From 7dce13df3d9635400e45d04507cc54c5ef84af45 Mon Sep 17 00:00:00 2001 From: JIU JIALIN <2339061402@qq.com> Date: Mon, 25 Aug 2025 09:36:03 +0800 Subject: [PATCH] =?UTF-8?q?=E8=A7=A3=E5=86=B3=E4=B8=B4=E6=97=B6=E4=BF=AE?= =?UTF-8?q?=E6=94=B9=E9=A2=91=E7=8E=87=E5=8F=AF=E8=83=BD=E5=AF=BC=E8=87=B4?= =?UTF-8?q?=E7=A8=8B=E5=BA=8F=E5=8D=A1=E6=AD=BB=E7=9A=84=E9=97=AE=E9=A2=98?= =?UTF-8?q?=E5=8E=9F=E5=9B=A0=E6=98=AFTIM6=E7=9A=84=E6=9B=B4=E6=96=B0?= =?UTF-8?q?=E9=A2=91=E7=8E=87=E8=BF=87=E9=AB=98=E4=BA=86,=E7=84=B6?= =?UTF-8?q?=E5=90=8E=E8=84=89=E5=86=B2=E6=95=B0=E4=B8=8D=E8=B6=B3=E5=8A=A0?= =?UTF-8?q?=E5=87=8F=E9=80=9F=E8=BF=87=E7=A8=8B=E6=97=B6=E5=AF=BC=E8=87=B4?= =?UTF-8?q?=E8=84=89=E5=86=B2=E5=81=9C=E6=AD=A2=E5=8F=91=E9=80=81,?= =?UTF-8?q?=E6=98=AF=E5=9B=A0=E4=B8=BA=E8=84=89=E5=86=B2=E8=AE=A1=E7=AE=97?= =?UTF-8?q?=E5=87=BD=E6=95=B0,=E5=9C=A8=E8=BF=99=E7=A7=8D=E6=83=85?= =?UTF-8?q?=E5=86=B5=E4=B8=8B=E5=A4=84=E7=90=86=E4=B8=8D=E5=BD=93?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- PLSR/PLSR/Core/Inc/tim.h | 5 + PLSR/PLSR/Core/Src/tim.c | 430 +++++++----- PLSR/PLSR/EWARM/settings/test.1.dnx | 4 +- PLSR/PLSR/EWARM/test.1.dep | 920 +++++++++++++------------- PLSR/PLSR/EWARM/test.1/Exe/test.1.sim | Bin 39574 -> 40198 bytes 5 files changed, 735 insertions(+), 624 deletions(-) diff --git a/PLSR/PLSR/Core/Inc/tim.h b/PLSR/PLSR/Core/Inc/tim.h index e8586f4..52173fe 100644 --- a/PLSR/PLSR/Core/Inc/tim.h +++ b/PLSR/PLSR/Core/Inc/tim.h @@ -274,6 +274,11 @@ void PLSR_SectionSwitchTask(void *p_arg); void PLSR_SectionSwitchInit(void); //<段切换信号量初始化 void PLSR_SectionSwitchSignal(void); //<发送段切换信号量(中断中调用) +uint32_t BinarySearchOptimalFreq(uint32_t v0, uint32_t vt_desired, + int32_t total_pulses, uint32_t a, uint32_t d, + uint8_t is_accel); // 二分搜索优化目标频率 +uint32_t OptimalIntermediateFrequency(uint32_t v0, uint32_t vt_desired, + int32_t total_pulses, uint32_t a, uint32_t d); // 计算最优中间频率 // ==================== PLSR全局变量声明 ==================== extern PLSR_RouteConfig_t g_plsr_route; // 全局PLSR路径控制结构体 extern uint8_t g_plsr_ext_event_flag; // 外部事件标志 diff --git a/PLSR/PLSR/Core/Src/tim.c b/PLSR/PLSR/Core/Src/tim.c index 4f950f0..67946e1 100644 --- a/PLSR/PLSR/Core/Src/tim.c +++ b/PLSR/PLSR/Core/Src/tim.c @@ -671,8 +671,8 @@ void PLSR_PWM_Start(void) switch(g_plsr_route.output_port) { case 0: // TIM10 - __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, htim10.Init.Period / 2); // 设置占空比为50% - //HAL_TIM_PWM_Start_IT(&htim10, TIM_CHANNEL_1); + //__HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, htim10.Init.Period / 2); // 设置占空比为50% + HAL_TIM_PWM_Start(&htim10, TIM_CHANNEL_1); break; case 1: // TIM11 @@ -715,8 +715,8 @@ void PLSR_PWM_Stop(void) switch(g_plsr_route.output_port) { case 0: // TIM10 - __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, htim10.Init.Period); // - //HAL_TIM_PWM_Stop(&htim10, TIM_CHANNEL_1); + //__HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, htim10.Init.Period); // + HAL_TIM_PWM_Stop(&htim10, TIM_CHANNEL_1); break; case 1: // TIM11 @@ -1170,7 +1170,8 @@ void Calculate_PluseNum(PLSR_RouteConfig_t *route) if (route->accel_config.accel_algorithm == PLSR_ACCEL_LINEAR) { uint32_t v0 = route->current_freq; // 起始频率 - uint32_t vt = current_section->target_freq; // 期望目标频率 + uint32_t vt_desired = current_section->target_freq; // 期望目标频率 + uint32_t vt = vt_desired; // 实际目标频率（可能会被调整） 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 @@ -1182,186 +1183,152 @@ void Calculate_PluseNum(PLSR_RouteConfig_t *route) if (a == 0) a = 1; if (d == 0) d = 1; - // 三部分运动规划： - // 第一部分：从v0到vt（加速或减速或保持） - // 第二部分：在vt保持匀速 - // 第三部分：从vt减速到0 + // 初始计算：按理想情况计算各部分脉冲数 + PLSR_RunState_t part1_state = PLSR_STATE_CONST; + PLSR_RunState_t part2_state = PLSR_STATE_CONST; + PLSR_RunState_t part3_state = PLSR_STATE_DECEL; - // 计算第一部分：v0 -> vt - PLSR_RunState_t part1_state = PLSR_STATE_CONST; // 默认匀速 + // 计算理想情况下的第一部分：v0 -> vt if (v0 < vt) { - // 需要加速 part1_state = PLSR_STATE_ACCEL; part1_time = (vt - v0) / a; if (part1_time == 0) part1_time = 1; uint64_t temp_calc = (uint64_t)(v0 + vt) * part1_time; part1_pulse_num = (uint32_t)(temp_calc / 2000); - if(part1_pulse_num == 0) part1_pulse_num = 1; // 防止为0 + if(part1_pulse_num == 0) part1_pulse_num = 1; } else if (v0 > vt) { - // 需要减速 part1_state = PLSR_STATE_DECEL; part1_time = (v0 - vt) / d; if (part1_time == 0) part1_time = 1; uint64_t temp_calc = (uint64_t)(v0 + vt) * part1_time; part1_pulse_num = (uint32_t)(temp_calc / 2000); - if(part1_pulse_num == 0) part1_pulse_num = 1; // 防止为0 + if(part1_pulse_num == 0) part1_pulse_num = 1; } else { - // v0 == vt，无需第一部分 - part1_state = PLSR_STATE_CONST; part1_pulse_num = 0; part1_time = 0; } - // 计算第三部分：vt -> 0（必须减速到0） - PLSR_RunState_t part3_state = PLSR_STATE_DECEL; + // 计算理想情况下的第三部分：vt -> 0 if (vt > 0) { part3_time = vt / d; if (part3_time == 0) part3_time = 1; - // 从vt减速到0的脉冲数：(vt + 0) * part3_time / 2000 uint64_t temp_calc = (uint64_t)vt * part3_time; part3_pulse_num = (uint32_t)(temp_calc / 2000); - if(part3_pulse_num == 0) part3_pulse_num = 1; // 防止为0 + if(part3_pulse_num == 0) part3_pulse_num = 1; } else { - // 目标频率已经是0，无需第三部分 part3_pulse_num = 0; part3_time = 0; } - // 计算第二部分：匀速部分 - PLSR_RunState_t part2_state = PLSR_STATE_CONST; + // 检查脉冲数是否足够 int32_t used_pulses = part1_pulse_num + part3_pulse_num; - if (used_pulses < total_pulses) + if (used_pulses <= total_pulses) { - // 有剩余脉冲用于匀速阶段 + // 脉冲数足够，计算匀速部分 part2_pulse_num = total_pulses - used_pulses; - // 计算匀速时间 - if (vt > 0) { + if (vt > 0 && part2_pulse_num > 0) { part2_time = (part2_pulse_num * 1000) / vt; } } - else if (used_pulses > total_pulses) + else { - // 脉冲数不足，需要调整运动参数 - // 策略：优先保证能减速到0，然后调整第一部分 - if (part3_pulse_num <= total_pulses) { - // 第三部分可以完成，调整第一部分 - int32_t remaining_pulses = total_pulses - part3_pulse_num; - - if (remaining_pulses > 0) { - if (v0 < vt) - { - // 加速情况：计算实际能加速到的频率 - // vm^2 = v0^2 + remaining_pulses * 2000 * a - uint64_t v0_squared = (uint64_t)v0 * v0; - uint64_t addition = (uint64_t)remaining_pulses * 2000ULL * a; - uint64_t vm_squared = v0_squared + addition; - - if (vm_squared <= 0xFFFFFFFFULL) { - uint32_t vm = integer_sqrt((uint32_t)vm_squared); - if (vm > vt) vm = vt; // 不超过期望目标频率 - - // 重新计算第一部分和第三部分 - vt = vm; // 更新实际目标频率 - part1_time = (vt - v0) / a; - if (part1_time == 0) part1_time = 1; - part1_pulse_num = remaining_pulses; - - // 重新计算第三部分 - part3_time = vt / d; - if (part3_time == 0) part3_time = 1; - uint64_t temp_calc = (uint64_t)vt * part3_time; - part3_pulse_num = (uint32_t)(temp_calc / 2000); - } - } - else if (v0 > vt) { - // 减速情况：计算实际能减速到的频率 - // vm^2 = v0^2 - remaining_pulses * 2000 * d - uint64_t v0_squared = (uint64_t)v0 * v0; - uint64_t reduction = (uint64_t)remaining_pulses * 2000ULL * d; - - if (v0_squared > reduction) { - uint32_t vm_squared = (uint32_t)(v0_squared - reduction); - uint32_t vm = integer_sqrt(vm_squared); - if (vm < vt) vm = vt; // 不低于期望目标频率 - - // 更新实际目标频率 - vt = vm; - part1_time = (v0 - vt) / d; - if (part1_time == 0) part1_time = 1; - part1_pulse_num = remaining_pulses; - - // 重新计算第三部分 - part3_time = vt / d; - if (part3_time == 0) part3_time = 1; - uint64_t temp_calc = (uint64_t)vt * part3_time; - part3_pulse_num = (uint32_t)(temp_calc / 2000); - } - } - else { - // v0 == vt，直接分配给第一部分作为匀速 - part1_pulse_num = remaining_pulses; - part1_state = PLSR_STATE_CONST; - } - } else { - // remaining_pulses == 0，只有第三部分 - part1_pulse_num = 0; - } - - part2_pulse_num = 0; // 无匀速阶段 - } - else { - // 连第三部分都无法完成，重新规划整个运动 - // 计算在total_pulses内能实现的运动 - - // 简化处理：直接从v0减速，看能减速到什么频率 - // vf^2 = v0^2 - total_pulses * 2000 * d - uint64_t v0_squared = (uint64_t)v0 * v0; - uint64_t reduction = (uint64_t)total_pulses * 2000ULL * d; + // 脉冲数不足，需要重新规划运动 + part2_pulse_num = 0; // 没有匀速阶段 + + // 优化策略：寻找最优的中间频率vm，使得总脉冲数刚好等于available_pulses + uint32_t vm = OptimalIntermediateFrequency(v0, vt_desired, total_pulses, a, d); + + if (vm != v0) // 找到了有效的中间频率 + { + vt = vm; // 更新实际目标频率 - if (v0_squared > reduction) { - uint32_t vf_squared = (uint32_t)(v0_squared - reduction); - uint32_t actual_vf = integer_sqrt(vf_squared); + // 重新计算第一部分 + if (v0 < vm) + { + part1_state = PLSR_STATE_ACCEL; + // 使用运动学公式：s = (v0 + vm) * t / 2，其中 t = (vm - v0) / a + // 所以：s = (v0 + vm) * (vm - v0) / (2 * a) = (vm^2 - v0^2) / (2 * a) + uint64_t numerator = (uint64_t)vm * vm - (uint64_t)v0 * v0; + part1_pulse_num = (uint32_t)(numerator / (2000ULL * a)); + if (part1_pulse_num == 0) part1_pulse_num = 1; - // 设置为单一减速阶段 - part1_state = PLSR_STATE_DECEL; - part1_pulse_num = total_pulses; - part1_time = (v0 - actual_vf) / d; + part1_time = (vm - v0) / a; if (part1_time == 0) part1_time = 1; + } + else if (v0 > vm) + { + part1_state = PLSR_STATE_DECEL; + // 减速情况：s = (v0^2 - vm^2) / (2 * d) + uint64_t numerator = (uint64_t)v0 * v0 - (uint64_t)vm * vm; + part1_pulse_num = (uint32_t)(numerator / (2000ULL * d)); + if (part1_pulse_num == 0) part1_pulse_num = 1; - vt = actual_vf; // 更新目标频率 - part2_pulse_num = 0; - part3_pulse_num = 0; + part1_time = (v0 - vm) / d; + if (part1_time == 0) part1_time = 1; } - else { - // 数学上不可行，保持当前频率 + else + { part1_state = PLSR_STATE_CONST; - part1_pulse_num = total_pulses; - part2_pulse_num = 0; + part1_pulse_num = 0; + part1_time = 0; + } + + // 重新计算第三部分：vm -> 0 + if (vm > 0) + { + part3_state = PLSR_STATE_DECEL; + // s = vm^2 / (2 * d) + uint64_t numerator = (uint64_t)vm * vm; + part3_pulse_num = (uint32_t)(numerator / (2000ULL * d)); + if (part3_pulse_num == 0) part3_pulse_num = 1; + + part3_time = vm / d; + if (part3_time == 0) part3_time = 1; + } + else + { part3_pulse_num = 0; - vt = v0; + part3_time = 0; + } + + // 确保总脉冲数不超过限制 + int32_t calculated_total = part1_pulse_num + part3_pulse_num; + if (calculated_total > total_pulses) + { + // 按比例调整 + if (part1_pulse_num > 0) { + part1_pulse_num = (part1_pulse_num * total_pulses) / calculated_total; + } + if (part3_pulse_num > 0) { + part3_pulse_num = total_pulses - part1_pulse_num; + } } + } + else + { + // 无法找到有效的运动规划，保持当前频率 + part1_state = PLSR_STATE_CONST; + part1_pulse_num = total_pulses; + part1_time = (total_pulses * 1000) / v0; + part3_pulse_num = 0; + part3_time = 0; + vt = v0; // 实际目标频率等于起始频率 } - } - else { - part2_pulse_num = 0; } - // 保存三个部分的状态和脉冲计数到结构体 - // 使用现有的字段来存储三个部分的信息 - - // 第一部分 + // 保存计算结果到结构体 if (part1_state == PLSR_STATE_ACCEL) { route->accel_pulse_count = part1_pulse_num; @@ -1370,41 +1337,181 @@ void Calculate_PluseNum(PLSR_RouteConfig_t *route) { route->accel_pulse_count = (part1_state == PLSR_STATE_DECEL) ? part1_pulse_num : 0; } - - // if(route->accel_pulse_count > 1) - // { - // route->accel_pulse_count -= 1; // 减1防止过冲 - // } - // 第二部分（匀速） route->const_pulse_count = part2_pulse_num; - - // 第三部分（减速到0） route->decel_pulse_count = part3_pulse_num; - route->part1_state = part1_state; // 保存第一部分状态 - route->part2_state = part2_state; // 保存第二部分状态 - route->part3_state = part3_state; // 保存第三部分状态 - route->part1_target_freq = vt; // 第一部分结束频率 - route->part2_target_freq = vt; // 第二部分结束频率 - route->part3_target_freq = 0; // 第三部分结束频率必须为0 + route->part1_state = part1_state; + route->part2_state = part2_state; + route->part3_state = part3_state; + route->part1_target_freq = vt; + route->part2_target_freq = vt; + route->part3_target_freq = 0; + // 设置初始运行状态 - if (part1_pulse_num > 0) { + if (part1_pulse_num > 0) + { route->run_state = part1_state; route->target_freq = vt; - } else if (part2_pulse_num > 0) { + } else if (part2_pulse_num > 0) + { route->run_state = PLSR_STATE_CONST; route->target_freq = vt; - } else if (part3_pulse_num > 0) { + } else if (part3_pulse_num > 0) + { route->run_state = PLSR_STATE_DECEL; route->target_freq = 0; - } else { + } else + { route->run_state = PLSR_STATE_CONST; route->target_freq = v0; } } } +/** + * @brief 计算最优中间频率 + * @param v0 起始频率 + * @param vt_desired 期望目标频率 + * @param total_pulses 可用总脉冲数 + * @param a 加速度 + * @param d 减速度 + * @return 最优中间频率vm + */ +uint32_t OptimalIntermediateFrequency(uint32_t v0, uint32_t vt_desired, + int32_t total_pulses, uint32_t a, uint32_t d) +{ + // 数学推导： + // 设中间频率为vm + // 第一阶段脉冲数：s1 = |vm^2 - v0^2| / (2000 * rate1) + // 第三阶段脉冲数：s3 = vm^2 / (2000 * d) + // 约束条件：s1 + s3 = total_pulses + + uint32_t vm = v0; // 默认返回起始频率 + + if (total_pulses <= 0) return vm; + + // 情况1：需要加速 (v0 < vt_desired) + if (v0 < vt_desired) + { + // s1 = (vm^2 - v0^2) / (2000 * a) + // s3 = vm^2 / (2000 * d) + // s1 + s3 = total_pulses + // (vm^2 - v0^2) / (2000 * a) + vm^2 / (2000 * d) = total_pulses + // vm^2 * (1/(2000*a) + 1/(2000*d)) - v0^2/(2000*a) = total_pulses + // vm^2 * (d + a)/(2000*a*d) = total_pulses + v0^2/(2000*a) + + uint64_t coefficient = (uint64_t)(a + d) * 1000ULL; // 分母：2000*a*d，这里先乘1000 + uint64_t constant_term = ((uint64_t)v0 * v0) / (2ULL * a); // v0^2/(2*a)，单位是脉冲*1000 + uint64_t rhs = (uint64_t)total_pulses * 1000ULL + constant_term; // 右边，单位是脉冲*1000 + + // vm^2 = rhs * 2000 * a * d / (a + d) / 1000 + uint64_t vm_squared = (rhs * 2000ULL * a * d) / coefficient; + + if (vm_squared > 0 && vm_squared <= 0xFFFFFFFFULL) + { + vm = integer_sqrt((uint32_t)vm_squared); + + // 限制vm不能超过期望目标频率太多 + if (vm > vt_desired * 2) vm = vt_desired * 2; + + // 验证计算结果 + uint32_t s1_calc = ((uint64_t)vm * vm - (uint64_t)v0 * v0) / (2000ULL * a); + uint32_t s3_calc = ((uint64_t)vm * vm) / (2000ULL * d); + + if ((int32_t)(s1_calc + s3_calc) > total_pulses) { + // 结果超出限制，进行二分搜索优化 + vm = BinarySearchOptimalFreq(v0, vt_desired, total_pulses, a, d, 1); + } + } + } + // 情况2：需要减速 (v0 > vt_desired) + else if (v0 > vt_desired) + { + // s1 = (v0^2 - vm^2) / (2000 * d) + // s3 = vm^2 / (2000 * d) + // s1 + s3 = (v0^2 - vm^2) / (2000 * d) + vm^2 / (2000 * d) = v0^2 / (2000 * d) + // 这种情况下总脉冲数固定为 v0^2 / (2000 * d) + + uint32_t required_pulses = ((uint64_t)v0 * v0) / (2000ULL * d); + + if (required_pulses <= (uint32_t)total_pulses) + { + // 脉冲数足够，可以减速到任意频率 + // 选择一个合理的中间频率，优先选择期望频率 + if (vt_desired < v0) { + vm = vt_desired; + } else { + vm = v0 / 2; // 选择一个中间值 + } + } + else + { + // 脉冲数不足，计算能减速到的最低频率 + // vm^2 = v0^2 - total_pulses * 2000 * d + uint64_t v0_squared = (uint64_t)v0 * v0; + uint64_t reduction = (uint64_t)total_pulses * 2000ULL * d; + + if (v0_squared > reduction) { + uint32_t vm_squared = (uint32_t)(v0_squared - reduction); + vm = integer_sqrt(vm_squared); + } else { + vm = 0; // 理论上可以减速到0 + } + } + } + + return vm; +} + +/** + * @brief 二分搜索寻找最优频率 + * @param v0 起始频率 + * @param vt_desired 期望目标频率 + * @param total_pulses 可用总脉冲数 + * @param a 加速度 + * @param d 减速度 + * @param is_accel 是否为加速情况 + * @return 最优频率 + */ +uint32_t BinarySearchOptimalFreq(uint32_t v0, uint32_t vt_desired, + int32_t total_pulses, uint32_t a, uint32_t d, + uint8_t is_accel) +{ + uint32_t low = is_accel ? v0 : 0; + uint32_t high = is_accel ? (vt_desired * 2) : v0; + uint32_t best_vm = v0; + + for (int iterations = 0; iterations < 20; iterations++) // 限制迭代次数 + { + uint32_t mid = low + (high - low) / 2; + + // 计算当前频率下的脉冲数 + uint32_t s1, s3; + if (is_accel) { + s1 = ((uint64_t)mid * mid - (uint64_t)v0 * v0) / (2000ULL * a); + } else { + s1 = ((uint64_t)v0 * v0 - (uint64_t)mid * mid) / (2000ULL * d); + } + s3 = ((uint64_t)mid * mid) / (2000ULL * d); + + int32_t total_calc = s1 + s3; + + if (total_calc == total_pulses) { + return mid; // 找到精确解 + } else if (total_calc < total_pulses) { + best_vm = mid; + low = mid + 1; + } else { + high = mid - 1; + } + + if (low > high) break; + } + + return best_vm; +} + void PLSR_HandleSectionEnd(void) { // 清零所有部分的脉冲计数 @@ -1466,7 +1573,6 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) PLSR_PWM_SetFrequency(g_plsr_route.target_freq); __HAL_TIM_SetAutoreload(&htim2, g_plsr_route.const_pulse_count); - __HAL_TIM_SET_COUNTER(&htim2, 0); PLSR_PWM_Start(); break; @@ -1637,7 +1743,7 @@ void PLSR_Route_Init(PLSR_RouteConfig_t* route) // 初始化全局变量 g_last_freq = 0; // 清零上一次计算的频率 - PLSR_TIM6_SetUpdateFreq(10); //初始化TIM6更新频率为1000us(1ms) + PLSR_TIM6_SetUpdateFreq(100); //初始化TIM6更新频率为1000us(1ms) PLSR_PWM_Stop(); // 确保PWM停止，避免意外输出 } @@ -2135,21 +2241,21 @@ void PLSR_Section_SwitchNext(PLSR_RouteConfig_t* route, uint8_t is_pulse_complet route->prevPulseCount = g_plsr_location; } } - // 检查下一段是否有效 - if(next_section_num == 0 && current_section->section_num == route->section_num) - { - // 如果是最后一段且下一段为0，结束路径 - route->route_state = PLSR_ROUTE_COMPLETED; - PLSR_Route_Stop(route); - return; - } - if (next_section_num > PLSR_MAX_SECTIONS) - { - // 路径结束 - route->route_state = PLSR_ROUTE_COMPLETED; - PLSR_Route_Stop(route); - return; - } + // // 检查下一段是否有效 + // if(next_section_num == 0 && current_section->section_num == route->section_num) + // { + // // 如果是最后一段且下一段为0，结束路径 + // route->route_state = PLSR_ROUTE_COMPLETED; + // PLSR_Route_Stop(route); + // return; + // } + // if (next_section_num > PLSR_MAX_SECTIONS) + // { + // // 路径结束 + // route->route_state = PLSR_ROUTE_COMPLETED; + // PLSR_Route_Stop(route); + // return; + // } if(next_section_num == 0) { route->current_section_num = current_section->section_num + 1; diff --git a/PLSR/PLSR/EWARM/settings/test.1.dnx b/PLSR/PLSR/EWARM/settings/test.1.dnx index b53d4ee..3283f69 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 + 1150792608 diff --git a/PLSR/PLSR/EWARM/test.1.dep b/PLSR/PLSR/EWARM/test.1.dep index de123aa..d1e4a10 100644 --- a/PLSR/PLSR/EWARM/test.1.dep +++ b/PLSR/PLSR/EWARM/test.1.dep @@ -5,1161 +5,1161 @@ test.1 - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c - $PROJ_DIR$\..\Core\Src\tim.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c - $PROJ_DIR$\..\Core\Src\stm32f4xx_hal_msp.c - $PROJ_DIR$\..\Core\Src\gpio.c - $PROJ_DIR$\..\Core\Src\main.c - $PROJ_DIR$\..\Core\Src\stm32f4xx_hal_timebase_tim.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.c - $PROJ_DIR$\startup_stm32f407xx.s - $PROJ_DIR$\..\Core\Src\dma.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c - $PROJ_DIR$\..\Core\Src\modbus_crc.c - $PROJ_DIR$\..\Core\Src\flash_save.c - $PROJ_DIR$\..\Core\Src\system_stm32f4xx.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.c - $PROJ_DIR$\..\Core\Src\usart.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_crc.c - $PROJ_DIR$\..\Core\Src\stm32f4xx_it.c - $PROJ_DIR$\..\Core\Src\modbus_log.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_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_flash_ramfunc.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_tim.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_tim.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_dma.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_rcc.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c.c $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_usart.c - $PROJ_DIR$\..\UCOS\Config\app_hooks.c - $PROJ_DIR$\..\UCOS\Ports\os_cpu_c.c + $PROJ_DIR$\..\Core\Src\system_stm32f4xx.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_dac.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_gpio.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_i2c.c - $PROJ_DIR$\..\UCOS\Ports\os_dbg.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_sram.c - $PROJ_DIR$\test.1\Obj\os_dbg.o - $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_uart.__cstat.et + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c - $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_tim.__cstat.et - $PROJ_DIR$\test.1\Obj\stm32f4xx_ll_crc.o - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_spi.c - $PROJ_DIR$\..\UCOS\Source\ucos_ii.c - $PROJ_DIR$\..\UCOS\Ports\os_cpu_a.asm - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_usart.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_wwdg.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_pwr.c $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_crc.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_dac.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_wwdg.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_exti.c + $PROJ_DIR$\..\Core\Src\usart.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_crc.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_usart.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_sram.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_gpio.c + $PROJ_DIR$\..\Core\Src\main.c + $PROJ_DIR$\..\Core\Src\dma.c + $PROJ_DIR$\..\Core\Src\gpio.c + $PROJ_DIR$\..\Core\Src\modbus_crc.c + $PROJ_DIR$\..\Core\Src\modbus_log.c + $PROJ_DIR$\..\Core\Src\stm32f4xx_hal_msp.c + $PROJ_DIR$\..\Core\Src\stm32f4xx_hal_timebase_tim.c + $PROJ_DIR$\..\Core\Src\stm32f4xx_it.c + $PROJ_DIR$\..\Core\Src\tim.c + $PROJ_DIR$\startup_stm32f407xx.s + $PROJ_DIR$\..\Core\Src\flash_save.c + $TOOLKIT_DIR$\inc\c\stddef.h + $PROJ_DIR$\..\UCOS\Source\os_tmr.c + $PROJ_DIR$\..\UCOS\Source\os_q.c + $TOOLKIT_DIR$\inc\c\DLib_Product.h $PROJ_DIR$\..\UCOS\Source\ucos_ii.h - $TOOLKIT_DIR$\inc\c\DLib_float_setup.h - $PROJ_DIR$\test.1\Exe\test.1.out - $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_pwr_ex.__cstat.et - $TOOLKIT_DIR$\inc\c\DLib_Product_string.h $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_sram.o + $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_tim.o + $PROJ_DIR$\test.1\Obj\stm32f4xx_ll_tim.__cstat.et + $PROJ_DIR$\test.1\Obj\stm32f4xx_ll_usart.o + $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_i2c_ex.__cstat.et + $PROJ_DIR$\test.1\Obj\modbus_crc.o + $PROJ_DIR$\test.1\Obj\stm32f4xx_ll_rng.o + $TOOLKIT_DIR$\inc\c\stdarg.h + $PROJ_DIR$\test.1\Obj\stm32f4xx_ll_rng.__cstat.et + $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_i2c.o + $PROJ_DIR$\test.1\Obj\stm32f4xx_ll_exti.o + $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_uart.__cstat.et + $PROJ_DIR$\test.1\Obj\dma.o + $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_dma_ex.o + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h + $TOOLKIT_DIR$\lib\dl7M_tlf.a + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h + $PROJ_DIR$\..\Core\Inc\modbus_crc.h + $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_crc.o + $PROJ_DIR$\test.1\Obj\stm32f4xx_ll_gpio.__cstat.et + $PROJ_DIR$\..\UCOS\Source\os_sem.c + $PROJ_DIR$\test.1\Obj\app_hooks.o + $TOOLKIT_DIR$\lib\rt7M_tl.a + $TOOLKIT_DIR$\lib\shb_l.a $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_msp.__cstat.et + $PROJ_DIR$\test.1\Obj\modbus_log.__cstat.et + $TOOLKIT_DIR$\inc\c\ycheck.h + $PROJ_DIR$\test.1\Obj\os_cpu_c.__cstat.et $PROJ_DIR$\..\UCOS\Source\os_mbox.c - $PROJ_DIR$\..\Core\Inc\tim.h - $PROJ_DIR$\test.1\Obj\stm32f4xx_it.o - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h - $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_i2c.o - $TOOLKIT_DIR$\inc\c\ysizet.h - $PROJ_DIR$\test.1\Obj\stm32f4xx_ll_dac.__cstat.et - $PROJ_DIR$\..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h - $TOOLKIT_DIR$\inc\c\stddef.h - $PROJ_DIR$\test.1\Obj\stm32f4xx_ll_tim.o - $TOOLKIT_DIR$\inc\c\DLib_Product_stdlib.h - $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_usart.__cstat.et - $PROJ_DIR$\test.1\Obj\stm32f4xx_hal.o - $PROJ_DIR$\test.1\Obj\stm32f4xx_ll_pwr.o - $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_exti.o - $PROJ_DIR$\test.1\Obj\os_cpu_c.o + $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_timebase_tim.o $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h - $TOOLKIT_DIR$\lib\shb_l.a + $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_exti.o + $TOOLKIT_DIR$\inc\c\ysizet.h + $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_tim_ex.__cstat.et + $PROJ_DIR$\test.1\Obj\modbus_log.o + $PROJ_DIR$\..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h + $PROJ_DIR$\..\UCOS\Config\app_cfg.h + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h + $PROJ_DIR$\test.1\Obj\usart.o $TOOLKIT_DIR$\inc\c\math.h - $TOOLKIT_DIR$\lib\rt7M_tl.a - $PROJ_DIR$\..\UCOS\Source\os_core.c - $PROJ_DIR$\test.1\Obj\stm32f4xx_ll_rcc.__cstat.et - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h - $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_wwdg.o + $PROJ_DIR$\test.1\Obj\gpio.__cstat.et + $PROJ_DIR$\test.1\Obj\stm32f4xx_it.o + $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_gpio.o + $PROJ_DIR$\..\Core\Inc\modbus_log.h + $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_rcc.o + $PROJ_DIR$\test.1\Obj\stm32f4xx_ll_pwr.o + $PROJ_DIR$\test.1\Obj\ucos_ii.o $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_sram.__cstat.et - $TOOLKIT_DIR$\lib\m7M_tls.a - $PROJ_DIR$\test.1\Obj\stm32f4xx_hal.__cstat.et - $TOOLKIT_DIR$\inc\c\string.h - $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_timebase_tim.__cstat.et - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h - $TOOLKIT_DIR$\inc\c\ycheck.h - $PROJ_DIR$\test.1\Obj\ucos_ii.__cstat.et - $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_i2c_ex.__cstat.et - $PROJ_DIR$\test.1\Obj\dma.__cstat.et - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h $PROJ_DIR$\test.1\Obj\tim.__cstat.et - $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_dma_ex.o - $TOOLKIT_DIR$\inc\c\stdarg.h - $TOOLKIT_DIR$\inc\c\stdio.h - $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_dma.__cstat.et + $PROJ_DIR$\test.1\Obj\system_stm32f4xx.__cstat.et + $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_i2c_ex.o + $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_rcc_ex.__cstat.et $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_cortex.__cstat.et - $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_dma.o - $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_usart.o + $PROJ_DIR$\..\UCOS\Source\os_trace.h + $PROJ_DIR$\test.1\Obj\stm32f4xx_ll_rcc.o + $PROJ_DIR$\..\UCOS\Source\os_mutex.c + $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_flash_ex.o + $PROJ_DIR$\..\UCOS\Source\os_task.c + $PROJ_DIR$\test.1\Obj\startup_stm32f407xx.o + $PROJ_DIR$\test.1\Obj\tim.o + $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_wwdg.o $PROJ_DIR$\test.1\Obj\modbus_crc.__cstat.et - $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_flash_ramfunc.o - 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169 128 140 - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_rcc.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c ICCARM - 205 + 79 __cstat - 84 + 209 + + + ICCARM + 192 116 146 204 148 83 160 162 74 152 110 133 46 193 183 171 134 232 170 78 43 80 225 62 64 201 217 178 85 208 228 194 155 199 169 128 140 + + - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_rng.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_exti.c ICCARM - 171 + 58 __cstat - 192 + 149 - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c + $PROJ_DIR$\..\Core\Src\usart.c ICCARM - 125 + 86 __cstat - 44 + 211 ICCARM - 186 167 85 223 113 204 159 165 93 226 228 201 218 134 190 132 203 174 70 79 71 68 178 160 97 149 172 118 92 130 66 170 213 227 181 212 193 + 161 136 192 116 146 204 148 83 160 162 74 152 110 133 46 193 183 171 134 232 170 78 43 80 225 62 64 201 217 178 85 208 228 194 155 199 169 128 140 119 191 150 163 212 166 55 65 156 91 206 87 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87 179 47 84 167 172 101 - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_dac.c + $PROJ_DIR$\..\Core\Src\modbus_crc.c ICCARM - 207 + 53 __cstat - 69 + 109 + + + ICCARM + 65 148 83 160 162 74 152 110 133 46 193 183 171 134 232 170 192 116 146 204 78 43 80 225 62 64 201 217 178 85 208 228 194 155 199 169 128 140 + + - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_gpio.c + $PROJ_DIR$\..\Core\Src\modbus_log.c ICCARM - 119 + 82 __cstat - 147 + 73 + + + ICCARM + 91 161 136 192 116 146 204 148 83 160 162 74 152 110 133 46 193 183 171 134 232 170 78 43 80 225 62 64 201 217 178 85 208 228 194 155 199 169 128 140 119 191 150 163 212 166 55 65 156 206 87 179 47 84 167 172 101 + + - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_i2c.c + $PROJ_DIR$\..\Core\Src\stm32f4xx_hal_msp.c ICCARM - 208 + 222 __cstat - 189 + 72 + + + ICCARM + 136 192 116 146 204 148 83 160 162 74 152 110 133 46 193 183 171 134 232 170 78 43 80 225 62 64 201 217 178 85 208 228 194 155 199 169 128 140 + + - $PROJ_DIR$\..\UCOS\Ports\os_dbg.c + $PROJ_DIR$\..\Core\Src\stm32f4xx_hal_timebase_tim.c ICCARM - 41 + 77 __cstat - 166 + 175 ICCARM - 56 123 100 101 93 226 228 201 218 68 154 150 117 + 192 116 146 204 148 83 160 162 74 152 110 133 46 193 183 171 134 232 170 78 43 80 225 62 64 201 217 178 85 208 228 194 155 199 169 128 140 - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_sram.c + $PROJ_DIR$\..\Core\Src\stm32f4xx_it.c ICCARM - 61 + 89 __cstat - 87 + 130 ICCARM - 186 167 85 223 113 204 159 165 93 226 228 201 218 134 190 132 203 174 70 79 71 68 178 160 97 149 172 118 92 130 66 170 213 227 181 212 193 + 136 192 116 146 204 148 83 160 162 74 152 110 133 46 193 183 171 134 232 170 78 43 80 225 62 64 201 217 178 85 208 228 194 155 199 169 128 140 121 47 84 55 119 167 172 101 - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c + $PROJ_DIR$\..\Core\Src\tim.c ICCARM - 153 + 107 __cstat - 169 + 96 ICCARM - 186 167 85 223 113 204 159 165 93 226 228 201 218 134 190 132 203 174 70 79 71 68 178 160 97 149 172 118 92 130 66 170 213 227 181 212 193 + 206 136 192 116 146 204 148 83 160 162 74 152 110 133 46 193 183 171 134 232 170 78 43 80 225 62 64 201 217 178 85 208 228 194 155 199 169 128 140 161 119 191 150 163 212 166 55 65 156 91 87 179 47 84 167 172 101 - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_spi.c + $PROJ_DIR$\startup_stm32f407xx.s - ICCARM - 221 - - - __cstat - 144 + AARM + 106 - $PROJ_DIR$\..\UCOS\Source\ucos_ii.c + $PROJ_DIR$\..\Core\Src\flash_save.c ICCARM - 231 + 200 __cstat - 94 + 141 ICCARM - 56 123 100 101 93 226 228 201 218 68 154 150 117 83 138 63 219 162 199 141 135 168 155 + 156 192 116 146 204 148 83 160 162 74 152 110 133 46 193 183 171 134 232 170 78 43 80 225 62 64 201 217 178 85 208 228 194 155 199 169 128 140 161 136 119 191 150 163 212 166 55 65 91 206 87 179 47 84 167 172 101 - $PROJ_DIR$\..\UCOS\Ports\os_cpu_a.asm + $PROJ_DIR$\test.1\Exe\test.1.out - AARM - 157 + OBJCOPY + 216 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