解决有卡顿的问题,添加正弦加减速功能

PLSR/PLSR/Core/Src/tim.c

@@ -949,7 +949,8 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
     {
         PLSR_Route_PWM_Stop();
     }
-    else PLSR_Section_PWM_Stop();
+    else if(PlsrRoute.current_part == PLSR_PART_2 || PlsrRoute.current_part == PLSR_PART_3)
+    PLSR_Section_PWM_Stop();
 
     // 精确累加当前段已发送的脉冲数
     int64_t current_section_pulses = TIM2->ARR;
@@ -975,14 +976,11 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
                         PlsrRoute.run_state = PlsrRoute.part2_state;
                         PlsrRoute.target_freq = PlsrRoute.part2_target_freq;
                         PlsrRoute.initial_freq = PlsrRoute.part2_target_freq; // 更新加减速初始频率
-
-                        PlsrRoute.current_freq = PlsrRoute.target_freq;
                         if(PlsrRoute.current_freq > 90000)
                         ;
                         else
                         PLSR_PWM_SetFrequency(PlsrRoute.current_freq);
-                        //  if(PlsrRoute.current_freq >= 90000)
-                        //  HAL_TIM_GenerateEvent(&htim10, TIM_EVENTSOURCE_UPDATE);
+                        PlsrRoute.current_freq = PlsrRoute.target_freq;
                          __HAL_TIM_SetAutoreload(&htim2, PlsrRoute.const_pulse_count);
                         __HAL_TIM_SET_COUNTER(&htim2, 1);
                         PLSR_PWM_Start();

PLSR/PLSR/Core/Src/tools.c

@@ -651,9 +651,8 @@ void SCurve_InitializeParameters(PLSR_RouteConfig_t* route, uint32_t accel_time_
             uint64_t phase1_pulses_calc = (jerk * Tj_cubed) / (6ULL * 1000ULL * 1000ULL);  // 单位换算
             
             // 减加速过程的脉冲数：N2 = V0*Tj + (5/6)*J*Tj^3
-            uint64_t phase2_term1 = (uint64_t)vel_start * Tj / 1000;  // V0*Tj转换为脉冲数
             uint64_t phase2_term2 = (5ULL * jerk * Tj_cubed) / (6ULL * 1000ULL * 1000ULL);
-            uint64_t phase2_pulses_calc = phase2_term1 + phase2_term2;
+            uint64_t phase2_pulses_calc = phase2_term2;
             
             // 存储加速段参数
             route->scurve.accel_jerk = jerk;
@@ -697,16 +696,15 @@ void SCurve_InitializeParameters(PLSR_RouteConfig_t* route, uint32_t accel_time_
             uint64_t phase1_pulses_calc = (jerk * Tj_cubed) / (6ULL * 1000ULL * 1000ULL);
             
             // 加减速过程的脉冲数：N2 = V0*Tj + (5/6)*J*Tj^3
-            uint64_t phase2_term1 = (uint64_t)vel_start_decel * Tj / 1000;
             uint64_t phase2_term2 = (5ULL * jerk * Tj_cubed) / (6ULL * 1000ULL * 1000ULL);
-            uint64_t phase2_pulses_calc = phase2_term1 + phase2_term2;
+            uint64_t phase2_pulses_calc = phase2_term2;
             
             // 存储减速段参数
             route->scurve.decel_jerk = jerk;
             route->scurve.decel_max = max_decel;
             route->scurve.decel_jerk_time_ms = Tj;
-            route->scurve.decel_phase1_pulses = (uint32_t)phase1_pulses_calc;
-            route->scurve.decel_phase2_pulses = (uint32_t)phase2_pulses_calc;
+            route->scurve.decel_phase1_pulses = (uint32_t)phase2_pulses_calc;
+            route->scurve.decel_phase2_pulses = (uint32_t)phase1_pulses_calc;
         } 
         else 
         {
@@ -730,31 +728,6 @@ void PLSR_Reset_SCurve_State(void) {
     // 实际使用中，在段切换时调用此函数
 }
 
-// /**
-//  * @brief 快速立方根计算（用于脉冲数反算时间）
-//  * @param x 输入值
-//  * @return 立方根近似值
-//  */
-// static uint32_t cbrt_approx(uint64_t x) 
-// {
-//     if (x == 0) return 0;
-    
-//     // 使用位操作快速初始估算
-//     uint32_t guess;
-//     if (x >= 1000000000ULL) guess = 1000;
-//     else if (x >= 1000000ULL) guess = 100;
-//     else if (x >= 1000ULL) guess = 10;
-//     else guess = 1;
-    
-//     // 牛顿法迭代：x_{n+1} = (2*x_n + a/x_n²) / 3
-//     for (int i = 0; i < 3; i++) {
-//         uint64_t guess_sq = (uint64_t)guess * guess;
-//         if (guess_sq == 0) break;
-//         guess = (uint32_t)((2ULL * guess + x / guess_sq) / 3);
-//     }
-    
-//     return guess;
-// }
 
 static double cbrt_approx(double x) {
     if (x == 0) return 0;
@@ -857,6 +830,7 @@ static double SCurve_GetTimeFromPulses_Phase2(uint32_t pulse_num, uint32_t V0,
 uint32_t PLSR_Calculate_SCurve_FreqByPulses_Exact(PLSR_RouteConfig_t* route, uint8_t is_accel) {
     if (route == NULL) return 0;
 
+    static uint32_t s_last_freq = 0;
     int64_t current_tim2_count = __HAL_TIM_GET_COUNTER(&htim2);
     uint32_t executed_pulses = current_tim2_count;
 
@@ -886,14 +860,28 @@ uint32_t PLSR_Calculate_SCurve_FreqByPulses_Exact(PLSR_RouteConfig_t* route, uin
     else if (executed_pulses <= phase1_pulses) 
     {
         /* Phase1 */
-        double t = SCurve_GetTimeFromPulses_Phase1(executed_pulses, jerk); /* ms */
+        double t; /* ms */
         double J_real = (double)jerk / 1000.0; /* Hz / ms^2 */
+        double vmid_double;
+        double Amax = J_real * Tj;
+        if (is_accel) {
+            vmid_double = (double)V0 + 0.5 * J_real * Tj * Tj;
+        } else 
+        {
+            vmid_double = (double)V0 - 0.5 * J_real * Tj * Tj;
+            if (vmid_double < 1.0) vmid_double = 1.0;
+        }
+        
         if (is_accel) {
+            t = SCurve_GetTimeFromPulses_Phase1(executed_pulses, jerk);
             double freq_double = (double)V0 + 0.5 * J_real * t * t; /* Hz */
             calculated_freq = (uint32_t)(freq_double + 0.5);
-        } else {
-            double freq_double = (double)V0 - 0.5 * J_real * t * t; /* Hz */
-            if (freq_double < 1.0) freq_double = 1.0;
+        } 
+        else 
+        {
+            uint32_t phase2_pulse_num = phase1_pulses - executed_pulses;
+            t = SCurve_GetTimeFromPulses_Phase2(phase2_pulse_num, (uint32_t)vmid_double, jerk, Tj);
+            double freq_double = vmid_double + Amax * t - 0.5 * J_real * t * t;
             calculated_freq = (uint32_t)(freq_double + 0.5);
         }
     } 
@@ -910,28 +898,29 @@ uint32_t PLSR_Calculate_SCurve_FreqByPulses_Exact(PLSR_RouteConfig_t* route, uin
             if (vmid_double < 1.0) vmid_double = 1.0;
         }
 
-        uint32_t phase2_pulse_num = executed_pulses - phase1_pulses;
-        double t_phase2 = SCurve_GetTimeFromPulses_Phase2(phase2_pulse_num, (uint32_t)vmid_double, jerk, Tj); /* ms */
-
         double Amax = J_real * Tj_d; /* Hz / ms */
 
         if (is_accel) 
         {
+            uint32_t phase2_pulse_num = executed_pulses - phase1_pulses;
+            double t_phase2 = SCurve_GetTimeFromPulses_Phase2(phase2_pulse_num, (uint32_t)vmid_double, jerk, Tj); /* ms */
             double freq_double = vmid_double + Amax * t_phase2 - 0.5 * J_real * t_phase2 * t_phase2;
             calculated_freq = (uint32_t)(freq_double + 0.5);
         } 
         else 
         {
-            double freq_double = vmid_double - Amax * t_phase2 + 0.5 * J_real * t_phase2 * t_phase2;
-            if (freq_double < 1.0) freq_double = 1.0;
+            uint32_t phase2_pulse_num = phase2_pulses + phase1_pulses  - executed_pulses + 1;
+            double t_phase2 = SCurve_GetTimeFromPulses_Phase1(phase2_pulse_num, jerk); /* ms */
+            double freq_double = (double)0 + 0.5 * J_real * t_phase2 * t_phase2; /* Hz */
             calculated_freq = (uint32_t)(freq_double + 0.5);
         }
     } else {
         calculated_freq = is_accel ? route->part1_target_freq : route->part3_target_freq;
     }
-
+    if(calculated_freq != 0 && calculated_freq <PLSR_PWM_FREQ_MAX)
+    s_last_freq = calculated_freq;
     if (calculated_freq > PLSR_PWM_FREQ_MAX) calculated_freq = PLSR_PWM_FREQ_MAX;
-    if (calculated_freq == 0) calculated_freq = 1;
+    if (calculated_freq == 0) calculated_freq = s_last_freq;
 
     return calculated_freq;
 }

PLSR/PLSR/EWARM/settings/test.1.dnx

@@ -14,13 +14,13 @@
     <StLinkDriver>
         <stlinkserialNo>46232557</stlinkserialNo>
         <stlinkfoundProbes />
-        <CStepIntDis>_ 0</CStepIntDis>
-        <LeaveTargetRunning>_ 0</LeaveTargetRunning>
         <stlinkResetStyle>0</stlinkResetStyle>
         <stlinkResetStrategy>2</stlinkResetStrategy>
+        <CStepIntDis>_ 0</CStepIntDis>
+        <LeaveTargetRunning>_ 0</LeaveTargetRunning>
     </StLinkDriver>
     <DebugChecksum>
-        <Checksum>1173251154</Checksum>
+        <Checksum>1483733799</Checksum>
     </DebugChecksum>
     <Exceptions>
         <StopOnUncaught>_ 0</StopOnUncaught>
@@ -84,13 +84,6 @@
         <LogFile>_ ""</LogFile>
         <Category>_ 0</Category>
     </LogFile>
-    <DisassembleMode>
-        <mode>0</mode>
-    </DisassembleMode>
-    <Aliases>
-        <Count>0</Count>
-        <SuppressDialog>0</SuppressDialog>
-    </Aliases>
     <Trace2>
         <Enabled>0</Enabled>
         <ShowSource>0</ShowSource>
@@ -136,9 +129,6 @@
         <ShowTimeSum>1</ShowTimeSum>
         <SumSortOrder>0</SumSortOrder>
     </EventLog>
-    <Breakpoints2>
-        <Count>0</Count>
-    </Breakpoints2>
     <DriverProfiling>
         <Enabled>0</Enabled>
         <Mode>3</Mode>
@@ -152,4 +142,14 @@
     <CallStackStripe>
         <ShowTiming>1</ShowTiming>
     </CallStackStripe>
+    <DisassembleMode>
+        <mode>0</mode>
+    </DisassembleMode>
+    <Breakpoints2>
+        <Count>0</Count>
+    </Breakpoints2>
+    <Aliases>
+        <Count>0</Count>
+        <SuppressDialog>0</SuppressDialog>
+    </Aliases>
 </settings>

PLSR/PLSR/EWARM/test.1.ewp

@@ -287,7 +287,7 @@
                 <option>
                     <name>CCAllowList</name>
                     <version>1</version>
-                    <state>00000000</state>
+                    <state>11111110</state>
                 </option>
                 <option>
                     <name>CCDebugInfo</name>
@@ -374,7 +374,7 @@
                 </option>
                 <option>
                     <name>CCOptLevel</name>
-                    <state>0</state>
+                    <state>3</state>
                 </option>
                 <option>
                     <name>CCOptStrategy</name>
@@ -383,7 +383,7 @@
                 </option>
                 <option>
                     <name>CCOptLevelSlave</name>
-                    <state>0</state>
+                    <state>3</state>
                 </option>
                 <option>
                     <name>CompilerMisraRules98</name>

PLSR/PLSR/EWARM/test.1/Obj/.ninja_log

@@ -1,88 +1,104 @@
 # ninja log v5
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+503	538	7784905999900596	stm32f4xx_ll_rng.pbi	5e12b9ea00d0b826
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-1350	1478	7784167807808372	test.1_part6.pbi	1f990020cfbdc2d2
-42	484	7784167798901038	stm32f4xx_hal_tim_ex.pbi	3c68a2e86514987f
-44	450	7784167798511157	stm32f4xx_hal_flash_ramfunc.pbi	ae498685b336a49c
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+79	463	7784905999128352	stm32f4xx_hal_flash_ramfunc.pbi	ae498685b336a49c
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 35	454	7762489045860992	timer.pbi	8f8acc6a162957f
-38	460	7784167798631034	stm32f4xx_hal_i2c.pbi	74395538aa12fa10
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-1316	1689	7784167810970779	stm32f4xx_hal_timebase_tim.pbi	b6f5ce0feaca8054
-2411	2797	7784167821919543	stm32f4xx_hal_dma_ex.pbi	1960c5ab56ffede7
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-1982	2411	7784167817604177	system_stm32f4xx.pbi	f50e519d7e78a5de
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-2549	3013	7784167824209538	dma.pbi	4f5ebe00ac67ed57
-33	413	7784279545631682	tim.pbi	f07c6d790a519d93
-43	713	7784278405910659	usart.pbi	7c2d93866867ab60
-45	615	7784278404722903	modbus_log.pbi	596603da5f343c45
-1528	1982	7784167813442479	modbus_crc.pbi	9b76681ddf289794
-1497	1929	7784167813162477	flash_save.pbi	dc7405226be28cc6
-38	425	7784279164337861	tools.pbi	50c1b905eccec5a9
-38	456	7784279700485335	tim.pbi	f07c6d790a519d93
-457	1051	7784279706446586	test.1_part1.pbi	132c9eecf11b0e50
-1051	1480	7784279710723042	test.1.pbd	363d5d355a216cdf
-1481	3195	7784279727551414	test.1.pbw	f11e09b552b4c82f
-40	494	7784279796326999	tim.pbi	f07c6d790a519d93
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-1303	2947	7784289113149025	test.1.pbw	f11e09b552b4c82f
+310	716	7784906001535050	stm32f4xx_hal_i2c.pbi	74395538aa12fa10
+1095	1510	7784906009628406	stm32f4xx_hal_dma.pbi	2d6aa8f3983bf80a
+2264	2623	7784906020742722	stm32f4xx_hal_timebase_tim.pbi	b6f5ce0feaca8054
+542	953	7784906003680996	stm32f4xx_hal_i2c_ex.pbi	7798e48f8e6ef374
+1511	1902	7784906013479985	stm32f4xx_hal_dma_ex.pbi	1960c5ab56ffede7
+1902	2360	7784906018132419	main.pbi	9c0a6aa02351636a
+1874	2264	7784906017054568	stm32f4xx_hal_exti.pbi	373789209d565f00
+2396	2870	7784906023223742	stm32f4xx_it.pbi	d01766022cb163bc
+2623	2999	7784906023983113	stm32f4xx_hal_cortex.pbi	2c6d2473a153fb5a
+2465	2803	7784906022507497	system_stm32f4xx.pbi	f50e519d7e78a5de
+2339	2770	7784906022184342	gpio.pbi	a088b5271f02118a
+555	956	7784906003860996	stm32f4xx_hal_gpio.pbi	53b438f48be9a8d0
+2771	3337	7784906027909005	test.1_part0.pbi	60db414ccd7a80f4
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+2232	2678	7784906021193269	modbus_log.pbi	596603da5f343c45
+1091	1619	7784906010590373	flash_save.pbi	dc7405226be28cc6
+2102	2464	7784906019147050	modbus_crc.pbi	9b76681ddf289794
+1356	1873	7784906013259981	tools.pbi	50c1b905eccec5a9
+43	582	7784915618440897	tim.pbi	f07c6d790a519d93
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+2000	4664	7784933380938479	test.1.pbw	f11e09b552b4c82f

PLSR/PLSR/EWARM/test.1/Obj/main.pbi.dep

@@ -1,64 +1,57 @@
 main.pbi: \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\Core\Src\main.c \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM/../Core/Inc\main.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM/../Drivers/STM32F4xx_HAL_Driver/Inc\stm32f4xx_hal.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM/../Core/Inc\stm32f4xx_hal_conf.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM/../Drivers/STM32F4xx_HAL_Driver/Inc\stm32f4xx_hal_rcc.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM/../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM/../Drivers/CMSIS/Device/ST/STM32F4xx/Include\stm32f4xx.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM/../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM/../Drivers/CMSIS/Include\core_cm4.h \
-  E:\Software\IAR\arm\inc\c\stdint.h E:\Software\IAR\arm\inc\c\ycheck.h \
-  E:\Software\IAR\arm\inc\c\yvals.h \
-  E:\Software\IAR\arm\inc\c\DLib_Defaults.h \
-  E:\\Software\\IAR\\arm\\inc\\c\\DLib_Config_Full.h \
-  E:\Software\IAR\arm\inc\c\DLib_Product.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM/../Drivers/CMSIS/Include/cmsis_version.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM/../Drivers/CMSIS/Include/cmsis_compiler.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM/../Drivers/CMSIS/Include\cmsis_iccarm.h \
-  E:\Software\IAR\arm\inc\c\iccarm_builtin.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM/../Drivers/CMSIS/Include/mpu_armv7.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM/../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM/../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h \
-  E:\Software\IAR\arm\inc\c\stddef.h E:\Software\IAR\arm\inc\c\ysizet.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM/../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM/../Drivers/STM32F4xx_HAL_Driver/Inc\stm32f4xx_hal_gpio.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM/../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM/../Drivers/STM32F4xx_HAL_Driver/Inc\stm32f4xx_hal_exti.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM/../Drivers/STM32F4xx_HAL_Driver/Inc\stm32f4xx_hal_dma.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM/../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM/../Drivers/STM32F4xx_HAL_Driver/Inc\stm32f4xx_hal_cortex.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM/../Drivers/STM32F4xx_HAL_Driver/Inc\stm32f4xx_hal_flash.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM/../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM/../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM/../Drivers/STM32F4xx_HAL_Driver/Inc\stm32f4xx_hal_pwr.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM/../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM/../Drivers/STM32F4xx_HAL_Driver/Inc\stm32f4xx_hal_tim.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM/../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM/../Drivers/STM32F4xx_HAL_Driver/Inc\stm32f4xx_hal_uart.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM/../Core/Inc\gpio.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM/../Core/Inc/main.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM/../Core/Inc/tim.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM/../Core/Inc/usart.h \
-  E:\Software\IAR\arm\inc\c\stdio.h E:\Software\IAR\arm\inc\c\string.h \
-  E:\Software\IAR\arm\inc\c\DLib_Product_string.h \
-  E:\Software\IAR\arm\inc\c\ctype.h E:\Software\IAR\arm\inc\c\stdlib.h \
-  E:\Software\IAR\arm\inc\c\DLib_Product_stdlib.h \
-  E:\Software\IAR\arm\inc\c\stdarg.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM/../Core/Inc/modbus_crc.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM/../Core/Inc/flash_save.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM/../Core/Inc/modbus_log.h \
-  E:\Software\IAR\arm\inc\c\math.h \
-  E:\Software\IAR\arm\inc\c\DLib_float_setup.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\UCOS\Source\ucos_ii.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\UCOS\Config\app_cfg.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\UCOS\Config\os_cfg.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\UCOS\Ports\os_cpu.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\UCOS\Source/os_trace.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM/../Core/Inc/gpio.h \
-  E:\Software\IAR\arm\inc\c\intrinsics.h \
+  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\Core\Inc\dma.h \
   E:\Software\IAR\arm\inc\c\iar_intrinsics_common.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM/../Core/Inc\tim.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM/../Core/Inc\usart.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM/../Core/Inc\dma.h \
-  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM/../Core/Inc\flash_save.h
+  E:\Software\IAR\arm\inc\c\intrinsics.h \
+  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\Core\Inc\gpio.h \
+  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\UCOS\Source\os_trace.h \
+  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\UCOS\Ports\os_cpu.h \
+  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\UCOS\Config\os_cfg.h \
+  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\UCOS\Config\app_cfg.h \
+  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\UCOS\Source\ucos_ii.h \
+  E:\Software\IAR\arm\inc\c\DLib_float_setup.h \
+  E:\Software\IAR\arm\inc\c\ycheck.h E:\Software\IAR\arm\inc\c\math.h \
+  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\Core\Inc\tim.h \
+  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\Core\Inc\usart.h \
+  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\Core\Inc\modbus_log.h \
+  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\Core\Inc\flash_save.h \
+  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\Core\Inc\modbus_crc.h \
+  E:\Software\IAR\arm\inc\c\stdarg.h \
+  E:\Software\IAR\arm\inc\c\DLib_Product_stdlib.h \
+  E:\Software\IAR\arm\inc\c\stdlib.h E:\Software\IAR\arm\inc\c\ctype.h \
+  E:\Software\IAR\arm\inc\c\DLib_Product_string.h \
+  E:\Software\IAR\arm\inc\c\string.h E:\Software\IAR\arm\inc\c\stdio.h \
+  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
+  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
+  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
+  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
+  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
+  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
+  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
+  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
+  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
+  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
+  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
+  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
+  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
+  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
+  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
+  E:\Software\IAR\arm\inc\c\ysizet.h E:\Software\IAR\arm\inc\c\stddef.h \
+  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
+  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
+  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\Drivers\CMSIS\Include\mpu_armv7.h \
+  E:\Software\IAR\arm\inc\c\iccarm_builtin.h \
+  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\Drivers\CMSIS\Include\cmsis_iccarm.h \
+  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\Drivers\CMSIS\Include\cmsis_compiler.h \
+  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\Drivers\CMSIS\Include\cmsis_version.h \
+  E:\Software\IAR\arm\inc\c\DLib_Product.h \
+  E:\Software\IAR\arm\inc\c\DLib_Defaults.h \
+  E:\Software\IAR\arm\inc\c\yvals.h E:\Software\IAR\arm\inc\c\stdint.h \
+  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\Drivers\CMSIS\Include\core_cm4.h \
+  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
+  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
+  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
+  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
+  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\Core\Inc\stm32f4xx_hal_conf.h \
+  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM\..\Core\Inc\main.h \
+  e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\Core\Src\main.c