSR.cspy.ps1
@@ -23,9 +23,9 @@
if ($debugfile -eq "")
{
-& "D:\IAR8.40.1\common\bin\cspybat" -f "C:\Users\Chiri\Desktop\PLSR\EWARM\settings\PLSR.PLSR.general.xcl" --backend -f "C:\Users\Chiri\Desktop\PLSR\EWARM\settings\PLSR.PLSR.driver.xcl"
+& "D:\IAR8.40.1\common\bin\cspybat" -f "C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\EWARM\settings\PLSR.PLSR.general.xcl" --backend -f "C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\EWARM\settings\PLSR.PLSR.driver.xcl"
}
else
{
-& "D:\IAR8.40.1\common\bin\cspybat" -f "C:\Users\Chiri\Desktop\PLSR\EWARM\settings\PLSR.PLSR.general.xcl" --debug_file=$debugfile --backend -f "C:\Users\Chiri\Desktop\PLSR\EWARM\settings\PLSR.PLSR.driver.xcl"
+& "D:\IAR8.40.1\common\bin\cspybat" -f "C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\EWARM\settings\PLSR.PLSR.general.xcl" --debug_file=$debugfile --backend -f "C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\EWARM\settings\PLSR.PLSR.driver.xcl"
}
diff --git a/EWARM/settings/PLSR.PLSR.general.xcl b/EWARM/settings/PLSR.PLSR.general.xcl
index 5fd8995..55c6bff 100644
--- a/EWARM/settings/PLSR.PLSR.general.xcl
+++ b/EWARM/settings/PLSR.PLSR.general.xcl
@@ -2,7 +2,7 @@
"D:\IAR8.40.1\arm\bin\armstlink2.dll"
-"C:\Users\Chiri\Desktop\PLSR\EWARM\PLSR\Exe\PLSR.out"
+"C:\Users\Chiri\Desktop\TrainCamp-Jiangyunsong-PLSR\EWARM\PLSR\Exe\PLSR.out"
--plugin="D:\IAR8.40.1\arm\bin\armbat.dll"
diff --git a/EWARM/settings/PLSR.dbgdt b/EWARM/settings/PLSR.dbgdt
index 0d78e31..5b0c90a 100644
--- a/EWARM/settings/PLSR.dbgdt
+++ b/EWARM/settings/PLSR.dbgdt
@@ -153,11 +153,11 @@
1
1
1
- F50100001000138600000200000010860000F00000005F860000020000000F810000010000000C8100000C000000568600001C00000000840000010000000E810000020000001F8100002700000000E10000020000000B81000005000000148600002F0000001186000047000000058100000100000046810000370000005D86000002000000
+ 160400001B00298100000300000013860000020000002CE100000100000010860000CE010000239200000400000029E10000040000005F860000020000000F810000010000000C8100000C00000059860000010000000486000001000000568600003E000000288100000200000000840000010000002BE100000700000009860000010000000E810000020000001F8100005000000000E10000020000000B81000005000000148600006000000011860000C10000000581000001000000468100007700000008860000010000005D860000030000001686000001000000
- 150020870000238700002487000021870000198600000D8400000F84000008840000FFFFFFFF54840000328100001C810000098400002AE10000008200001C8200000182000067860000838600005886000004DC0000
- 1D00578600001C0000002CE100007500000023920000000000005F8600006600000023E100006F00000019820000470000004A8100007900000016820000450000009A8600001A0000002BE1000074000000008400007A0000000E84000082000000308400008400000025E10000710000002F820000480000001A860000340000000B8100005100000022E100006E0000008E8600003D0000001882000046000000698600003A000000498100007800000055860000080000000E8600001B0000000D81000053000000A18600003E000000C3860000040000003787000003000000C08600000E000000
+ 300020870000238700002487000021870000198600000D8400000F84000008840000FFFFFFFF54840000328100001C810000098400002AE10000008200001C8200000182000067860000838600005886000004DC00007784000007840000808C000044D500007486000045D5000046D5000047D5000048D5000049D500004AD500004BD500004CD500001C8F00001E8F00001F8F0000208F0000218F0000118F000000DC000001DC000002DC000003DC0000A4860000A38600005486000059860000
+ 5800578600001C0000000286000013000000048400007E00000013860000310000002CE10000750000001581000057000000108600002F000000768600003B000000D9860000100000000D860000190000002392000000000000318400008500000007E100006D000000848600003C0000000A8600002D0000005F860000660000000F81000055000000208100005D00000004E100006B00000023E100006F000000078600002A0000000C810000520000000D8000004900000001E10000680000001982000047000000048600002700000006840000800000004A8100007900000016820000450000009A8600001A0000000186000012000000038400007D000000178100005900000056860000350000002BE1000074000000008400007A0000001481000056000000D88600000F0000000C860000180000000E840000820000003084000084000000008100004B000000098600002C00000025E10000710000002F820000480000001A860000340000000E810000540000001F8100005C00000003E100006A0000005E860000370000000B8100005100000022E100006E0000008E8600003D000000068600002900000000E10000670000001882000046000000698600003A0000000386000014000000058400007F000000D18400002000000041E10000770000001486000032000000498100007800000055860000080000000086000011000000028400007C00000016810000580000001186000030000000DA860000060000000E8600001B0000003284000086000000108400008300000046810000640000000B8600002E000000518400008800000005E100006C0000006086000039000000088600002B0000000D81000053000000A18600003E000000C3860000040000000A8400008100000002E10000690000005D8600003600000016860000330000003787000003000000C08600000E0000000586000028000000
0
@@ -189,7 +189,7 @@
34053
000000001700000022010000C8000000
- 000000000000000022010000B1000000
+ 00000000850200000006000036030000
32768
0
0
@@ -215,7 +215,7 @@
34054
000000001700000022010000C8000000
- 040000009F020000FC0500001C030000
+ 0400000091020000FC0500001C030000
32768
0
0
@@ -223,12 +223,12 @@
0
- 1
+ 0
34064
000000001700000022010000C8000000
- 040000009F020000FC0500001C030000
+ 000000008D0200000006000036030000
4096
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diff --git a/Hardware/PLSR.c b/Hardware/PLSR.c
index bdc2634..3c4abfc 100644
--- a/Hardware/PLSR.c
+++ b/Hardware/PLSR.c
@@ -1,22 +1,33 @@
#include "PLSR.h"
#include "PSCARR.h"
#include "tim.h"
+#include "sram.h"
+#include
+#include "modbus.h"
+
+Pulse PulseOutput[10]; // 十段脉冲的配置
+Option Options;
+
+
+uint8_t NowPulse; /* 当前处于第几段脉冲 */
+uint8_t PrePulse; /* 之前处于第几段脉冲 */
+uint8_t PulseNum; /* 一共有多少段脉冲 */
+int32_t MAX_Pulse; /* 最多的脉冲数 */
+int32_t AccCount; /* 加速脉冲数 */
+int32_t NowMAXPulse; /* 当前要达到的总脉冲 */
-Pulse PulseOutput[10];
-BaseOption Base;
int32_t PulseCount = 0;
-int32_t AllPulseCount = 0;
/**
* @brief 根据脉冲的频率设置对应的PSC和ARR
-* @param[in] Channel 脉冲通道（目前只有通道0）
+* @param[in] SentPost 脉冲通道（目前只有通道Y0）
* @param[in] Ferquency 脉冲的频率
* @return 无
*/
-void SetFrequency(uint8_t Channel, uint32_t Frequency)
+void SetFrequency(uint8_t SentPost, uint32_t Frequency)
{
Frequency_Change_PSC_And_ARR(Frequency, &psc, &arr);
- switch(Channel)
+ switch(SentPost)
{
case 0: TIM10->ARR = arr, TIM10->PSC = psc, TIM10->CCR1 = arr / 2; break;
}
@@ -28,15 +39,15 @@ void SetFrequency(uint8_t Channel, uint32_t Frequency)
* @param[in] Pulse 第几段脉冲
* @param[in] Ferquency 脉冲的频率
* @param[in] Count 脉冲的数量
-* @param[in] Direction 脉冲的方向
+* @param[in] EXT EXT信号
* @param[in] NextPulse 下一段脉冲
* @return 无
*/
-void SetPulse(uint8_t Pulse, uint32_t Ferquency, int32_t Count, uint8_t Direction, int8_t NextPulse)
+void SetPulse(uint8_t Pulse, uint32_t Ferquency, int32_t Count, uint8_t EXT, int8_t NextPulse)
{
PulseOutput[Pulse].Frequency = Ferquency;
PulseOutput[Pulse].PulseCount = Count;
- PulseOutput[Pulse].Direction = Direction;
+ PulseOutput[Pulse].EXT = EXT;
PulseOutput[Pulse].NextPulse = NextPulse;
}
@@ -46,22 +57,18 @@ void SetPulse(uint8_t Pulse, uint32_t Ferquency, int32_t Count, uint8_t Directio
* @param[in] PulseMod 绝对1/相对0
* @return 无
*/
-void PulseInit(uint8_t StartPulse, uint8_t PulseMod, int32_t MAX_Pulse)
+void PulseBaseInit(uint8_t StartPulse, uint8_t PulseMod, int32_t MAX_Pulse)
{
- Base.StartPulse = StartPulse;
- Base.PulseMod = PulseMod;
- Base.NowPulse = StartPulse;
- Base.MAX_Pulse = MAX_Pulse;
+ Options.StartPulse = StartPulse;
+ Options.RunMod = PulseMod;
+ NowPulse = StartPulse;
+ MAX_Pulse = MAX_Pulse;
}
void PulseStart(void)
{
-// SetPulse(Base.NowPulse, PulseOutput[Base.NowPulse].Frequency,
-// PulseOutput[Base.NowPulse].PulseCount,
-// PulseOutput[Base.NowPulse].Direction,
-// PulseOutput[Base.NowPulse].NextPulse
-// );
- SetFrequency(0, PulseOutput[Base.NowPulse].Frequency);
+ SetFrequency(Options.DirPost, PulseOutput[NowPulse].Frequency);
+ TIM2->ARR = PulseOutput[NowPulse].PulseCount;
HAL_TIM_PWM_Start_IT(&htim10, TIM_CHANNEL_1);
}
/**
@@ -71,7 +78,162 @@ void PulseStart(void)
* @param[in] AccCount 需要多少个脉冲完成加速
* @return 加速度
*/
-int32_t GetAcc(int32_t Start, int32_t End, int32_t AccCount)
+float GetAcc(int32_t Start, int32_t End, int32_t AccCount)
+{
+ return ((float)End - (float)Start) / (float)AccCount;
+}
+
+/**
+* @brief 添加新的脉冲(只允许按顺序添加)
+* @param[in] Pulse 第几段脉冲
+* @param[in] Ferquency 脉冲的频率
+* @param[in] Count 脉冲的数量
+* @param[in] NextPulse 下一段脉冲
+* @return 无
+*/
+void AddPulse(uint8_t Pulse, uint32_t Ferquency, int32_t Count, int8_t NextPulse)
+{
+ if(Pulse == Options.AllPulse)
+ {
+ if(Count > 0)
+ {
+ SetPulse(Pulse, Ferquency, Count, 0, NextPulse);
+ }
+ else
+ {
+ SetPulse(Pulse, Ferquency, -Count, 1, NextPulse);
+ }
+
+ Options.AllPulse ++;
+ }
+
+}
+
+/**
+* @brief 脉冲初始化
+* @param[in] Pulse 第几段脉冲
+* @param[in] Ferquency 脉冲的频率
+* @param[in] Count 脉冲的数量
+* @param[in] Direction 脉冲的方向
+* @param[in] NextPulse 下一段脉冲
+* @return 无
+*/
+void PulseInit(uint8_t Pulse, uint32_t Ferquency, int32_t Count, int8_t NextPulse)
+{
+ if(Count > 0)
+ {
+ SetPulse(Pulse, Ferquency, Count, 0, NextPulse);
+ }
+ else
+ {
+ SetPulse(Pulse, Ferquency, -Count, 1, NextPulse);
+ }
+ Options.AllPulse = 1;
+}
+
+/**
+* @brief 设置结果脉冲数
+* @param[in] PulseCount 要设定的脉冲数
+* @return 无
+*/
+void MAXPulseSet(int32_t PulseCount)
+{
+ if(NowPulse == 0)
+ {
+ NowMAXPulse = PulseOutput[NowPulse].PulseCount;
+ }
+ else
+ {
+ NowMAXPulse += PulseOutput[NowPulse].PulseCount;
+ }
+}
+
+/**
+* @brief 设置下一次进入中断的脉冲数
+* @return 无
+*/
+void SetNextPulse(void)
+{
+ MAXPulseSet(PulseOutput[NowPulse].PulseCount); /* 更改结果脉冲数 */
+
+ if(Options.RunMod == 0) /* 如果是相对模式 */
+ {
+ TIM2->ARR = PulseOutput[NowPulse].PulseCount;
+ }
+ else /* 如果是绝对模式 */
+ {
+ if(NowMAXPulse >= MAX_Pulse) /* 如果超出了上限 */
+ {
+ TIM2->ARR = - (MAX_Pulse - NowMAXPulse);
+ }
+ else
+ {
+ TIM2->ARR = PulseOutput[NowPulse].PulseCount;
+ }
+ }
+}
+
+/**
+* @brief 获取与CNT相加的基础值
+* @param[in] NowPulseNUM 当前的脉冲段数
+* @return 基础值
+*/
+uint32_t GetBase(uint8_t NowPulseNUM)
+{
+ uint32_t temp = 0;
+ if(NowPulseNUM == 0)
+ {
+ temp = 0;
+ }
+ else
+ {
+ for(int i = 0; i < NowPulseNUM; i++)
+ {
+ temp += PulseOutput[i].PulseCount;
+ }
+ }
+ return temp;
+}
+
+/**
+* @brief 数据掉电保存
+* @return 无
+*/
+void PLSRSramSave(void)
+{
+ uint32_t temp[80] = {0}; //一共4 * 80 = 320
+
+ Write_Backup_SRAM(temp, 80);
+
+}
+
+/**
+* @brief 数据上电读取
+* @return 无
+*/
+void PLSRSramRead(void)
{
- return (End - Start) / AccCount;
+ uint32_t temp[80] = {0};
+ Read_Backup_SRAM(temp, 80);
+
}
+
+/**
+* @brief 从寄存器读取设置参数
+* @return 无
+*/
+void PLSROptionLoad(void)
+{
+ Options.SentPost = Register_L[0x1000];
+ Options.DirPost = Register_L[0x1001];
+ Options.EXT = Register_L[0x1002];
+ Options.DirDelay = Register_L[0x1003]; //可能更大。
+ Options.Dir = Register_L[0x1004];
+ Options.AccMod = Register_L[0x1005];
+ Options.RunMod = Register_L[0x1006];
+ Options.AllPulse = Register_L[0x1007];
+ Options.StartPulse = Register_L[0x1008];
+ Options.InitSpeed = Register_L[0x1009]; //需要修改。
+ Options.AccUpTime = Register_L[0x100B];
+ Options.AddDownTime = Register_L[0x100C];
+}
\ No newline at end of file
diff --git a/Hardware/PLSR.h b/Hardware/PLSR.h
index 6437594..58929ad 100644
--- a/Hardware/PLSR.h
+++ b/Hardware/PLSR.h
@@ -9,32 +9,53 @@ typedef struct
{
uint32_t Frequency ; ///<< 脉冲的频率
int32_t PulseCount; ///<< 脉冲的总数
- int8_t NextPulse; ///<< 下一段脉冲是第几个 ， 若为 -1 代表无下一个脉冲
- uint8_t Direction; ///<< 脉冲的方向 0为正转， 1为反转
+ int8_t NextPulse; ///<< 下一段脉冲是第几个 ， 若为0代表默认下一个脉冲
+ uint8_t EXT; ///<< EXT
} Pulse;
typedef struct
{
- uint8_t StartPulse; ///<< 起始的脉冲段
- uint8_t PulseMod; ///<< 相对模式还是绝对模式
- uint8_t NowPulse; ///<< 当前处于第几段脉冲
- uint8_t PrePulse; ///<< 之前处于第几段脉冲
- int32_t MAX_Pulse; ///<< 最多的脉冲数
- int32_t AccCount;
-} BaseOption;
+ uint8_t SentPost; ///<<脉冲发送端子
+ uint8_t DirPost; ///<<脉冲方向端子
+ uint8_t EXT; ///< B(鑴夊啿瀹屾垚)
+B --> C(涓柇)
+C -->D(鑴夊啿璁℃暟)
+D --> E[缁撴潫]
+```
+
+```mermaid
+flowchart
+A[寮濮媇 --> |妫娴嬪埌娓呴浂鎸囦护|B(娓呴浂璁℃暟)
+B --> C[缁撴潫]
+```
+
+## 鑴夊啿鍔犲噺閫熸祦绋嬪浘
+
+```mermaid
+flowchart
+A[寮濮媇 --> B(璁＄畻鍔犻熷害)
+B --> C(璁＄畻涓嬩竴涓剦鍐茬殑棰戠巼)
+C -->D(璁剧疆鑴夊啿鐨勯鐜)
+D --> E(寮鍚剦鍐)
+E --> F[缁撴潫]
+```
+## 鑴夊啿鏂瑰悜娴佺▼鍥
+
+```mermaid
+flowchart
+A[寮濮媇 --> B{鍙橀噺鏄惁鏀瑰彉}
+B --> |鏄瘄 C(淇敼寮曡剼鐢靛钩)
+B --> |鍚 D[缁撴潫]
+C --> D
+```
+
+## 妯″紡閫夋嫨娴佺▼鍥
+
+```mermaid
+flowchart
+A[寮濮媇 --> B{妯″紡鍒ゆ柇}
+B --> |鐩稿妯″紡| C(鍚敤鐩稿妯″紡鍑芥暟)
+B --> |缁濆妯″紡| D(鍚敤缁濆妯″紡鍑芥暟)
+C --> E[缁撴潫]
+D --> E[缁撴潫]
+```
+
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