diff --git a/PLSR/PLSR/Core/Inc/tim.h b/PLSR/PLSR/Core/Inc/tim.h index 5369051..05b4799 100644 --- a/PLSR/PLSR/Core/Inc/tim.h +++ b/PLSR/PLSR/Core/Inc/tim.h @@ -140,6 +140,7 @@ typedef struct { uint8_t section_num; // 段号(1-10) uint32_t target_freq; // 目标频率(Hz) int32_t target_pulse; // 目标脉冲数 + int32_t actual_pulse; ///< 实际可发脉冲数 uint8_t next_section; // 下一段号(0表示结束) PLSR_WaitCondition_t wait_condition; // 等待条件 } PLSR_SectionConfig_t; @@ -155,7 +156,9 @@ typedef struct { uint32_t start_freq; // 起始频率 uint32_t end_freq; // 结束频率 uint8_t output_port; // 输出端口选择 - uint8_t dir_port; ///< 方向端口选择：0-正逻辑(脉冲递增)，1-负逻辑(脉冲递减) + uint8_t dir_port; ///< 方向端口选择： + uint16_t dir_delay; //<方向延时时间 + uint16_t dir_logic; //<脉冲方向逻辑,0-正逻辑(脉冲递增)，1-负逻辑(脉冲递减) PLSR_Mode_t mode; // 模式(相对/绝对) PLSR_Direction_t direction; // 方向 PLSR_AccelConfig_t accel_config; // 加减速配置 @@ -184,8 +187,6 @@ typedef struct { uint32_t freq_step; // 频率步长 uint32_t wait_start_tick; // 等待开始时间 uint32_t act_start_tick; // ACT开始时间 - uint16_t dir_delay; //<方向延时时间 - uint16_t dir_logic; //<脉冲方向逻辑 uint16_t section_num; //<脉冲总段数 uint16_t start_section; //<起始段数 uint32_t default_freq; //<脉冲默认速度 @@ -253,7 +254,6 @@ uint32_t PLSR_TIM6_GetUpdateFreq(void); void PLSR_TIM6_Start(void); //<在路径开始 void PLSR_TIM6_Stop(void); - void PLSR_ChackWait_End(PLSR_RouteConfig_t* route); //<检查等待条件是否成立,满足条件进行段切换 uint8_t PLSR_Wait_CheckExtEvent(PLSR_RouteConfig_t* route); //<检查外部事件是否发生 void PLSR_SetExtEvent(PLSR_RouteConfig_t* route); //<设置外部事件标志 void PLSR_ClearExtEvent(PLSR_RouteConfig_t* route); //<清除外部事件标志 diff --git a/PLSR/PLSR/Core/Src/main.c b/PLSR/PLSR/Core/Src/main.c index 2e0c63b..4b6eac5 100644 --- a/PLSR/PLSR/Core/Src/main.c +++ b/PLSR/PLSR/Core/Src/main.c @@ -265,8 +265,6 @@ static void KeyTask(void *p_arg) uint8_t startflag = 0; // 初始化PLSR路径配置 PLSR_Route_Init(&g_plsr_route); - //PLSR_Route_Start(&g_plsr_route); - while (1) { if(ModbusSlave.holding_regs[0x2000] == 1) //按下发送脉冲按钮后,向0x3000地址写1,松手写2,设置地址偏移为0x1000,所以这里值为0x2000 @@ -281,7 +279,6 @@ static void KeyTask(void *p_arg) PLSR_Route_Init(&g_plsr_route); PLSR_Route_Start(&g_plsr_route); startflag = 0; - //PLSR_Section_Process(&g_plsr_route); } } OSTimeDlyHMSM(0, 0, 0, 10); /* 延时10ms */ diff --git a/PLSR/PLSR/Core/Src/tim.c b/PLSR/PLSR/Core/Src/tim.c index b4b2a8b..8cc9031 100644 --- a/PLSR/PLSR/Core/Src/tim.c +++ b/PLSR/PLSR/Core/Src/tim.c @@ -26,6 +26,7 @@ PLSR_RouteConfig_t g_plsr_route; // 全局PLSR路径控制结构体 int32_t g_plsr_total_pulse_count = 0; // 全局累加脉冲计数器(程序运行期间持续累加，支持负数) uint8_t g_plsr_ext_event_flag = 0; // 外部事件标志(0-无事件, 1-事件触发) +static uint8_t s_pulse_count_direction = 1; // 脉冲计数方向(1-递增, 0-递减)，用于替代dir_logic判断计数方向 // ==================== PLSR内部变量 ==================== static uint32_t s_tim6_update_freq_us = 1000; // TIM6更新频率(微秒) @@ -963,14 +964,14 @@ static void PLSR_UpdateGlobalPulseCount(int32_t current_pulse_count) if (current_pulse_count > s_last_total_pulse) { int32_t pulse_increment = current_pulse_count - s_last_total_pulse; - if (g_plsr_route.dir_logic == 0) + if (s_pulse_count_direction) { - // 方向逻辑为0：正逻辑，脉冲数递增 + // 脉冲计数方向为1：递增 g_plsr_total_pulse_count += pulse_increment; } else { - // 方向逻辑为1：负逻辑，脉冲数递减（支持负数显示） + // 脉冲计数方向为0：递减（支持负数显示） g_plsr_total_pulse_count -= pulse_increment; } s_last_total_pulse = current_pulse_count; @@ -1030,15 +1031,8 @@ void Calculate_PluseNum_Simplified(PLSR_RouteConfig_t *route) uint32_t vt = current_section->target_freq; // 目标频率 uint32_t a = route->accel_rate; // 加速度 uint32_t d = route->decel_rate; // 减速度 - int32_t total_pulses = 0; - if(route->mode == PLSR_MODE_RELATIVE) - { - total_pulses = current_section->target_pulse; // 总脉冲数 - } - else - { - total_pulses = current_section->target_pulse - route->pulse_count; // 总脉冲数 - } + // 使用实际可发脉冲数，不再区分相对/绝对模式 + int32_t total_pulses = current_section->actual_pulse; // 总脉冲数 // 防止除零错误 @@ -1137,11 +1131,6 @@ void Calculate_PluseNum_Simplified(PLSR_RouteConfig_t *route) if (v_actual < vt) v_actual = vt; } - // else - // { - // // 数学上会减速到0或负值，设为0 - // printf("减速到停止：全部%lu脉冲用于减速\n", total_pulses); - // } } } else @@ -1185,15 +1174,10 @@ void Calculate_PluseNum(PLSR_RouteConfig_t *route) uint32_t vf = 0; // 最终频率（必须为0） uint32_t a = route->accel_rate; // 加速度 uint32_t d = route->decel_rate; // 减速度 - int32_t total_pulses = 0; - if(route->mode == PLSR_MODE_RELATIVE) - { - total_pulses = current_section->target_pulse; // 总脉冲数 - } - else - { - total_pulses = current_section->target_pulse - route->pulse_count; // 总脉冲数 - } + + // 使用已计算的actual_pulse作为总脉冲数 + // 在PLSR_Section_StartNewSection中已经根据模式计算了actual_pulse + int32_t total_pulses = current_section->actual_pulse; // 总脉冲数 // 防止除零错误 if (a == 0) a = 1; @@ -1407,7 +1391,7 @@ void Calculate_PluseNum(PLSR_RouteConfig_t *route) } } -// 新增函数：处理段结束逻辑 + void PLSR_HandleSectionEnd(void) { // 清零所有部分的脉冲计数 @@ -1688,6 +1672,80 @@ void PLSR_Route_Stop(PLSR_RouteConfig_t* route) } +/** + * @brief 设置脉冲方向端子状态 + * @param[in] route 路径控制结构体指针 + * @param[in] current_section 当前段配置指针 + * @retval None + * @note 根据脉冲方向逻辑和目标脉冲数设置方向端子状态 + */ +// 存储上一段的方向信息，用于检测方向变化 +static uint8_t s_last_direction = 0xFF; // 初始值设为无效值，确保第一次总是认为有方向变化 + +/** + * @brief 设置方向端子状态 + * @param route 路径控制结构体指针 + * @param current_section 当前段配置指针 + * @return 如果方向发生变化，返回1；否则返回0 + * @note 根据脉冲方向逻辑和目标脉冲数设置方向端子状态 + */ +static uint8_t PLSR_SetDirectionPin(PLSR_RouteConfig_t* route, PLSR_SectionConfig_t* current_section) +{ + if (route == NULL || current_section == NULL) return 0; + + // 确定方向端子状态 + GPIO_PinState dir_pin_state; + + // 根据计算后的实际可发脉冲数确定方向（正值为正向，负值为反向） + // 在绝对模式下，actual_pulse已经计算为目标位置与当前位置的差值 + uint8_t is_forward = (current_section->actual_pulse >= 0); + + // 检测方向是否发生变化 + uint8_t direction_changed = (s_last_direction != 0xFF && s_last_direction != is_forward); + + // 更新上一段的方向信息 + s_last_direction = is_forward; + + // 设置脉冲计数方向（与实际运动方向一致） + s_pulse_count_direction = is_forward ? 1 : 0; + + // 根据方向逻辑确定方向端子状态 + if (route->dir_logic == 0) { + // 正逻辑：正向脉冲方向端子置ON(1)，反向脉冲方向端子置OFF(0) + dir_pin_state = is_forward ? GPIO_PIN_SET : GPIO_PIN_RESET; + } else { + // 负逻辑：正向脉冲方向端子置OFF(0)，反向脉冲方向端子置ON(1) + dir_pin_state = is_forward ? GPIO_PIN_RESET : GPIO_PIN_SET; + } + + switch (route->dir_port) + { + case 0: + HAL_GPIO_WritePin(GPIOH, GPIO_PIN_6, dir_pin_state); + break; + case 1: + HAL_GPIO_WritePin(GPIOH, GPIO_PIN_7, dir_pin_state); + break; + case 2: + HAL_GPIO_WritePin(GPIOH, GPIO_PIN_8, dir_pin_state); + break; + case 3: + HAL_GPIO_WritePin(GPIOH, GPIO_PIN_9, dir_pin_state); + break; + default: + break; + } + + // 如果设置了方向延时时间，则等待指定时间 + if (route->dir_delay > 0) { + // 使用HAL库延时函数，单位为毫秒 + HAL_Delay(route->dir_delay); + } + + // 返回方向变化状态 + return direction_changed; +} + /** * @brief 开始新段处理 * @param route: 路径控制结构体指针 @@ -1699,6 +1757,34 @@ void PLSR_Section_StartNewSection(PLSR_RouteConfig_t* route) // 获取当前段的配置指针（段号从1开始，数组索引从0开始） PLSR_SectionConfig_t* current_section = &route->section[route->current_section_num - 1]; + // 统一使用相对模式计算实际可发脉冲数 + if(g_plsr_route.mode == PLSR_MODE_ABSOLUTE) + { + // 绝对模式：计算相对于当前位置的脉冲数 + current_section->actual_pulse = current_section->target_pulse - g_plsr_total_pulse_count; + } + else + { + // 相对模式：直接使用目标脉冲数 + current_section->actual_pulse = current_section->target_pulse; + } + + // 设置方向端子 - 使用计算后的actual_pulse确定方向 + // 检测是否有方向变化 + uint8_t direction_changed = PLSR_SetDirectionPin(route, current_section); + + // 如果方向发生变化，将当前频率设为0 + // 这样可以确保在方向切换后，电机从停止状态开始加速，避免方向切换时的冲击 + if (direction_changed) { + route->current_freq = 0; + } + + // 将负脉冲数转换为正脉冲数用于计算 + if(current_section->actual_pulse < 0) + { + current_section->actual_pulse = -current_section->actual_pulse; + } + if(current_section->section_num == route->section_num) { // 最后一段：使用完整的三部分计算（必须减速到0） @@ -1925,6 +2011,7 @@ void PLSR_Section_SwitchNext(PLSR_RouteConfig_t* route, uint8_t is_pulse_complet if (is_pulse_complete) { // 脉冲完成触发：累加整个目标脉冲数 + // 使用原始的target_pulse而非actual_pulse，因为prevPulseCount需要记录原始目标值 route->prevPulseCount += current_section->target_pulse; } else @@ -1933,7 +2020,6 @@ void PLSR_Section_SwitchNext(PLSR_RouteConfig_t* route, uint8_t is_pulse_complet route->prevPulseCount = g_plsr_total_pulse_count; } } - // 绝对模式下prevPulseCount保持不变，因为每段的target_pulse已经是绝对位置 // 检查下一段是否有效 if(next_section_num == 0 && current_section->section_num == route->section_num) { @@ -2077,16 +2163,22 @@ void PLSR_Accel_UpdateRates(PLSR_RouteConfig_t* route) if (route == NULL) return; // 计算加速度 (Hz/ms) - if (route->default_accel_time_ms > 0) { + if (route->default_accel_time_ms > 0) + { route->accel_rate = route->default_freq / route->default_accel_time_ms; - } else { + } + else + { route->accel_rate = 0; // 避免除零错误 } // 计算减速度 (Hz/ms) - if (route->default_decel_time_ms > 0) { + if (route->default_decel_time_ms > 0) + { route->decel_rate = route->default_freq / route->default_decel_time_ms; - } else { + } + else + { route->decel_rate = 0; // 避免除零错误 } } @@ -2199,15 +2291,9 @@ uint8_t PLSR_Section_CheckPulseComplete(PLSR_RouteConfig_t* route) if (current_section->wait_condition.wait_type == PLSR_WAIT_PLUSEEND || current_section->wait_condition.wait_type == PLSR_WAIT_EXT_OR_END) { - uint32_t target_pulse; - if (route->mode == PLSR_MODE_RELATIVE) - { - target_pulse = current_section->target_pulse + route->prevPulseCount; //1000 2000 3000 2->3 2000+1000 route->pulse_count>=3000 - } - else - { - target_pulse = current_section->target_pulse; - } + int32_t target_pulse = current_section->actual_pulse; + if(target_pulse < 0) target_pulse = -target_pulse; + target_pulse += route->prevPulseCount; // 累加上次的脉冲计数 return (route->pulse_count >= target_pulse) ? 1 : 0; } @@ -2255,7 +2341,7 @@ uint8_t PLSR_Section_CheckWaitCondition(PLSR_RouteConfig_t* route) // 外部事件或脉冲结束：两个条件任一满足即可继续 // 这种模式允许外部事件提前结束段的执行 return (PLSR_Wait_CheckExtEvent(route) || PLSR_Section_CheckPulseComplete(route)); - + default: // 未知等待类型：默认返回真，允许继续执行 return 1; diff --git a/PLSR/PLSR/Core/Src/usart.c b/PLSR/PLSR/Core/Src/usart.c index 34adf8a..3b278e1 100644 --- a/PLSR/PLSR/Core/Src/usart.c +++ b/PLSR/PLSR/Core/Src/usart.c @@ -59,7 +59,7 @@ void MX_USART1_UART_Init(void) /* USER CODE END USART1_Init 1 */ huart1.Instance = USART1; - huart1.Init.BaudRate = 19200; + huart1.Init.BaudRate = 115200; huart1.Init.WordLength = UART_WORDLENGTH_9B; huart1.Init.StopBits = UART_STOPBITS_1; huart1.Init.Parity = UART_PARITY_ODD; diff --git a/PLSR/PLSR/EWARM/settings/test.1.dnx b/PLSR/PLSR/EWARM/settings/test.1.dnx index 6cc2a2c..def6f57 100644 --- a/PLSR/PLSR/EWARM/settings/test.1.dnx +++ b/PLSR/PLSR/EWARM/settings/test.1.dnx @@ -12,12 +12,12 @@ 50 + 46232557 + _ 0 _ 0 0 2 - 46232557 - 2012208745 diff --git a/PLSR/PLSR/EWARM/test.1.dep b/PLSR/PLSR/EWARM/test.1.dep index 4341059..acf5842 100644 --- a/PLSR/PLSR/EWARM/test.1.dep +++ b/PLSR/PLSR/EWARM/test.1.dep @@ -5,1063 +5,880 @@ test.1 - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_wwdg.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c.c + $PROJ_DIR$\..\Core\Src\stm32f4xx_hal_msp.c $PROJ_DIR$\..\Core\Src\system_stm32f4xx.c + $PROJ_DIR$\..\Core\Src\tim.c + $PROJ_DIR$\..\Core\Src\modbus_crc.c + $PROJ_DIR$\..\Core\Src\dma.c + $PROJ_DIR$\..\Core\Src\main.c + $PROJ_DIR$\..\Core\Src\stm32f4xx_hal_timebase_tim.c + $PROJ_DIR$\..\Core\Src\modbus_log.c + $PROJ_DIR$\..\Core\Src\stm32f4xx_it.c + $PROJ_DIR$\..\Core\Src\usart.c + $PROJ_DIR$\..\Core\Src\flash_save.c + $PROJ_DIR$\startup_stm32f407xx.s + $PROJ_DIR$\..\Core\Src\gpio.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_exti.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_i2c.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_pwr.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_rcc.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_rng.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_crc.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_sram.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_usart.c $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_wwdg.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_crc.c $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_dma.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_sram.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_crc.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_exti.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_i2c.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_pwr.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_usart.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_gpio.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_rcc.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_rng.c $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_dac.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c - $PROJ_DIR$\startup_stm32f407xx.s - $PROJ_DIR$\..\Core\Src\flash_save.c - $PROJ_DIR$\..\Core\Src\stm32f4xx_hal_timebase_tim.c - $PROJ_DIR$\..\Core\Src\gpio.c - $PROJ_DIR$\..\Core\Src\main.c - $PROJ_DIR$\..\Core\Src\modbus_crc.c - $PROJ_DIR$\..\Core\Src\modbus_log.c - $PROJ_DIR$\..\Core\Src\stm32f4xx_hal_msp.c - 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$PROJ_DIR$\..\Core\Src\flash_save.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c ICCARM - 186 + 48 __cstat - 228 + 168 - - - ICCARM - 147 192 137 197 90 106 203 83 123 59 71 232 222 153 196 72 149 112 183 227 223 79 92 77 157 189 155 88 102 104 175 103 108 184 141 82 73 129 176 161 62 89 199 217 163 156 122 75 191 - - - $PROJ_DIR$\..\Core\Src\stm32f4xx_hal_timebase_tim.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c ICCARM - 87 + 45 __cstat - 111 + 46 - - - ICCARM - 192 137 197 90 106 203 83 123 59 71 232 222 153 196 72 149 112 183 227 223 79 92 77 157 189 155 88 102 104 175 103 108 184 141 82 73 129 - - - $PROJ_DIR$\..\Core\Src\gpio.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c ICCARM - 202 + 161 __cstat - 84 + 68 - - - ICCARM - 144 161 192 137 197 90 106 203 83 123 59 71 232 222 153 196 72 149 112 183 227 223 79 92 77 157 189 155 88 102 104 175 103 108 184 141 82 73 129 158 176 62 89 199 217 163 156 122 75 147 191 171 193 178 58 148 226 119 - - - $PROJ_DIR$\..\Core\Src\main.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_crc.c ICCARM - 60 + 101 __cstat - 169 + 61 - - - ICCARM - 161 192 137 197 90 106 203 83 123 59 71 232 222 153 196 72 149 112 183 227 223 79 92 77 157 189 155 88 102 104 175 103 108 184 141 82 73 129 144 158 176 62 89 199 217 163 156 122 75 147 191 171 193 178 58 148 226 119 78 - - - $PROJ_DIR$\..\Core\Src\modbus_crc.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_dma.c ICCARM - 121 + 149 __cstat - 63 + 127 - - - ICCARM - 75 106 203 83 123 59 71 232 222 153 196 72 149 112 183 227 192 137 197 90 223 79 92 77 157 189 155 88 102 104 175 103 108 184 141 82 73 129 - - - $PROJ_DIR$\..\Core\Src\modbus_log.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.c ICCARM - 91 + 170 __cstat - 67 + 152 - - - ICCARM - 191 176 161 192 137 197 90 106 203 83 123 59 71 232 222 153 196 72 149 112 183 227 223 79 92 77 157 189 155 88 102 104 175 103 108 184 141 82 73 129 62 89 199 217 163 156 122 75 147 - - - $PROJ_DIR$\..\Core\Src\stm32f4xx_hal_msp.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c ICCARM - 162 + 137 __cstat - 170 + 220 - - - ICCARM - 161 192 137 197 90 106 203 83 123 59 71 232 222 153 196 72 149 112 183 227 223 79 92 77 157 189 155 88 102 104 175 103 108 184 141 82 73 129 - - - $PROJ_DIR$\..\Core\Src\stm32f4xx_it.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_gpio.c ICCARM - 140 + 204 __cstat - 52 + 185 - - - ICCARM - 161 192 137 197 90 106 203 83 123 59 71 232 222 153 196 72 149 112 183 227 223 79 92 77 157 189 155 88 102 104 175 103 108 184 141 82 73 129 139 178 58 122 62 148 226 119 - - - $PROJ_DIR$\..\Core\Src\dma.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_dac.c ICCARM - 174 + 195 __cstat - 85 + 83 - - - ICCARM - 78 161 192 137 197 90 106 203 83 123 59 71 232 222 153 196 72 149 112 183 227 223 79 92 77 157 189 155 88 102 104 175 103 108 184 141 82 73 129 - - - $PROJ_DIR$\..\Core\Src\tim.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c ICCARM - 216 + 186 __cstat - 188 + 123 - - - ICCARM - 158 161 192 137 197 90 106 203 83 123 59 71 232 222 153 196 72 149 112 183 227 223 79 92 77 157 189 155 88 102 104 175 103 108 184 141 82 73 129 176 62 89 199 217 163 156 122 75 147 191 171 193 178 58 148 226 119 - - - $PROJ_DIR$\..\Core\Src\usart.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c ICCARM - 135 + 211 __cstat - 130 + 60 - - - ICCARM - 176 161 192 137 197 90 106 203 83 123 59 71 232 222 153 196 72 149 112 183 227 223 79 92 77 157 189 155 88 102 104 175 103 108 184 141 82 73 129 62 89 199 217 163 156 122 75 147 191 - - $PROJ_DIR$\test.1\Exe\test.1.out - ILINK - 179 + OBJCOPY + 100 - OBJCOPY - 45 + ILINK + 65 ILINK - 76 164 174 186 202 60 121 91 107 154 61 110 116 194 160 221 159 182 209 93 65 206 229 86 162 126 74 167 136 69 56 100 87 113 64 68 140 48 55 198 109 207 180 166 99 53 95 132 115 208 216 187 135 214 57 94 143 + 176 89 193 69 219 143 129 50 146 171 205 53 98 48 151 79 47 161 113 167 45 64 82 170 88 175 109 131 211 78 137 84 209 186 206 173 72 101 195 149 160 204 87 157 55 153 194 159 182 184 71 105 81 70 75 147 44 + + $PROJ_DIR$\..\UCOS\Ports\os_cpu_a.asm + + + AARM + 146 + + + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_spi.c ICCARM - 95 + 194 __cstat - 70 + 208 - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_tim.c + $PROJ_DIR$\..\UCOS\Ports\os_dbg.c ICCARM - 132 + 205 __cstat - 133 + 96 @@ -1070,96 +887,63 @@ ICCARM - 164 + 89 __cstat - 44 + 179 - - - ICCARM - 138 178 58 122 62 59 71 232 222 153 92 148 226 119 - - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_usart.c ICCARM - 115 + 182 __cstat - 200 + 128 - $PROJ_DIR$\..\UCOS\Ports\os_dbg.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_tim.c ICCARM - 61 + 159 __cstat - 131 + 117 - - - ICCARM - 178 58 122 62 59 71 232 222 153 92 148 226 119 - - $PROJ_DIR$\..\UCOS\Ports\os_cpu_c.c ICCARM - 154 + 171 __cstat - 215 + 92 - - - ICCARM - 178 58 122 62 59 71 232 222 153 92 148 226 119 - - $PROJ_DIR$\..\UCOS\Source\ucos_ii.c ICCARM - 187 + 105 __cstat - 125 - - - - - ICCARM - 178 58 122 62 59 71 232 222 153 92 148 226 119 97 152 66 105 114 101 127 47 51 168 - - - - - $PROJ_DIR$\..\UCOS\Ports\os_cpu_a.asm - - - AARM - 107 + 165 diff --git a/PLSR/PLSR/EWARM/test.1/Exe/test.1.sim b/PLSR/PLSR/EWARM/test.1/Exe/test.1.sim index bb0044d..fcf410f 100644 Binary files a/PLSR/PLSR/EWARM/test.1/Exe/test.1.sim and b/PLSR/PLSR/EWARM/test.1/Exe/test.1.sim differ