diff --git a/PLSR/PLSR/Core/Inc/tim.h b/PLSR/PLSR/Core/Inc/tim.h index 5f1741f..10de4e8 100644 --- a/PLSR/PLSR/Core/Inc/tim.h +++ b/PLSR/PLSR/Core/Inc/tim.h @@ -149,11 +149,11 @@ typedef struct { uint32_t current_freq; // 当前频率 uint32_t target_freq; // 目标频率 uint32_t pulse_count; // 当前脉冲计数 - uint32_t prevPulseCount; // 上阶段目标脉冲 + uint32_t prevPulseCount; // 上阶段目标脉冲 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 + 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) 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 @@ -190,10 +190,6 @@ typedef struct { #define PLSR_DEFAULT_START_SECTION 0 // 默认起始段编号 #define PLSR_TASK_CHECK_INTERVAL 100 // 每100个脉冲通知任务一次 -extern uint32_t g_plsr_total_pulse_count; - - - // 基础PWM函数 // ==================== PWM控制函数 ==================== void PLSR_PWM_Init(void); @@ -211,12 +207,11 @@ void PLSR_Section_Process(PLSR_RouteConfig_t* route); //<段处理 // ==================== PLSR段控制函数 ==================== void PLSR_Section_SwitchNext(PLSR_RouteConfig_t* route); //<切换段 uint8_t PLSR_Section_CheckWaitCondition(PLSR_RouteConfig_t* route); //<检查等待条件是否满足 -void PLSR_Section_CalculateConstPulse(PLSR_RouteConfig_t* route); //<计算匀速可发脉冲数 void PLSR_Section_StartNewSection(PLSR_RouteConfig_t* route); //<启动新段,段更新后调用 +void Calculate_PluseNum(PLSR_RouteConfig_t *route); //<计算段脉冲数,根据加减速率和目标频率计算每段的加速、匀速、减速脉冲数 +void Calculate_PluseNum_Simplified(PLSR_RouteConfig_t *route); //<简化的脉冲数计算,用于快速计算每段的脉冲数,不考虑加减速 // ==================== PLSR加减速算法函数 ==================== -float PLSR_Accel_CalculateCurve(float progress); //<曲线加速算法 -float PLSR_Accel_CalculateSine(float progress); //<正弦加速算法 void PLSR_Accel_Process(PLSR_RouteConfig_t* route); //<加减速执行函数(新的直线加减速) void PLSR_Accel_UpdateRates(PLSR_RouteConfig_t* route); //<更新加减速度 @@ -229,13 +224,6 @@ void PLSR_ClearExtEvent(void); //<清除外部 void PLSR_SetSectionCondition(PLSR_RouteConfig_t* route, uint8_t section_num, uint8_t flag); //<设置段等待条件标志,暂不考虑 uint32_t PLSR_GetWaitTick(void); //<暂时无用 -// ==================== PLSR计数器控制函数 ==================== //定时器2相关 -void PLSR_Counter_Start(void); -void PLSR_Counter_Stop(void); -void PLSR_Counter_Reset(void); -uint32_t PLSR_Counter_GetCount(void); - - // ==================== PLSR TIM6频率配置函数 ==================== void PLSR_TIM6_SetUpdateFreq(uint32_t freq_us); uint32_t PLSR_TIM6_GetUpdateFreq(void); @@ -251,7 +239,7 @@ void PLSR_TIM6_Stop(void); // ==================== 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 -extern uint32_t g_plsr_total_pulse_count; // 全局累加脉冲计数器(程序运行期间持续累加，不清零) +extern int32_t g_plsr_total_pulse_count; // 全局累加脉冲计数器(程序运行期间持续累加，支持负数) /* USER CODE END Prototypes */ #ifdef __cplusplus diff --git a/PLSR/PLSR/Core/Src/main.c b/PLSR/PLSR/Core/Src/main.c index 5b98e69..9de6862 100644 --- a/PLSR/PLSR/Core/Src/main.c +++ b/PLSR/PLSR/Core/Src/main.c @@ -243,6 +243,7 @@ static void KeyTask(void *p_arg) uint8_t startflag = 0; OSTimeDly(2000); //<等待硬件完全初始化. 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 @@ -256,11 +257,11 @@ static void KeyTask(void *p_arg) { PLSR_Route_Start(&g_plsr_route); startflag = 0; - //PLSR_Section_Process(&g_plsr_route); } } OSTimeDlyHMSM(0, 0, 0, 10); /* 延时10ms */ } + //OSTimeDlyHMSM(0, 0, 0, 10); /* 延时10ms */ } diff --git a/PLSR/PLSR/Core/Src/stm32f4xx_it.c b/PLSR/PLSR/Core/Src/stm32f4xx_it.c index ff561f9..e9e60e3 100644 --- a/PLSR/PLSR/Core/Src/stm32f4xx_it.c +++ b/PLSR/PLSR/Core/Src/stm32f4xx_it.c @@ -98,6 +98,13 @@ void HardFault_Handler(void) while (1) { /* USER CODE BEGIN W1_HardFault_IRQn 0 */ + volatile uint32_t *sp = (uint32_t*)__get_MSP(); // 获取主堆栈指针 + uint32_t pc = sp[6]; // PC位于栈帧偏移24字节处 + uint32_t cfsr = SCB->CFSR; // 可配置错误状态寄存器 + uint32_t hfsr = SCB->HFSR; // 硬件错误状态寄存器 + printf("PC: 0x%08X, CFSR: 0x%08X, HFSR: 0x%08X\n", pc, cfsr, hfsr); + while(1); + /* USER CODE END W1_HardFault_IRQn 0 */ } } diff --git a/PLSR/PLSR/Core/Src/tim.c b/PLSR/PLSR/Core/Src/tim.c index 36a63a8..b340191 100644 --- a/PLSR/PLSR/Core/Src/tim.c +++ b/PLSR/PLSR/Core/Src/tim.c @@ -26,7 +26,7 @@ PLSR_RouteConfig_t g_plsr_route; // 全局PLSR路径控制结构体 // g_plsr_system_tick已删除 - 不再使用UCOSII时间基准 uint8_t g_plsr_ext_event_flag = 0; // 外部事件标志 -uint32_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，不清零) +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) // ==================== PLSR内部变量 ==================== static uint32_t s_tim6_update_freq_us = 1000; // TIM6更新频率(微秒) @@ -728,12 +728,38 @@ void PLSR_PWM_Init(void) * @retval None * @note 启动TIM10 PWM输出和更新中断 */ +/** + * @brief 启动PWM输出 + * @retval None + * @note 根据g_plsr_route.output_port选择目标定时器：0-TIM10, 1-TIM11, 2-TIM13, 3-TIM14 + */ void PLSR_PWM_Start(void) { if (g_plsr_route.route_state == PLSR_ROUTE_RUNNING) //<只有在路径运行状态下才可以进行pwm输出 { - // 启动PWM输出和更新中断 - HAL_TIM_PWM_Start_IT(&htim10, TIM_CHANNEL_1); + // 根据output_port选择目标定时器并启动PWM输出 + switch(g_plsr_route.output_port) + { + case 0: // TIM10 + HAL_TIM_PWM_Start_IT(&htim10, TIM_CHANNEL_1); + break; + + case 1: // TIM11 + HAL_TIM_PWM_Start_IT(&htim11, TIM_CHANNEL_1); + break; + + case 2: // TIM13 + HAL_TIM_PWM_Start_IT(&htim13, TIM_CHANNEL_1); + break; + + case 3: // TIM14 + HAL_TIM_PWM_Start_IT(&htim14, TIM_CHANNEL_1); + break; + + default: // 默认使用TIM10 + HAL_TIM_PWM_Start_IT(&htim10, TIM_CHANNEL_1); + break; + } } } @@ -743,10 +769,36 @@ void PLSR_PWM_Start(void) * @retval None * @note 停止TIM10 PWM输出和TIM2计数器 */ +/** + * @brief 停止PWM输出 + * @retval None + * @note 根据g_plsr_route.output_port选择目标定时器：0-TIM10, 1-TIM11, 2-TIM13, 3-TIM14 + */ void PLSR_PWM_Stop(void) { - // 停止PWM输出 - HAL_TIM_PWM_Stop(&htim10, TIM_CHANNEL_1); + // 根据output_port选择目标定时器并停止PWM输出 + switch(g_plsr_route.output_port) + { + case 0: // TIM10 + HAL_TIM_PWM_Stop(&htim10, TIM_CHANNEL_1); + break; + + case 1: // TIM11 + HAL_TIM_PWM_Stop(&htim11, TIM_CHANNEL_1); + break; + + case 2: // TIM13 + HAL_TIM_PWM_Stop(&htim13, TIM_CHANNEL_1); + break; + + case 3: // TIM14 + HAL_TIM_PWM_Stop(&htim14, TIM_CHANNEL_1); + break; + + default: // 默认使用TIM10 + HAL_TIM_PWM_Stop(&htim10, TIM_CHANNEL_1); + break; + } } @@ -849,6 +901,7 @@ static void PLSR_CalculateTimerParams(uint32_t frequency, uint16_t* prescaler, u /** * @brief 设置PWM频率 * @param frequency: PWM频率 (1Hz-100kHz) + * @note 根据g_plsr_route.output_port选择目标定时器：0-TIM10, 1-TIM11, 2-TIM13, 3-TIM14 */ void PLSR_PWM_SetFrequency(uint32_t frequency) { @@ -864,13 +917,45 @@ void PLSR_PWM_SetFrequency(uint32_t frequency) // 计算最佳定时器参数 - 根据目标频率计算预分频器和周期值 PLSR_CalculateTimerParams(frequency, &prescaler, &period); + // 参数有效性检查 - 防止period为0导致除零错误 + if(period == 0) + { + return; // period无效，直接返回，避免HardFault异常 + } - // 更新定时器核心参数 - __HAL_TIM_SET_PRESCALER(&htim10, prescaler); //< 放置波形出现问题对参数直接进行更新 - __HAL_TIM_SET_AUTORELOAD(&htim10, period); - - // 设置占空比为50% - 比较值设为周期的一半，产生对称的PWM波形 - __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, period / 2); + // 根据output_port选择目标定时器并更新参数 + switch(g_plsr_route.output_port) + { + case 0: // TIM10 + __HAL_TIM_SET_PRESCALER(&htim10, prescaler); + __HAL_TIM_SET_AUTORELOAD(&htim10, period); + __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, period / 2); + break; + + case 1: // TIM11 + __HAL_TIM_SET_PRESCALER(&htim11, prescaler); + __HAL_TIM_SET_AUTORELOAD(&htim11, period); + __HAL_TIM_SET_COMPARE(&htim11, TIM_CHANNEL_1, period / 2); + break; + + case 2: // TIM13 + __HAL_TIM_SET_PRESCALER(&htim13, prescaler); + __HAL_TIM_SET_AUTORELOAD(&htim13, period); + __HAL_TIM_SET_COMPARE(&htim13, TIM_CHANNEL_1, period / 2); + break; + + case 3: // TIM14 + __HAL_TIM_SET_PRESCALER(&htim14, prescaler); + __HAL_TIM_SET_AUTORELOAD(&htim14, period); + __HAL_TIM_SET_COMPARE(&htim14, TIM_CHANNEL_1, period / 2); + break; + + default: // 默认使用TIM10 + __HAL_TIM_SET_PRESCALER(&htim10, prescaler); + __HAL_TIM_SET_AUTORELOAD(&htim10, period); + __HAL_TIM_SET_COMPARE(&htim10, TIM_CHANNEL_1, period / 2); + break; + } } // ==================== PLSR TIM6频率配置函数实现 ==================== @@ -946,178 +1031,236 @@ void PLSR_TIM6_Stop(void) static uint32_t AllPluse = 0; //总脉冲个数 static uint32_t s_last_total_pulse = 0; //上次记录的总脉冲数，用于实时累加 + /** - * @brief 更新Modbus寄存器中的脉冲计数 - * @param pulse_count: 全局累加脉冲计数值 - * @retval None - * @note 将32位全局累加脉冲计数分解为两个16位寄存器供上位机读取 + * @brief 使用指定脉冲值更新全局脉冲计数器 + * @param current_pulse_count 当前脉冲计数值 + * @note 根据方向逻辑决定脉冲计数方向，支持TIM2和TIM6中断的不同计算方式 */ -static void PLSR_UpdateModbusPulseCount(uint32_t pulse_count) +static void PLSR_UpdateGlobalPulseCount(uint32_t current_pulse_count) { - // 将32位全局累加脉冲计数分解为两个16位寄存器 - ModbusSlave.holding_regs[0x1000] = pulse_count & 0xFFFF; // 低16位 - ModbusSlave.holding_regs[0x1001] = (pulse_count >> 16) & 0xFFFF; // 高16位 -} -// /** -// * @brief 计算加减速匀速各自可发的脉冲数 -// * @param route: 路径控制结构体指针 -// * @retval None -// * @note 根据当前段的目标脉冲数，计算加速、匀速、减速各阶段的脉冲分配 -// * 优先保证能减速到0，然后考虑加速过程，最后分配匀速脉冲 -// */ -// void Calculate_PluseNum(PLSR_RouteConfig_t *route) -// { -// uint32_t accel_pulse_num = 0; // 加速过程脉冲数 -// uint32_t decel_pulse_num = 0; // 减速过程脉冲数 -// uint32_t total_pulse_num = 0; // 加减速总脉冲数 -// uint32_t const_pulse_num = 0; // 匀速过程脉冲数 -// float accel_time = 0; // 加速时间(ms) -// float decel_time = 0; // 减速时间(ms) - -// // 参数有效性检查 -// if (route == NULL || route->current_section_num == 0) return; - -// // 获取当前段配置（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]; - -// // 只处理线性加减速算法 -// if (route->accel_config.accel_algorithm == PLSR_ACCEL_LINEAR) -// { -// // 检查加减速率是否有效，避免除零错误 -// if (route->accel_rate == 0 || route->decel_rate == 0) -// { -// // 如果加减速率无效，直接设置为匀速或停止 -// if (route->current_freq > 0) -// { -// route->run_state = PLSR_STATE_CONST; -// } -// else -// { -// route->run_state = PLSR_STATE_IDLE; -// } -// return; -// } - -// // 计算理想情况下的加减速时间和脉冲数 -// if (current_section->target_freq > route->current_freq) -// { -// // 需要加速：从当前频率加速到目标频率 -// accel_time = (float)(current_section->target_freq - route->current_freq) / route->accel_rate; // ms -// // 加速过程脉冲数 = 平均速度 × 时间 = (v0 + v1)/2 × t -// accel_pulse_num = (uint32_t)((route->current_freq + current_section->target_freq) * accel_time / 2000.0f); -// } - -// // 计算从目标频率减速到0的时间和脉冲数 -// decel_time = (float)current_section->target_freq / route->decel_rate; // ms -// // 减速过程脉冲数 = 平均速度 × 时间 = (v1 + 0)/2 × t -// decel_pulse_num = (uint32_t)(current_section->target_freq * decel_time / 2000.0f); + if (current_pulse_count > s_last_total_pulse) { + uint32_t pulse_increment = current_pulse_count - s_last_total_pulse; -// // 理想情况下加减速需要的总脉冲数 -// total_pulse_num = accel_pulse_num + decel_pulse_num; + if (g_plsr_route.dir_logic == 0) { + // 方向逻辑为0：正逻辑，脉冲数递增 + 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） + g_plsr_total_pulse_count -= pulse_increment; + } -// // 判断实际脉冲数是否满足理想的加减速过程 -// if (current_section->target_pulse < total_pulse_num) -// { -// // 脉冲数不足，需要重新分配 - -// if (route->current_freq != 0) -// { -// // 起始频率不为0的情况 -// // 首先计算从当前频率减速到0所需的最少脉冲数 -// float min_decel_time = (float)route->current_freq / route->decel_rate; // ms -// uint32_t min_decel_pulse = (uint32_t)(route->current_freq * min_decel_time / 2000.0f); - -// if (current_section->target_pulse <= min_decel_pulse) -// { -// // 脉冲数只够减速，直接进入减速模式 -// route->run_state = PLSR_STATE_DECEL; -// accel_pulse_num = 0; -// decel_pulse_num = current_section->target_pulse; -// const_pulse_num = 0; -// } -// else -// { -// // 脉冲数够减速，剩余脉冲按加减速时间比例分配 -// uint32_t remaining_pulse = current_section->target_pulse - min_decel_pulse; - -// accel_pulse_num = remaining_pulse * route->decel_rate -// / (route->accel_rate + route->decel_rate); -// decel_pulse_num = min_decel_pulse + (remaining_pulse * route->accel_rate -// / (route->accel_rate + route->decel_rate)); -// const_pulse_num = 0; -// } -// } -// else -// { -// accel_pulse_num = current_section->target_pulse * route->decel_rate -// / (route->accel_rate + route->decel_rate); -// decel_pulse_num = current_section->target_pulse * route->accel_rate -// / (route->accel_rate + route->decel_rate); -// const_pulse_num = 0; -// } -// } else -// { -// // 脉冲数充足，有匀速过程 -// const_pulse_num = current_section->target_pulse - total_pulse_num; - -// // 设置初始运行状态 -// if (current_section->target_freq > route->current_freq) -// { -// route->run_state = PLSR_STATE_ACCEL; // 需要先加速 -// } -// else if (current_section->target_freq < route->current_freq) -// { -// route->run_state = PLSR_STATE_DECEL; // 需要先减速 -// } else -// { -// route->run_state = PLSR_STATE_CONST; // 直接匀速 -// } -// } -// route->accel_pulse_count = accel_pulse_num; -// route->const_pulse_count = const_pulse_num; -// route->decel_pulse_count = decel_pulse_num; -// } -// } + s_last_total_pulse = current_pulse_count; + } + // 将32位全局累加脉冲计数分解为两个16位寄存器（支持负数） + uint32_t unsigned_count = (uint32_t)g_plsr_total_pulse_count; // 转换为无符号数进行位操作 + ModbusSlave.holding_regs[0x1000] = unsigned_count & 0xFFFF; // 低16位 + ModbusSlave.holding_regs[0x1001] = (unsigned_count >> 16) & 0xFFFF; // 高16位 +} -void Calculate_PluseNum(PLSR_RouteConfig_t *route) + +// 简单的整数开方函数 (使用二分法) +uint32_t integer_sqrt(uint32_t x) +{ + if (x == 0) return 0; + if (x == 1) return 1; + + uint32_t left = 0; + uint32_t right = x; + uint32_t result = 0; + + while (left <= right) { + uint32_t mid = left + (right - left) / 2; + + // 防止溢出：检查 mid * mid + if (mid <= x / mid) { // 等价于 mid * mid <= x，但避免溢出 + result = mid; + left = mid + 1; + } else { + right = mid - 1; + } + } + + return result; +} +void Calculate_PluseNum_Simplified(PLSR_RouteConfig_t *route) { uint32_t accel_pulse_num = 0; // 加速过程脉冲数 uint32_t decel_pulse_num = 0; // 减速过程脉冲数 - uint32_t total_pulse_num = 0; // 加减速总脉冲数 uint32_t const_pulse_num = 0; // 匀速过程脉冲数 - float accel_time = 0; // 加速时间(ms) - float decel_time = 0; // 减速时间(ms) - float actual_target_freq = 0; // 实际能达到的目标频率 + uint32_t accel_time = 0; // 加速时间(ms) + uint32_t decel_time = 0; // 减速时间(ms) // 参数有效性检查 if (route == NULL || route->current_section_num == 0) return; + // 边界检查 + if (route->current_section_num > PLSR_MAX_SECTIONS) return; + // 获取当前段配置（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]; // 只处理线性加减速算法 if (route->accel_config.accel_algorithm == PLSR_ACCEL_LINEAR) { - // 检查加减速率是否有效，避免除零错误 - if (route->accel_rate == 0 || route->decel_rate == 0) + uint32_t v0 = route->current_freq; // 起始频率 + 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 + uint32_t total_pulses = current_section->target_pulse; // 总脉冲数 + + // 防止除零错误 + if (a == 0) a = 1; + if (d == 0) d = 1; + + if (vt > v0) { - if (route->current_freq > 0) + // 情况1：目标频率大于当前频率，需要加速 + route->run_state = PLSR_STATE_ACCEL; + + // 计算从v0加速到vt所需的时间和脉冲数 + accel_time = (vt - v0) / a; // 加速时间(ms) + if (accel_time == 0) accel_time = 1; // 至少1ms + + // 加速阶段脉冲数 = (起始频率 + 目标频率) * 时间 / 2000 + // 使用梯形积分公式：面积 = (上底 + 下底) * 高 / 2 + uint64_t temp_accel = (uint64_t)(v0 + vt) * accel_time; + uint32_t required_accel_pulses = (uint32_t)(temp_accel / 2000); + + if (required_accel_pulses <= total_pulses) { - route->run_state = PLSR_STATE_CONST; - } + // 脉冲数足够完成加速，剩余脉冲用于匀速 + accel_pulse_num = required_accel_pulses; + const_pulse_num = total_pulses - required_accel_pulses; + decel_pulse_num = 0; + } else { - route->run_state = PLSR_STATE_IDLE; + // 脉冲数不够完成完整加速，全部用于加速 + accel_pulse_num = total_pulses; + const_pulse_num = 0; + decel_pulse_num = 0; + + // 重新计算实际能达到的最大频率 + // 根据：pulses = (v0 + v_actual) * t / 2000，且 t = (v_actual - v0) / a + // 代入得：pulses = (v0 + v_actual) * (v_actual - v0) / (2000 * a) + // 整理得：pulses * 2000 * a = v_actual^2 - v0^2 + // 所以：v_actual^2 = pulses * 2000 * a + v0^2 + + uint64_t v_actual_squared = (uint64_t)total_pulses * 2000ULL * a + (uint64_t)v0 * v0; + + // 检查是否溢出 + if (v_actual_squared <= 0xFFFFFFFFULL) + { + uint32_t v_actual = integer_sqrt((uint32_t)v_actual_squared); + + // 确保不超过目标频率 + if (v_actual > vt) + v_actual = vt; + } } - return; + } + else if (vt < v0) + { + // 情况2：目标频率小于当前频率，需要减速 + route->run_state = PLSR_STATE_DECEL; + + // 计算从v0减速到vt所需的时间和脉冲数 + decel_time = (v0 - vt) / d; // 减速时间(ms) + if (decel_time == 0) decel_time = 1; // 至少1ms + + // 减速阶段脉冲数 = (起始频率 + 目标频率) * 时间 / 2000 + uint64_t temp_decel = (uint64_t)(v0 + vt) * decel_time; + uint32_t required_decel_pulses = (uint32_t)(temp_decel / 2000); + + if (required_decel_pulses <= total_pulses) + { + // 脉冲数足够完成减速，剩余脉冲用于匀速 + decel_pulse_num = required_decel_pulses; + const_pulse_num = total_pulses - required_decel_pulses; + accel_pulse_num = 0; + } + else + { + // 脉冲数不够完成完整减速，全部用于减速 + decel_pulse_num = total_pulses; + const_pulse_num = 0; + accel_pulse_num = 0; + + // 重新计算实际能减速到的最低频率 + // 根据：pulses = (v0 + v_actual) * t / 2000，且 t = (v0 - v_actual) / d + // 代入得：pulses = (v0 + v_actual) * (v0 - v_actual) / (2000 * d) + // 整理得：pulses * 2000 * d = v0^2 - v_actual^2 + // 所以：v_actual^2 = v0^2 - pulses * 2000 * d + + uint64_t v0_squared = (uint64_t)v0 * v0; // 起始频率的平方 + uint64_t reduction = (uint64_t)total_pulses * 2000ULL * d; // 减速所需的脉冲数 + + if (v0_squared > reduction) + { + uint32_t v_actual_squared = (uint32_t)(v0_squared - reduction); + uint32_t v_actual = integer_sqrt(v_actual_squared); + + // 确保不低于目标频率（理论上不应该，但防御性编程） + 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 + { + // 情况3：目标频率等于当前频率，全部为匀速 + route->run_state = PLSR_STATE_CONST; + accel_pulse_num = 0; + const_pulse_num = total_pulses; + decel_pulse_num = 0; } - float v0 = route->current_freq; // 起始频率 - float vt = current_section->target_freq; // 期望目标频率 - float a = route->accel_rate; // 加速度 - float d = route->decel_rate; // 减速度 + // 保存计算结果 + route->accel_pulse_count = accel_pulse_num; + route->const_pulse_count = const_pulse_num; + route->decel_pulse_count = decel_pulse_num; + } +} +void Calculate_PluseNum(PLSR_RouteConfig_t *route) +{ + uint32_t accel_pulse_num = 0; // 加速过程脉冲数 + uint32_t decel_pulse_num = 0; // 减速过程脉冲数 + uint32_t total_pulse_num = 0; // 加减速总脉冲数 + uint32_t const_pulse_num = 0; // 匀速过程脉冲数 + uint32_t accel_time = 0; // 加速时间(ms) + uint32_t decel_time = 0; // 减速时间(ms) + uint32_t actual_target_freq = 0; // 实际能达到的目标频率 + + // 参数有效性检查 + if (route == NULL || route->current_section_num == 0) return; + + // 边界检查 + if (route->current_section_num > PLSR_MAX_SECTIONS) return; + + // 获取当前段配置（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]; + + // 只处理线性加减速算法 + 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 a = route->accel_rate; // 加速度 + uint32_t d = route->decel_rate; // 减速度 uint32_t total_pulses = current_section->target_pulse; // 总脉冲数 + // 防止除零错误 + if (a == 0) a = 1; + if (d == 0) d = 1; + // 情况1：检查是否只需要减速 if (vt <= v0) { @@ -1134,8 +1277,15 @@ void Calculate_PluseNum(PLSR_RouteConfig_t *route) { // 需要减速 route->run_state = PLSR_STATE_DECEL; - decel_time = (v0 - vt) / d; // ms - decel_pulse_num = (uint32_t)((v0 + vt) * decel_time / 2000.0f); + + // decel_time = (v0 - vt) / d; // 整数除法，结果取整 + decel_time = (v0 - vt) / d; + if (decel_time == 0) decel_time = 1; // 至少1ms + + // decel_pulse_num = (v0 + vt) * decel_time / 2000 + // 使用64位避免中间计算溢出 + uint64_t temp_calc = (uint64_t)(v0 + vt) * decel_time; + decel_pulse_num = (uint32_t)(temp_calc / 2000); if (decel_pulse_num <= total_pulses) { @@ -1147,14 +1297,19 @@ void Calculate_PluseNum(PLSR_RouteConfig_t *route) else { // 脉冲数不够，重新计算实际能减速到的频率 - // 解方程：total_pulses = (v0 + vf) * t / 2000，其中 t = (v0 - vf) / d - // 化简得：total_pulses * 2000 * d = (v0 + vf) * (v0 - vf) = v0^2 - vf^2 - // 所以：vf^2 = v0^2 - total_pulses * 2000 * d - float vf_squared = v0 * v0 - total_pulses * 2000.0f * d; - if (vf_squared >= 0) + // 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; + + if (v0_squared > reduction) { - actual_target_freq = sqrt(vf_squared); - decel_time = (v0 - actual_target_freq) / d; + uint32_t vf_squared = (uint32_t)(v0_squared - reduction); + actual_target_freq = integer_sqrt(vf_squared); + + if (actual_target_freq < v0 && d > 0) { + decel_time = (v0 - actual_target_freq) / d; + if (decel_time == 0) decel_time = 1; + } accel_pulse_num = 0; const_pulse_num = 0; decel_pulse_num = total_pulses; @@ -1173,13 +1328,25 @@ void Calculate_PluseNum(PLSR_RouteConfig_t *route) } else { - // 需要加速：从v0加速到vt，然后减速到0 + // 需要加速：从v0加速到vt // 先检查理想情况下是否可行 - accel_time = (vt - v0) / a; // ms - decel_time = vt / d; // ms - accel_pulse_num = (uint32_t)((v0 + vt) * accel_time / 2000.0f); - decel_pulse_num = (uint32_t)(vt * decel_time / 2000.0f); + // accel_time = (vt - v0) / a + accel_time = (vt - v0) / a; + if (accel_time == 0) accel_time = 1; // 至少1ms + + // decel_time = vt / d (假设最终减速到0) + decel_time = vt / d; + if (decel_time == 0) decel_time = 1; // 至少1ms + + // accel_pulse_num = (v0 + vt) * accel_time / 2000 + uint64_t temp_accel = (uint64_t)(v0 + vt) * accel_time; + accel_pulse_num = (uint32_t)(temp_accel / 2000); + + // decel_pulse_num = vt * decel_time / 2000 + uint64_t temp_decel = (uint64_t)vt * decel_time; + decel_pulse_num = (uint32_t)(temp_decel / 2000); + total_pulse_num = accel_pulse_num + decel_pulse_num; if (total_pulse_num <= total_pulses) @@ -1192,67 +1359,85 @@ void Calculate_PluseNum(PLSR_RouteConfig_t *route) else { // 脉冲数不足，需要求解实际能达到的最大频率 - // 设实际最大频率为vm - // 约束条件：加速脉冲数 + 减速脉冲数 = 总脉冲数 - // 加速脉冲数 = (v0 + vm) * (vm - v0) / (2000 * a) - // 减速脉冲数 = vm^2 / (2000 * d) - // - // 联立方程：(v0 + vm) * (vm - v0) / (2000 * a) + vm^2 / (2000 * d) = total_pulses - // 化简：(vm^2 - v0^2) / (2000 * a) + vm^2 / (2000 * d) = total_pulses - // 整理：vm^2 * (1/(2000*a) + 1/(2000*d)) - v0^2/(2000*a) = total_pulses - // 即：vm^2 * (a + d)/(2000*a*d) = total_pulses + v0^2/(2000*a) + // 这是最复杂的部分，需要求解二次方程 + // vm^2 * (a + d)/(2000*a*d) = total_pulses + v0^2/(2000*a) - float coefficient = (a + d) / (2000.0f * a * d); - float constant = total_pulses + (v0 * v0) / (2000.0f * a); - float vm_squared = constant / coefficient; + // 重新整理避免浮点运算： + // vm^2 * (a + d) = (total_pulses * 2000*a*d + v0^2*d) - if (vm_squared > 0) - { - actual_target_freq = sqrt(vm_squared); - - // 确保不超过期望目标频率 - if (actual_target_freq > vt) - { - actual_target_freq = vt; - } + uint64_t right_side = (uint64_t)total_pulses * 2000ULL * a * d; + right_side += (uint64_t)v0 * v0 * d; + + uint32_t left_coefficient = a + d; + if (left_coefficient > 0) { + uint64_t vm_squared = right_side / left_coefficient; - // 重新计算各阶段时间和脉冲数 - if (actual_target_freq > v0) + // 检查是否会溢出uint32_t + if (vm_squared <= 0xFFFFFFFFULL) { - accel_time = (actual_target_freq - v0) / a; - decel_time = actual_target_freq / d; - - accel_pulse_num = (uint32_t)((v0 + actual_target_freq) * accel_time / 2000.0f); - decel_pulse_num = (uint32_t)(actual_target_freq * decel_time / 2000.0f); + uint32_t vm = integer_sqrt((uint32_t)vm_squared); + actual_target_freq = vm; - // 由于浮点计算误差，调整脉冲数确保总和正确 - uint32_t calculated_total = accel_pulse_num + decel_pulse_num; - if (calculated_total < total_pulses) + // 确保不超过期望目标频率 + if (actual_target_freq > vt) { - // 余数分配给加速阶段 - accel_pulse_num += (total_pulses - calculated_total); + actual_target_freq = vt; + vm = vt; } - else if (calculated_total > total_pulses) + + // 重新计算各阶段时间和脉冲数 + if (vm > v0) { - // 从减速阶段减去多余的脉冲 - uint32_t excess = calculated_total - total_pulses; - if (decel_pulse_num > excess) + accel_time = (vm - v0) / a; + if (accel_time == 0) accel_time = 1; + + decel_time = vm / d; + if (decel_time == 0) decel_time = 1; + + uint64_t temp_accel_calc = (uint64_t)(v0 + vm) * accel_time; + accel_pulse_num = (uint32_t)(temp_accel_calc / 2000); + + uint64_t temp_decel_calc = (uint64_t)vm * decel_time; + decel_pulse_num = (uint32_t)(temp_decel_calc / 2000); + + // 调整脉冲数确保总和正确 + uint32_t calculated_total = accel_pulse_num + decel_pulse_num; + if (calculated_total < total_pulses) { - decel_pulse_num -= excess; + // 余数分配给加速阶段 + accel_pulse_num += (total_pulses - calculated_total); } - else + else if (calculated_total > total_pulses) { - decel_pulse_num = 0; - accel_pulse_num = total_pulses; + // 从减速阶段减去多余的脉冲 + uint32_t excess = calculated_total - total_pulses; + if (decel_pulse_num > excess) + { + decel_pulse_num -= excess; + } + else + { + decel_pulse_num = 0; + accel_pulse_num = total_pulses; + } } + + const_pulse_num = 0; + route->run_state = PLSR_STATE_ACCEL; + } + else + { + // 实际频率不高于起始频率，直接设为匀速 + actual_target_freq = v0; + accel_pulse_num = 0; + const_pulse_num = total_pulses; + decel_pulse_num = 0; + route->run_state = PLSR_STATE_CONST; } - - const_pulse_num = 0; - route->run_state = PLSR_STATE_ACCEL; } else { - // 实际频率不高于起始频率，直接设为匀速 + // vm_squared太大，溢出了，保持当前频率 actual_target_freq = v0; accel_pulse_num = 0; const_pulse_num = total_pulses; @@ -1262,7 +1447,7 @@ void Calculate_PluseNum(PLSR_RouteConfig_t *route) } else { - // 数学上不可行，保持当前频率 + // 系数为0，保持当前频率 actual_target_freq = v0; accel_pulse_num = 0; const_pulse_num = total_pulses; @@ -1276,31 +1461,24 @@ void Calculate_PluseNum(PLSR_RouteConfig_t *route) route->accel_pulse_count = accel_pulse_num; route->const_pulse_count = const_pulse_num; route->decel_pulse_count = decel_pulse_num; - - // 如果需要，可以将实际目标频率保存到某个字段 - // route->actual_target_freq = actual_target_freq; } } - - void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) { // TIM2中断：负责段切换逻辑 if(htim->Instance == TIM2) { + + // 立即停止PWM输出，防止多发脉冲 + PLSR_PWM_Stop(); // 精确累加当前段已发送的脉冲数 uint32_t current_section_pulses = __HAL_TIM_GetAutoreload(&htim2); AllPluse += current_section_pulses; g_plsr_route.pulse_count = AllPluse; - // 立即停止PWM输出，防止多发脉冲 - PLSR_PWM_Stop(); - - // 更新Modbus寄存器（TIM6中断会实时累加全局计数器） - PLSR_UpdateModbusPulseCount(g_plsr_total_pulse_count); - - // 当前段脉冲发送完毕，进入等待状态 - g_plsr_route.run_state = PLSR_STATE_WAIT; + PLSR_UpdateGlobalPulseCount(AllPluse); + // 当前段脉冲发送完毕，进入等待状态 + g_plsr_route.run_state = PLSR_STATE_WAIT; // 检查等待条件是否满足 if (PLSR_Section_CheckWaitCondition(&g_plsr_route)) @@ -1402,17 +1580,11 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) // 计算当前段已发送的总脉冲数 uint32_t current_pulse_count = AllPluse + current_tim2_count; - // 实时累加脉冲增量到全局计数器 - if (current_pulse_count > s_last_total_pulse) { - uint32_t pulse_increment = current_pulse_count - s_last_total_pulse; - g_plsr_total_pulse_count += pulse_increment; - s_last_total_pulse = current_pulse_count; - } + // 实时累加脉冲增量到全局计数器（根据方向逻辑决定递增或递减） + PLSR_UpdateGlobalPulseCount(current_pulse_count); // 更新路由结构体的脉冲计数（使用原子操作保证一致性） g_plsr_route.pulse_count = current_pulse_count; - // 实时更新Modbus寄存器，供上位机读取（发送全局累加脉冲计数） - PLSR_UpdateModbusPulseCount(g_plsr_total_pulse_count); // 处理加减速过程中的频率更新（使用新的直线加减速算法） if(g_plsr_route.run_state == PLSR_STATE_ACCEL || g_plsr_route.run_state == PLSR_STATE_DECEL) { @@ -1517,7 +1689,7 @@ void PLSR_Route_Start(PLSR_RouteConfig_t* route) s_last_total_pulse = g_plsr_route.pulse_count; // 启动第一段 - PLSR_Section_StartNewSection(route); + PLSR_Section_StartNewSection(route); // 计算第一段需要发送的脉冲数 PLSR_SectionConfig_t* first_section = &route->section[route->current_section_num - 1]; @@ -1637,25 +1809,27 @@ 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]; - // 设置本段的目标频率到路径控制结构体中 - route->target_freq = current_section->target_freq; - - // 根据目标频率与当前频率的关系，确定段的初始运行状态 - if (route->target_freq > route->current_freq) + if(current_section->section_num == route->section_num) { - // 目标频率大于当前频率：需要加速到目标频率 - route->run_state = PLSR_STATE_ACCEL; - } - else if (route->target_freq < route->current_freq) - { - // 目标频率小于当前频率：需要减速到目标频率 - route->run_state = PLSR_STATE_DECEL; - } - else + Calculate_PluseNum(route); + } + else if(current_section->section_num < route->section_num) //不是最后一段 { - // 目标频率等于当前频率：无需加减速，直接进入匀速状态 - route->run_state = PLSR_STATE_CONST; + // 对于非最后一段，根据等待条件决定脉冲分配策略 + if(current_section->wait_condition.wait_type == PLSR_WAIT_PLUSEEND) + { + // 脉冲结束等待：只进行加速匀速或减速匀速，不进行完整的三段式分配,更新初始段状态 + Calculate_PluseNum_Simplified(route); + } + else + { + // 外部事件等待：进行完整的加速、匀速、减速三段式分配 + Calculate_PluseNum(route); + } } + + // 设置本段的目标频率到路径控制结构体中 + route->target_freq = current_section->target_freq; //为等待时间计数赋值 PLSR_Wait_StartTimer(route); } @@ -1691,57 +1865,45 @@ void PLSR_Section_SwitchNext(PLSR_RouteConfig_t* route) route->current_freq = current_section->target_freq; } -/** - * @brief 计算匀速段可发送的脉冲数 - * @param route: 路径控制结构体指针 - * @retval None - * @note 计算除加减速外匀速段可发送的脉冲数 - */ -void PLSR_Section_CalculateConstPulse(PLSR_RouteConfig_t* route) -{ - // 参数有效性检查：路径指针不能为空 - if (route == NULL) return; - -} // ==================== PLSR加减速算法函数实现 ==================== -/** - * @brief 曲线加减速算法 - * @param progress: 进度值(0.0-1.0) - * @retval 频率比例(0.0-1.0) - * @note S型曲线加减速算法，提供平滑的加减速过程 - */ -float PLSR_Accel_CalculateCurve(float progress) -{ - // 曲线加减速算法 (S型曲线) - // 使用三次函数实现平滑的加减速曲线 +// /** +// * @brief 曲线加减速算法 +// * @param progress: 进度值(0.0-1.0) +// * @retval 频率比例(0.0-1.0) +// * @note S型曲线加减速算法，提供平滑的加减速过程 +// */ +// float PLSR_Accel_CalculateCurve(float progress) +// { +// // 曲线加减速算法 (S型曲线) +// // 使用三次函数实现平滑的加减速曲线 - if (progress < 0.0f) progress = 0.0f; - if (progress > 1.0f) progress = 1.0f; +// if (progress < 0.0f) progress = 0.0f; +// if (progress > 1.0f) progress = 1.0f; - // S型曲线: f(x) = 3x² - 2x³ - // 这个函数在x=0时f(0)=0，在x=1时f(1)=1 - // 并且具有平滑的一阶和二阶导数 - return 3.0f * progress * progress - 2.0f * progress * progress * progress; -} +// // S型曲线: f(x) = 3x² - 2x³ +// // 这个函数在x=0时f(0)=0，在x=1时f(1)=1 +// // 并且具有平滑的一阶和二阶导数 +// return 3.0f * progress * progress - 2.0f * progress * progress * progress; +// } -/** - * @brief 正弦加减速算法 - * @param progress: 进度值(0.0-1.0) - * @retval 频率比例(0.0-1.0) - * @note 基于正弦函数的平滑加减速算法 - */ -float PLSR_Accel_CalculateSine(float progress) -{ - // 进度值边界限制：确保输入值在有效范围内 - if (progress < 0.0f) progress = 0.0f; // 最小值限制 - if (progress > 1.0f) progress = 1.0f; // 最大值限制 +// /** +// * @brief 正弦加减速算法 +// * @param progress: 进度值(0.0-1.0) +// * @retval 频率比例(0.0-1.0) +// * @note 基于正弦函数的平滑加减速算法 +// */ +// float PLSR_Accel_CalculateSine(float progress) +// { +// // 进度值边界限制：确保输入值在有效范围内 +// if (progress < 0.0f) progress = 0.0f; // 最小值限制 +// if (progress > 1.0f) progress = 1.0f; // 最大值限制 - // 正弦加减速：使用sin(π/2 * x)实现平滑的加减速曲线 - // 在起始和结束时变化率较小，中间变化率较大 - return sinf(progress * 3.14159f / 2.0f); -} +// // 正弦加减速：使用sin(π/2 * x)实现平滑的加减速曲线 +// // 在起始和结束时变化率较小，中间变化率较大 +// return sinf(progress * 3.14159f / 2.0f); +// } /** * @brief 计算加减速步数 @@ -1969,4 +2131,3 @@ uint8_t PLSR_Section_CheckWaitCondition(PLSR_RouteConfig_t* route) - diff --git a/PLSR/PLSR/EWARM/settings/Project.wsdt b/PLSR/PLSR/EWARM/settings/Project.wsdt index b36e0ee..0eaea09 100644 --- a/PLSR/PLSR/EWARM/settings/Project.wsdt +++ b/PLSR/PLSR/EWARM/settings/Project.wsdt @@ -90,11 +90,11 @@ 1 1 1 - 0103000014001386000009000000108600003401000023920000030000005F860000030000000F810000010000000C8100001500000056860000AD000000008400000200000009860000010000001F810000140000001A860000010000000E810000110000000B810000040000001486000015000000278100000600000011860000870000000281000001000000468100002E00000060860000010000000886000002000000 + AC0400001700138600002B00000010860000DF01000023920000030000000F810000010000005F860000030000000C8100000F000000568600003701000000840000010000000C860000010000000E810000010000001A860000010000001F8100002200000009860000010000000B81000002000000148600002B00000011860000BD0000002781000006000000468100003C000000028100000100000060860000010000005D8600000100000000B00000010000000886000003000000 - 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666 + 95 + 1142 2 0 @@ -253,7 +278,7 @@ 34062 000000001700000022010000C8000000 - 06010000B80200007C070000CC030000 + 000000004903000080070000E6030000 4096 0 0 @@ -263,7 +288,12 @@ 0 - + + 2 + + 0 + -1 + 34053 000000001700000080020000A8000000 @@ -341,19 +371,19 @@ 34063 - D1FFFFFF0F020000D700000070030000 + 3D0300005801000043040000B9020000 0000000032000000FE000000E6030000 4096 0 - 0 + 1 32767 0 - 1 + 0 - 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+ 000000000000000022010000C1000000 + 32768 + 0 + 0 + 32767 + 0 + + + 0 + + diff --git a/PLSR/PLSR/EWARM/settings/test.1.dnx b/PLSR/PLSR/EWARM/settings/test.1.dnx index af91a58..def6f57 100644 --- a/PLSR/PLSR/EWARM/settings/test.1.dnx +++ b/PLSR/PLSR/EWARM/settings/test.1.dnx @@ -20,7 +20,7 @@ 2 - 921199680 + 2012208745 _ 0 diff --git a/PLSR/PLSR/EWARM/test.1.dep b/PLSR/PLSR/EWARM/test.1.dep index bfbadb2..35c3f79 100644 --- a/PLSR/PLSR/EWARM/test.1.dep +++ b/PLSR/PLSR/EWARM/test.1.dep @@ -1,903 +1,1417 @@ 4 - 846455308 + 84666319 test.1 - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c - $PROJ_DIR$\..\Core\Src\system_stm32f4xx.c - $PROJ_DIR$\..\Core\Src\main.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_i2c_ex.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_ll_pwr.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c - $PROJ_DIR$\..\Core\Src\modbus_crc.c - $PROJ_DIR$\..\Core\Src\stm32f4xx_it.c - $PROJ_DIR$\..\Core\Src\gpio.c - $PROJ_DIR$\..\Core\Src\usart.c - $PROJ_DIR$\..\Core\Src\modbus_log.c $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c - $PROJ_DIR$\..\Core\Src\dma.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.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_dma_ex.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_crc.c $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c - $PROJ_DIR$\startup_stm32f407xx.s + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_rcc.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c.c - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.c - $PROJ_DIR$\..\Core\Src\tim.c - $PROJ_DIR$\..\Core\Src\stm32f4xx_hal_timebase_tim.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_hal_pwr.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_rng.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c - $PROJ_DIR$\..\Core\Src\flash_save.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_wwdg.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_ll_dma.c + $PROJ_DIR$\..\Core\Src\system_stm32f4xx.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c + $PROJ_DIR$\..\Core\Src\flash_save.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_timebase_tim.c + $PROJ_DIR$\..\Core\Src\dma.c + $PROJ_DIR$\..\Core\Src\stm32f4xx_it.c $PROJ_DIR$\..\Core\Src\stm32f4xx_hal_msp.c - $PROJ_DIR$\test.1\Obj\stm32f4xx_ll_spi.xcl - $PROJ_DIR$\test.1\Obj\main.xcl - $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_dma.xcl - $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_flash_ex.xcl - $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_crc.__cstat.et - $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_dma_ex.xcl - $PROJ_DIR$\test.1\Obj\stm32f4xx_ll_dac.__cstat.et - $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_dma.o + $PROJ_DIR$\..\Core\Src\tim.c + $PROJ_DIR$\startup_stm32f407xx.s + $PROJ_DIR$\..\Core\Src\usart.c + $TOOLKIT_DIR$\inc\c\ycheck.h + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h + $PROJ_DIR$\..\UCOS\Source\os_trace.h + $PROJ_DIR$\..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h + $PROJ_DIR$\..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h + $PROJ_DIR$\test.1\Obj\stm32f4xx_ll_gpio.o + $PROJ_DIR$\test.1\Obj\stm32f4xx_ll_rng.o + $PROJ_DIR$\..\UCOS\Config\app_cfg.h + $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_timebase_tim.o + $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_flash_ex.o + $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_flash_ramfunc.xcl + $TOOLKIT_DIR$\inc\c\yvals.h + $PROJ_DIR$\test.1\Obj\gpio.__cstat.et + $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_pwr.xcl + $PROJ_DIR$\test.1\Obj\stm32f4xx_ll_spi.o + $PROJ_DIR$\..\Drivers\CMSIS\Include\core_cm4.h $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_flash_ramfunc.o - $PROJ_DIR$\test.1\Obj\os_cpu_c.o - $PROJ_DIR$\test.1\Obj\stm32f4xx_hal.o - $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_dma.__cstat.et - $PROJ_DIR$\test.1\Obj\system_stm32f4xx.xcl - $PROJ_DIR$\test.1\Obj\stm32f4xx_ll_usart.xcl - $PROJ_DIR$\test.1\Obj\dma.xcl - $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_wwdg.o - $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_rcc_ex.xcl - $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_wwdg.xcl - $PROJ_DIR$\test.1\Obj\stm32f4xx_ll_gpio.xcl - $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_wwdg.__cstat.et + $PROJ_DIR$\test.1\Obj\stm32f4xx_ll_i2c.o + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h + $TOOLKIT_DIR$\inc\c\DLib_Defaults.h + $TOOLKIT_DIR$\inc\c\iccarm_builtin.h + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h + $PROJ_DIR$\test.1\Obj\stm32f4xx_ll_pwr.__cstat.et + $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_cortex.o + $PROJ_DIR$\test.1\Obj\stm32f4xx_ll_rcc.__cstat.et + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h + $PROJ_DIR$\test.1\Obj\os_cpu_c.xcl + $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_flash.o $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_flash.xcl - $PROJ_DIR$\test.1\Obj\ucos_ii.xcl - $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_sram.__cstat.et - $PROJ_DIR$\test.1\List\test.1.map - $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_rcc.xcl - $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_gpio.__cstat.et - $PROJ_DIR$\test.1\Obj\os_dbg.__cstat.et - $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_flash_ex.o - $PROJ_DIR$\test.1\Obj\stm32f4xx_it.o - $PROJ_DIR$\test.1\Obj\stm32f4xx_ll_rcc.o + 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$PROJ_DIR$\test.1\Obj\stm32f4xx_hal_pwr_ex.xcl - $PROJ_DIR$\test.1\Obj\app_hooks.xcl - $PROJ_DIR$\test.1\Obj\gpio.__cstat.et - $PROJ_DIR$\test.1\Obj\stm32f4xx_ll_rng.__cstat.et - $PROJ_DIR$\test.1\Obj\usart.__cstat.et + $PROJ_DIR$\test.1\Obj\ucos_ii.xcl + $PROJ_DIR$\..\Core\Inc\modbus_log.h + $PROJ_DIR$\test.1\Obj\stm32f4xx_ll_rng.xcl + $PROJ_DIR$\test.1\Obj\modbus_log.__cstat.et + $PROJ_DIR$\test.1\Obj\stm32f4xx_ll_tim.xcl + $PROJ_DIR$\..\UCOS\Source\ucos_ii.h + $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_dma.xcl + $TOOLKIT_DIR$\inc\c\stdio.h + $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_gpio.o + $PROJ_DIR$\test.1\Obj\modbus_crc.__cstat.et + $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_tim_ex.xcl + $PROJ_DIR$\..\UCOS\Source\os_mutex.c + $PROJ_DIR$\..\Core\Inc\main.h + $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_tim.__cstat.et + $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_crc.xcl + $PROJ_DIR$\..\Core\Inc\gpio.h + $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_sram.xcl + $PROJ_DIR$\test.1\Obj\stm32f4xx_hal_rcc.__cstat.et + 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$PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_exti.c + + ICCARM + 153 + __cstat - 53 + 204 BICOMP - 167 + 179 - $PROJ_DIR$\startup_stm32f407xx.s + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_i2c.c - AARM - 99 + ICCARM + 62 + + + __cstat + 86 + + + BICOMP + 172 - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c + + ICCARM + 127 + __cstat - 70 + 121 BICOMP - 86 + 58 + + + ICCARM + 166 122 223 220 47 48 60 226 44 56 64 238 156 240 125 205 65 160 74 193 262 260 244 250 145 66 49 224 45 272 155 63 70 257 110 167 142 + + - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_rng.c + + ICCARM + 51 + __cstat - 67 + 256 BICOMP - 79 + 93 - $PROJ_DIR$\..\Core\Src\tim.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c + + ICCARM + 150 + __cstat - 149 + 232 BICOMP - 120 + 200 + + + ICCARM + 166 122 223 220 47 48 60 226 44 56 64 238 156 240 125 205 65 160 74 193 262 260 244 250 145 66 49 224 45 272 155 63 70 257 110 167 142 + + - $PROJ_DIR$\..\Core\Src\stm32f4xx_hal_timebase_tim.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c + + ICCARM + 119 + __cstat - 155 + 188 BICOMP - 141 + 211 + + + ICCARM + 166 122 223 220 47 48 60 226 44 56 64 238 156 240 125 205 65 160 74 193 262 260 244 250 145 66 49 224 45 272 155 63 70 257 110 167 142 + + - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c + + ICCARM + 152 + __cstat - 121 + 108 BICOMP - 108 + 196 + + + ICCARM + 166 122 223 220 47 48 60 226 44 56 64 238 156 240 125 205 65 160 74 193 262 260 244 250 145 66 49 224 45 272 155 63 70 257 110 167 142 + + - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_wwdg.c + + ICCARM + 214 + __cstat - 161 + 169 BICOMP - 87 + 198 + + + ICCARM + 166 122 223 220 47 48 60 226 44 56 64 238 156 240 125 205 65 160 74 193 262 260 244 250 145 66 49 224 45 272 155 63 70 257 110 167 142 + + - $PROJ_DIR$\..\Core\Src\flash_save.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c + + ICCARM + 177 + __cstat - 153 + 104 BICOMP - 119 + 114 + + + ICCARM + 166 122 223 220 47 48 60 226 44 56 64 238 156 240 125 205 65 160 74 193 262 260 244 250 145 66 49 224 45 272 155 63 70 257 110 167 142 + + - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_crc.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_gpio.c + + ICCARM + 50 + __cstat - 32 + 85 BICOMP - 177 + 154 - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_dma.c + + ICCARM + 263 + __cstat - 116 + 131 BICOMP - 48 + 159 - $PROJ_DIR$\..\Core\Src\stm32f4xx_hal_msp.c + $PROJ_DIR$\..\Core\Src\system_stm32f4xx.c + + ICCARM + 266 + __cstat - 196 + 195 BICOMP - 84 + 270 - - - $PROJ_DIR$\test.1\Exe\test.1.out - + - OBJCOPY - 60 + ICCARM + 47 48 60 226 44 56 64 238 156 240 125 205 65 160 74 166 122 223 220 193 262 260 244 250 145 66 49 224 45 272 155 63 70 257 110 167 142 - + - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c + + ICCARM + 249 + __cstat - 171 + 162 BICOMP - 145 + 97 + + + ICCARM + 166 122 223 220 47 48 60 226 44 56 64 238 156 240 125 205 65 160 74 193 262 260 244 250 145 66 49 224 45 272 155 63 70 257 110 167 142 + + - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c + + ICCARM + 146 + __cstat - 95 + 113 BICOMP - 77 + 116 + + + ICCARM + 166 122 223 220 47 48 60 226 44 56 64 238 156 240 125 205 65 160 74 193 262 260 244 250 145 66 49 224 45 272 155 63 70 257 110 167 142 + + - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_rcc.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c + + ICCARM + 72 + __cstat - 94 + 252 BICOMP - 74 + 73 + + + ICCARM + 166 122 223 220 47 48 60 226 44 56 64 238 156 240 125 205 65 160 74 193 262 260 244 250 145 66 49 224 45 272 155 63 70 257 110 167 142 + + - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_usart.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c + + ICCARM + 78 + __cstat - 126 + 87 BICOMP - 123 + 101 + + + ICCARM + 166 122 223 220 47 48 60 226 44 56 64 238 156 240 125 205 65 160 74 193 262 260 244 250 145 66 49 224 45 272 155 63 70 257 110 167 142 + + - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_rng.c + $PROJ_DIR$\..\Core\Src\flash_save.c + + ICCARM + 89 + __cstat - 90 + 242 BICOMP - 73 + 158 + + + ICCARM + 265 166 122 223 220 47 48 60 226 44 56 64 238 156 240 125 205 65 160 74 193 262 260 244 250 145 66 49 224 45 272 155 63 70 257 110 167 142 192 103 98 229 81 239 80 255 278 151 92 + + - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_wwdg.c + $PROJ_DIR$\..\Core\Src\gpio.c + + ICCARM + 148 + __cstat - 47 + 57 BICOMP - 45 + 82 + + + ICCARM + 106 103 166 122 223 220 47 48 60 226 44 56 64 238 156 240 125 205 65 160 74 193 262 260 244 250 145 66 49 224 45 272 155 63 70 257 110 167 142 + + - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_dma.c + $PROJ_DIR$\..\Core\Src\main.c + + ICCARM + 275 + __cstat - 113 + 143 BICOMP - 66 + 139 + + + ICCARM + 103 166 122 223 220 47 48 60 226 44 56 64 238 156 240 125 205 65 160 74 193 262 260 244 250 145 66 49 224 45 272 155 63 70 257 110 167 142 106 96 52 278 98 157 234 46 165 192 229 81 239 80 255 151 265 92 241 247 216 + + - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_pwr.c + $PROJ_DIR$\..\Core\Src\modbus_crc.c + + ICCARM + 183 + __cstat - 205 + 100 BICOMP - 61 + 253 + + + ICCARM + 151 47 48 60 226 44 56 64 238 156 240 125 205 65 160 74 166 122 223 220 193 262 260 244 250 145 66 49 224 45 272 155 63 70 257 110 167 142 + + - $PROJ_DIR$\..\UCOS\Ports\os_dbg.c + $PROJ_DIR$\..\Core\Src\modbus_log.c + + ICCARM + 123 + __cstat - 54 + 94 BICOMP - 112 + 191 + + + ICCARM + 92 192 103 166 122 223 220 47 48 60 226 44 56 64 238 156 240 125 205 65 160 74 193 262 260 244 250 145 66 49 224 45 272 155 63 70 257 110 167 142 98 229 81 239 80 255 278 151 265 + + - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_crc.c + $PROJ_DIR$\..\Core\Src\stm32f4xx_hal_timebase_tim.c + + ICCARM + 53 + __cstat - 202 + 111 BICOMP - 63 + 77 + + + ICCARM + 166 122 223 220 47 48 60 226 44 56 64 238 156 240 125 205 65 160 74 193 262 260 244 250 145 66 49 224 45 272 155 63 70 257 110 167 142 + + - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_gpio.c + $PROJ_DIR$\..\Core\Src\dma.c + + ICCARM + 212 + __cstat - 124 + 202 BICOMP - 46 + 181 + + + ICCARM + 216 103 166 122 223 220 47 48 60 226 44 56 64 238 156 240 125 205 65 160 74 193 262 260 244 250 145 66 49 224 45 272 155 63 70 257 110 167 142 + + - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_i2c.c + $PROJ_DIR$\..\Core\Src\stm32f4xx_it.c + + ICCARM + 201 + __cstat - 172 + 133 BICOMP - 122 + 206 + + + ICCARM + 103 166 122 223 220 47 48 60 226 44 56 64 238 156 240 125 205 65 160 74 193 262 260 244 250 145 66 49 224 45 272 155 63 70 257 110 167 142 128 96 52 278 98 157 234 46 + + - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_spi.c + $PROJ_DIR$\..\Core\Src\stm32f4xx_hal_msp.c + + ICCARM + 248 + __cstat - 152 + 199 BICOMP - 28 + 207 + + + ICCARM + 103 166 122 223 220 47 48 60 226 44 56 64 238 156 240 125 205 65 160 74 193 262 260 244 250 145 66 49 224 45 272 155 63 70 257 110 167 142 + + - $PROJ_DIR$\..\UCOS\Config\app_hooks.c + $PROJ_DIR$\..\Core\Src\tim.c + + ICCARM + 221 + __cstat - 104 + 135 BICOMP - 88 + 186 + + + ICCARM + 165 103 166 122 223 220 47 48 60 226 44 56 64 238 156 240 125 205 65 160 74 193 262 260 244 250 145 66 49 224 45 272 155 63 70 257 110 167 142 192 98 229 81 239 80 255 278 151 265 92 241 247 + + - $PROJ_DIR$\..\UCOS\Ports\os_cpu_a.asm + $PROJ_DIR$\startup_stm32f407xx.s AARM - 128 + 163 - $PROJ_DIR$\..\UCOS\Ports\os_cpu_c.c + $PROJ_DIR$\..\Core\Src\usart.c + + ICCARM + 189 + __cstat - 159 + 237 BICOMP - 163 + 236 + + + ICCARM + 192 103 166 122 223 220 47 48 60 226 44 56 64 238 156 240 125 205 65 160 74 193 262 260 244 250 145 66 49 224 45 272 155 63 70 257 110 167 142 98 229 81 239 80 255 278 151 265 92 + + - $PROJ_DIR$\..\UCOS\Source\ucos_ii.c + $PROJ_DIR$\test.1\Exe\test.1.out - __cstat - 135 + ILINK + 215 - BICOMP - 49 + OBJCOPY + 245 + + + ILINK + 218 174 212 89 148 275 183 123 130 194 203 163 150 68 129 249 84 136 72 54 61 99 233 217 248 127 119 152 146 213 177 78 53 273 264 214 201 209 144 263 153 50 62 138 178 51 59 134 75 266 221 164 189 109 243 147 231 + + - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_tim.c + + ICCARM + 134 + __cstat - 147 + 149 BICOMP - 102 + 95 - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_tim.c + $PROJ_DIR$\..\UCOS\Config\app_hooks.c + + ICCARM + 174 + __cstat - 158 + 225 BICOMP - 136 + 184 + + + ICCARM + 279 96 52 278 98 44 56 64 238 156 260 157 234 46 + + - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_dac.c + $PROJ_DIR$\..\UCOS\Source\ucos_ii.c + + ICCARM + 164 + __cstat - 34 + 228 BICOMP - 69 + 91 + + + ICCARM + 96 52 278 98 44 56 64 238 156 260 157 234 46 185 117 187 180 102 176 175 276 219 182 + + - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_usart.c + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_spi.c + + ICCARM + 59 + __cstat - 107 + 235 BICOMP - 41 + 261 - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c + $PROJ_DIR$\..\UCOS\Ports\os_cpu_a.asm + + + AARM + 130 + + + + + $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_usart.c + + ICCARM + 75 + __cstat - 151 + 277 BICOMP - 44 + 88 - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_sram.c + $PROJ_DIR$\..\UCOS\Ports\os_cpu_c.c + + ICCARM + 194 + __cstat - 50 + 258 BICOMP - 142 + 71 + + + ICCARM + 96 52 278 98 44 56 64 238 156 260 157 234 46 + + - $PROJ_DIR$\..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_exti.c + $PROJ_DIR$\..\UCOS\Ports\os_dbg.c + + ICCARM + 203 + __cstat - 68 + 115 BICOMP - 80 + 137 + + + ICCARM + 96 52 278 98 44 56 64 238 156 260 157 234 46 + + diff --git a/PLSR/PLSR/EWARM/test.1.ewd b/PLSR/PLSR/EWARM/test.1.ewd index 64fb5ac..951d43d 100644 --- a/PLSR/PLSR/EWARM/test.1.ewd +++ b/PLSR/PLSR/EWARM/test.1.ewd @@ -1462,7 +1462,7 @@ $TOOLKIT_DIR$\plugins\rtos\uCOS-II\uCOS-II-KA-CSpy.ewplugin - 0 + 1 $TOOLKIT_DIR$\plugins\rtos\uCOS-III\uCOS-III-KA-CSpy.ewplugin diff --git a/PLSR/PLSR/EWARM/test.1.ewp b/PLSR/PLSR/EWARM/test.1.ewp index ece3bf7..6ebec0c 100644 --- a/PLSR/PLSR/EWARM/test.1.ewp +++ b/PLSR/PLSR/EWARM/test.1.ewp @@ -956,7 +956,7 @@