曲线加速过程可以接受,但是减速过程效果很差

PLSR/PLSR/Core/Inc/tim.h

@@ -33,6 +33,7 @@ extern "C" {
 #include "app_cfg.h"
 #include "gpio.h"
 #include <intrinsics.h>
+#include <math.h>  
 /* USER CODE BEGIN Includes */
 
 /* USER CODE END Includes */
@@ -108,16 +109,6 @@ typedef enum {
     PLSR_DIR_REVERSE = 1        // 反向
 } PLSR_Direction_t;
 
-/**
- * @brief PLSR错误代码枚举
- */
-typedef enum {
-    PLSR_ERROR_NONE = 0,                ///< 无错误
-    PLSR_ERROR_FREQ_OUT_OF_RANGE = 1,   ///< 频率超出范围
-    PLSR_ERROR_PARAM_CALC_FAILED = 2,   ///< 参数计算失败
-    PLSR_ERROR_TIMER_CONFIG_FAILED = 3, ///< 定时器配置失败
-    PLSR_ERROR_HARDWARE_FAULT = 4       ///< 硬件故障
-} PLSR_ErrorCode_t;
 /* USER CODE END Private defines */
 
 void MX_TIM2_Init(void); // TIM2恢复用于脉冲计数
@@ -176,6 +167,8 @@ typedef struct
     uint32_t part1_target_freq;     ///< 第一部分目标频率
     uint32_t part2_target_freq;     ///< 第二部分目标频率（匀速频率）
     uint32_t part3_target_freq;     ///< 第三部分目标频率（通常是0）
+    uint32_t part1_time;
+    uint32_t part3_time;
     uint32_t freq_step;             ///< 频率步长
     uint32_t default_freq;          ///< 脉冲默认速度
 
@@ -214,7 +207,6 @@ typedef struct
     uint8_t ext_port;               ///< 外部事件端口选择
     uint8_t dir_port;               ///< 方向端口选择
     uint8_t current_part;           ///< 当前执行部分：1-第一部分，2-第二部分，3-第三部分
-    PLSR_ErrorCode_t error_code;    ///< 错误代码
 } PLSR_RouteConfig_t;
 
 // 三部分执行状态枚举
@@ -260,6 +252,9 @@ void PLSR_Accel_Process(PLSR_RouteConfig_t* route); //<加减速执行函数(新
 void PLSR_Accel_UpdateRates(PLSR_RouteConfig_t* route); //<更新加减速度
 void PLSR_Accel_SetDefaultParams(PLSR_RouteConfig_t* route, uint32_t accel_time_ms, uint32_t decel_time_ms); //<设置默认加减速参数
 uint32_t PLSR_Calculate_FreqByPosition(PLSR_RouteConfig_t* route, uint8_t is_accel); //<根据当前脉冲位置计算频率
+uint32_t PLSR_Calculate_SCurve_FreqByPosition(PLSR_RouteConfig_t* route, uint8_t is_accel);
+uint32_t PLSR_SCurve_Control(PLSR_RouteConfig_t* route);
+void SCurve_InitializeParameters(PLSR_RouteConfig_t* route, uint32_t accel_time_ms, uint32_t decel_time_ms);
 
 // ==================== PLSR TIM6频率配置函数 ====================
 void PLSR_TIM6_SetUpdateFreq(uint32_t freq_us);

PLSR/PLSR/Core/Src/tim.c

@@ -1595,7 +1595,7 @@ uint8_t PLSR_Section_StartNewSection(PLSR_RouteConfig_t* route)
     PLSR_ClearExtEvent(route);
 
     if(PlsrRoute.accel_config.accel_algorithm == PLSR_ACCEL_CURVE)
-        SCurve_InitializeParameters(&PlsrRoute);  //计算曲线加减速需要的参数.
+        SCurve_InitializeParameters(&PlsrRoute,route->part1_time,route->part3_time);  //计算曲线加减速需要的参数.
     return 1;
 }
 
@@ -1950,9 +1950,17 @@ void PLSR_Accel_Process(PLSR_RouteConfig_t* route)
     // ==================== 加速处理 ====================
     if (route->run_state == PLSR_STATE_ACCEL) 
     {
-        // 根据当前脉冲位置计算频率（传入1表示加速过程）
-        uint32_t calculated_freq = PLSR_Calculate_FreqByPosition(route, 1);
-        
+        uint32_t calculated_freq = 0;
+        if(route->accel_config.accel_algorithm == PLSR_ACCEL_LINEAR)
+        {
+            // 根据当前脉冲位置计算频率（传入1表示加速过程）
+           calculated_freq = PLSR_Calculate_FreqByPosition(route, 1);
+        }
+        else
+        {
+            // 参数有效，可以开始使用S曲线控制
+            calculated_freq = PLSR_SCurve_Control(route);
+        }  
         // 检查是否达到目标频率
         if (calculated_freq >= route->target_freq) 
         {
@@ -1999,8 +2007,17 @@ void PLSR_Accel_Process(PLSR_RouteConfig_t* route)
     {
         // 根据当前脉冲位置计算频率（传入0表示减速过程）
         // 使用速度位移公式 vt^2 = v0^2 - 2ax 计算当前脉冲的下一个脉冲频率
-        uint32_t calculated_freq = PLSR_Calculate_FreqByPosition(route, 0);
-        
+        uint32_t calculated_freq = 0;
+        if(route->accel_config.accel_algorithm == PLSR_ACCEL_LINEAR)
+        {
+            // 根据当前脉冲位置计算频率（传入1表示加速过程）
+           calculated_freq = PLSR_Calculate_FreqByPosition(route, 0);
+        }
+        else
+        {
+            // 参数有效，可以开始使用S曲线控制
+             calculated_freq = PLSR_SCurve_Control(route);
+        }  
         // 检查是否达到目标频率
         if (calculated_freq <= route->target_freq) 
         {

PLSR/PLSR/Core/Src/tools.c

@@ -225,9 +225,7 @@ void Calculate_PluseNum(PLSR_RouteConfig_t *route)
     // 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_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）
@@ -424,6 +422,8 @@ void Calculate_PluseNum(PLSR_RouteConfig_t *route)
         route->part1_state = part1_state;
         route->part2_state = part2_state;
         route->part3_state = part3_state;
+        route->part1_time = part1_time;
+        route->part3_time = part3_time;
         route->part1_target_freq = vt;
         route->part2_target_freq = vt;
         route->part3_target_freq = 0;
@@ -446,7 +446,6 @@ void Calculate_PluseNum(PLSR_RouteConfig_t *route)
             route->run_state = PLSR_STATE_CONST;
             route->target_freq = v0;
         }
-    }
 }
 
 
@@ -618,363 +617,366 @@ void PLSR_Accel_UpdateRates(PLSR_RouteConfig_t* route)
     }
 }
 
-/* ==================== 快速立方根近似 ==================== */
-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;
-}
-
-/* ==================== S曲线参数初始化函数 ==================== */
-void SCurve_InitializeParameters(PLSR_RouteConfig_t* route) 
+/**
+ * @brief S曲线加减速参数初始化
+ * @param route 路径配置结构体指针
+ * @param accel_time_ms 加速时间（毫秒）
+ * @param decel_time_ms 减速时间（毫秒）
+ */
+void SCurve_InitializeParameters(PLSR_RouteConfig_t* route, uint32_t accel_time_ms, uint32_t decel_time_ms) 
 {
     if (route == NULL) return;
     
-    /* 输入参数验证和预处理 */
-    const uint32_t accel_rate = (route->accel_rate == 0) ? 1 : route->accel_rate; // Hz/ms
-    const uint32_t decel_rate = (route->decel_rate == 0) ? 1 : route->decel_rate; // Hz/ms
-    
     /* ============ 加速段参数计算 ============ */
-    uint32_t vel_start_accel = route->initial_freq;
-    uint32_t vel_target_accel = route->part1_target_freq;
-    if (vel_target_accel > PLSR_PWM_FREQ_MAX) {
-        vel_target_accel = PLSR_PWM_FREQ_MAX;
-    }
-    
-    uint32_t delta_vel_accel = (vel_target_accel > vel_start_accel) ? 
-                               (vel_target_accel - vel_start_accel) : 0;
-    
-    if (delta_vel_accel > 0) 
+    if (accel_time_ms > 0) 
     {
-        /* 计算加速时间参数 */
-        uint32_t total_accel_time_ms = CLAMP_MIN(delta_vel_accel / accel_rate, 1);
-        uint32_t jerk_time_ms = CLAMP_MIN(total_accel_time_ms / 2, 1);
-        
-        /* 关键公式：Δv = J·Tj²，因此 J = Δv / Tj² */
-        uint32_t jerk = (uint32_t)DIV_ROUND((uint64_t)delta_vel_accel * 1000ULL, 
-                                           (uint64_t)jerk_time_ms * jerk_time_ms);
-        uint32_t max_accel = (jerk * jerk_time_ms) / 1000; // 转换单位
-        
-        /* 脉冲数计算 - 使用精确积分公式 */
-        uint64_t T = jerk_time_ms;
-        uint64_t T_sq = T * T;
-        uint64_t T_cu = T_sq * T;
-        
-        /* 第一阶段: s₁ = v₀·T + (1/6)·J·T³ */
-        uint64_t phase1_displacement = (uint64_t)vel_start_accel * T + 
-                                      ((uint64_t)jerk * T_cu) / 6000; // 除以6000而不是6是因为单位换算
-        uint32_t phase1_pulses = (uint32_t)DIV_ROUND(phase1_displacement, 1000);
-        
-        /* 第二阶段：中间速度计算 */
-        uint32_t vel_mid = vel_start_accel + (uint32_t)((jerk * T_sq) / 2000);
+        uint32_t vel_start = route->initial_freq;  // V0
+        uint32_t vel_target = route->part1_target_freq;  // Vt
         
-        /* 第二阶段位移：s₂ = v_mid·T - (1/6)·J·T³ （注意减号，因为是减jerk阶段）*/
-        uint64_t phase2_displacement = (uint64_t)vel_mid * T - 
-                                      ((uint64_t)jerk * T_cu) / 6000;
-        uint32_t phase2_pulses = (uint32_t)DIV_ROUND(phase2_displacement, 1000);
-        
-        /* 归一化到实际脉冲总数，防止舍入误差 */
-        uint32_t calculated_total = phase1_pulses + phase2_pulses;
-        uint32_t actual_total = route->accel_pulse_count;
-        if (calculated_total != actual_total && calculated_total > 0) {
-            if (actual_total > calculated_total) 
-            {
-                phase2_pulses += (actual_total - calculated_total);
-            } 
-            else 
-            {
-                phase1_pulses = (uint32_t)(((uint64_t)phase1_pulses * actual_total) / calculated_total);
-                phase2_pulses = actual_total - phase1_pulses;
-            }
+        if (vel_target > vel_start) 
+        {
+            uint32_t delta_v = vel_target - vel_start;
+            uint32_t Tj = accel_time_ms / 2;  // 到达最大加速度的时间（加速时间的一半）
+            
+            // 加加速度计算：J = 4*Vt/(Tt^2) = 4*delta_v/(accel_time_ms^2)
+            uint64_t jerk_numerator = 4ULL * delta_v * 1000ULL;  // 乘1000进行单位换算
+            uint64_t jerk_denominator = (uint64_t)accel_time_ms * accel_time_ms;
+            uint32_t jerk = (uint32_t)(jerk_numerator / jerk_denominator);  // Hz/ms²
+            
+            // 最大加速度：Amax = J * Tj
+            uint32_t max_accel = (jerk * Tj) / 1000;  // Hz/ms
+            
+            // 加加速过程的脉冲数：N1 = (1/6) * J * Tj^3
+            uint64_t Tj_cubed = (uint64_t)Tj * Tj * Tj;
+            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;
+            
+            // 存储加速段参数
+            route->scurve.accel_jerk = jerk;
+            route->scurve.accel_max = max_accel;
+            route->scurve.accel_jerk_time_ms = Tj;
+            route->scurve.accel_phase1_pulses = (uint32_t)phase1_pulses_calc;
+            route->scurve.accel_phase2_pulses = (uint32_t)phase2_pulses_calc;
+        } 
+        else 
+        {
+                  // 无需加速，清零参数
+            route->scurve.accel_jerk = 0;
+            route->scurve.accel_max = 0;
+            route->scurve.accel_jerk_time_ms = 0;
+            route->scurve.accel_phase1_pulses = 0;
+            route->scurve.accel_phase2_pulses = 0;
         }
-        
-        /* 存储加速段参数 */
-        route->scurve.accel_jerk = jerk;
-        route->scurve.accel_max = max_accel;
-        route->scurve.accel_jerk_time_ms = jerk_time_ms;
-        route->scurve.accel_phase1_pulses = phase1_pulses;
-        route->scurve.accel_phase2_pulses = phase2_pulses;
-    } 
-    else 
-    {
-        /* 无加速段，清零参数 */
-        route->scurve.accel_jerk = 0;
-        route->scurve.accel_max = 0;
-        route->scurve.accel_jerk_time_ms = 0;
-        route->scurve.accel_phase1_pulses = 0;
-        route->scurve.accel_phase2_pulses = 0;
     }
     
     /* ============ 减速段参数计算 ============ */
-    uint32_t vel_start_decel = route->initial_freq;
-    uint32_t vel_target_decel = route->part3_target_freq;
-    if (vel_start_decel > PLSR_PWM_FREQ_MAX) {
-        vel_start_decel = PLSR_PWM_FREQ_MAX;
-    }
-    
-    uint32_t delta_vel_decel = (vel_start_decel > vel_target_decel) ? 
-                               (vel_start_decel - vel_target_decel) : 0;
-    
-    if (delta_vel_decel > 0) {
-        /* 计算减速时间参数 */
-        uint32_t total_decel_time_ms = CLAMP_MIN(delta_vel_decel / decel_rate, 1);
-        uint32_t jerk_time_ms = CLAMP_MIN(total_decel_time_ms / 2, 1);
-        
-        /* 减速jerk计算 */
-        uint32_t jerk = (uint32_t)DIV_ROUND((uint64_t)delta_vel_decel * 1000ULL, 
-                                           (uint64_t)jerk_time_ms * jerk_time_ms);
-        uint32_t max_decel = (jerk * jerk_time_ms) / 1000;
-        
-        /* 减速段脉冲数计算 */
-        uint64_t T = jerk_time_ms;
-        uint64_t T_sq = T * T;
-        uint64_t T_cu = T_sq * T;
-        
-        /* 第一阶段(减速开始): s₁ = v₀·T - (1/6)·J·T³ （减号，因为是减速）*/
-        uint64_t phase1_displacement = (uint64_t)vel_start_decel * T - 
-                                      ((uint64_t)jerk * T_cu) / 6000;
-        /* 防止负数 */
-        if ((int64_t)phase1_displacement < 0) phase1_displacement = 0;
-        uint32_t phase1_pulses = (uint32_t)DIV_ROUND(phase1_displacement, 1000);
-        
-        /* 第二阶段：中间速度 */
-        uint32_t vel_mid = (vel_start_decel > (jerk * T_sq) / 2000) ? 
-                          vel_start_decel - (jerk * T_sq) / 2000 : 0;
-        
-        /* 第二阶段位移：s₂ = v_mid·T + (1/6)·J·T³ （加号，因为是减jerk阶段）*/
-        uint64_t phase2_displacement = (uint64_t)vel_mid * T + 
-                                      ((uint64_t)jerk * T_cu) / 6000;
-        uint32_t phase2_pulses = (uint32_t)DIV_ROUND(phase2_displacement, 1000);
+    if (decel_time_ms > 0) 
+    {
+        uint32_t vel_start_decel = route->part2_target_freq;  // 减速起始速度
+        uint32_t vel_target_decel = route->part3_target_freq;  // 减速目标速度
         
-        /* 归一化到实际脉冲总数 */
-        uint32_t calculated_total = phase1_pulses + phase2_pulses;
-        uint32_t actual_total = route->decel_pulse_count;
-        if (calculated_total != actual_total && calculated_total > 0) {
-            if (actual_total > calculated_total) {
-                phase2_pulses += (actual_total - calculated_total);
-            } else {
-                phase1_pulses = (uint32_t)(((uint64_t)phase1_pulses * actual_total) / calculated_total);
-                phase2_pulses = actual_total - phase1_pulses;
-            }
+        if (vel_start_decel > vel_target_decel) 
+        {
+            uint32_t delta_v = vel_start_decel - vel_target_decel;
+            uint32_t Tj = decel_time_ms / 2;  // 到达最大减速度的时间
+            
+            // 减加速度计算：J = 4*delta_v/(decel_time_ms^2)
+            uint64_t jerk_numerator = 4ULL * delta_v * 1000ULL;
+            uint64_t jerk_denominator = (uint64_t)decel_time_ms * decel_time_ms;
+            uint32_t jerk = (uint32_t)(jerk_numerator / jerk_denominator);
+            
+            // 最大减速度
+            uint32_t max_decel = (jerk * Tj) / 1000;
+            
+            // 减减速过程的脉冲数：N1 = (1/6) * J * Tj^3
+            uint64_t Tj_cubed = (uint64_t)Tj * Tj * Tj;
+            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;
+            
+            // 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;
+        } 
+        else 
+        {
+            // 无需减速，清零参数
+            route->scurve.decel_jerk = 0;
+            route->scurve.decel_max = 0;
+            route->scurve.decel_jerk_time_ms = 0;
+            route->scurve.decel_phase1_pulses = 0;
+            route->scurve.decel_phase2_pulses = 0;
         }
-        
-        /* 存储减速段参数 */
-        route->scurve.decel_jerk = jerk;
-        route->scurve.decel_max = max_decel;
-        route->scurve.decel_jerk_time_ms = jerk_time_ms;
-        route->scurve.decel_phase1_pulses = phase1_pulses;
-        route->scurve.decel_phase2_pulses = phase2_pulses;
-    } 
-    else 
-    {
-        /* 无减速段，清零参数 */
-        route->scurve.decel_jerk = 0;
-        route->scurve.decel_max = 0;
-        route->scurve.decel_jerk_time_ms = 0;
-        route->scurve.decel_phase1_pulses = 0;
-        route->scurve.decel_phase2_pulses = 0;
     }
+}  
+
+
+
+/**
+ * @brief 重置S曲线计算状态（用于段切换）
+ */
+void PLSR_Reset_SCurve_State(void) {
+    // 通过调用函数并传入无效参数来触发状态重置
+    // 实际使用中，在段切换时调用此函数
 }
 
-/* ==================== 第一阶段多项式求解（加速或减速开始阶段）==================== */
-static uint32_t SCurve_SolvePhase1_Polynomial(uint32_t vel_start, uint32_t jerk, 
-                                              uint64_t displacement, uint8_t is_deceleration)
-{
-    if (jerk == 0) return vel_start;
-    
-    /* 方程: s = v₀·t ± (1/6)·J·t³
-       对于加速: s = v₀·t + (1/6)·J·t³ (正号)
-       对于减速: s = v₀·t - (1/6)·J·t³ (负号)
-    */
-    
-    if (vel_start == 0) 
-    {
-        /* 特殊情况：从零速开始 */
-        if (is_deceleration) return 0; /* 减速从0开始不合理 */
-        
-        /* 纯立方方程: s = (1/6)·J·t³ => t = ∛(6s/J) */
-        uint64_t t_cubed = (6000ULL * displacement) / jerk; /* 乘1000是单位换算 */
-        uint32_t time_ms = cbrt_approx(t_cubed);
-        
-        /* v = (1/2)·J·t² */
-        uint64_t velocity = ((uint64_t)jerk * time_ms * time_ms) / 2000;
-        return CLAMP_FREQUENCY(velocity);
+// /**
+//  * @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;
+    if (x < 0) return -cbrt_approx(-x);
+    double guess = x / 3.0;
+    for (int i = 0; i < 10; i++) {
+        guess = (2.0 * guess + x / (guess * guess)) / 3.0;
     }
-    
-    /* 使用多项式近似求解 */
-    /* 设 x = J·s/(v₀³), 则 t/τ ≈ 1 + x/6 - x²/36，其中 τ = s/v₀ */
-    uint64_t v0_sq = (uint64_t)vel_start * vel_start;
-    uint64_t v0_cu = v0_sq * vel_start;
-    
-    /* 基础时间估计: τ = s/v₀ */
-    uint64_t tau_ms = displacement / vel_start;
-    
-    /* 修正项计算: x = J·s/(v₀³) */
-    uint64_t x_numerator = (uint64_t)jerk * displacement;
-    uint64_t x = x_numerator / v0_cu;
-    
-    /* 多项式修正: t ≈ τ·(1 + x/6 - x²/36) */
-    uint64_t correction = x / 6;
-    if (x < 36) { /* 防止溢出和负数 */
-        uint64_t x_sq = x * x;
-        if (correction > x_sq / 36) {
-            correction -= x_sq / 36;
+    return guess;
+}
+
+/**
+ * @brief 第一阶段：根据脉冲数计算时间（加加速段，牛顿迭代）
+ * 方程： (1/6)*J_real*t^3 - S*1000 = 0
+ * @param pulse_num 当前脉冲数
+ * @param jerk 加加速度 (Hz/ms²)
+ * @return 时间 (ms)
+ */
+static double SCurve_GetTimeFromPulses_Phase1(uint32_t pulse_num, uint32_t jerk) {
+    if (pulse_num == 0 || jerk == 0) return 0.0;
+
+    double S_cont = (double)pulse_num * 1000.0;    // 脉冲转换为连续量
+    double J_real = (double)jerk / 1000.0;         // Hz/ms²
+
+    // 初始猜测：用反函数近似值作为初始点
+    double t = cbrt_approx((6.0 * S_cont) / J_real);
+    if (t <= 0.0) t = 1.0;  // 避免负数或零
+
+    // 牛顿迭代
+    for (int i = 0; i < 40; ++i) {
+        double t2 = t * t;
+        double t3 = t2 * t;
+        double F = (1.0 / 6.0) * J_real * t3 - S_cont;
+        double dF = 0.5 * J_real * t2;
+
+        if (fabs(dF) < 1e-12) break;
+
+        double t_new = t - F / dF;
+        if (t_new <= 0.0) {
+            t_new = t * 0.5;
         }
+        if (fabs(t_new - t) < 1e-7) {
+            t = t_new;
+            break;
+        }
+        t = t_new;
     }
-    
-    uint64_t time_ms = tau_ms + (tau_ms * correction) / 1000;
-    if (time_ms == 0) time_ms = 1;
-    
-    /* 计算速度: v = v₀ ± (1/2)·J·t² */
-    uint64_t time_sq = (time_ms * time_ms) / 1000; /* 防止溢出 */
-    uint64_t accel_term = ((uint64_t)jerk * time_sq) / 2;
-    
-    uint64_t velocity;
-    if (is_deceleration) {
-        /* 减速: v = v₀ - (1/2)·J·t² */
-        velocity = ((uint64_t)vel_start * 1000 > accel_term) ? 
-                   ((uint64_t)vel_start * 1000 - accel_term) / 1000 : 0;
-    } else {
-        /* 加速: v = v₀ + (1/2)·J·t² */
-        velocity = vel_start + accel_term / 1000;
-    }
-    
-    return CLAMP_FREQUENCY(velocity);
+
+    if (t < 0.0) t = 0.0;
+    return t;  // ms
 }
 
-/* ==================== 第二阶段多项式求解（jerk减小阶段）==================== */
-static uint32_t SCurve_SolvePhase2_Polynomial(uint32_t vel_start, uint32_t jerk, 
-                                              uint32_t jerk_time_ms, uint64_t displacement, 
-                                              uint8_t is_deceleration)
-{
-    if (jerk == 0 || jerk_time_ms == 0) return vel_start;
-    
-    /* 第二阶段的起点速度计算 */
-    uint64_t T_sq = (uint64_t)jerk_time_ms * jerk_time_ms;
-    uint32_t vel_mid;
-    
-    if (is_deceleration) {
-        /* 减速段：第二阶段起点是第一阶段结束点 */
-        vel_mid = ((uint64_t)vel_start * 1000 > (jerk * T_sq) / 2) ? 
-                  vel_start - (uint32_t)((jerk * T_sq) / 2000) : 0;
+
+/* Phase2: pulses*1000 = Vmid*t + 0.5*Amax*t^2 - (1/6)*J_real*t^3
+   其中 Amax = J_real * Tj (Tj 单位 ms), J_real = jerk / 1000 */
+static double SCurve_GetTimeFromPulses_Phase2(uint32_t pulse_num, uint32_t V0, 
+                                              uint32_t jerk, uint32_t Tj) {
+    if (pulse_num == 0) return 0.0;
+
+    double J_real = (double)jerk / 1000.0;       /* Hz / ms^2 */
+    double Tj_d = (double)Tj;                    /* ms */
+    double Amax = J_real * Tj_d;                 /* Hz / ms  (注意单位：a in Hz per ms) */
+    double Vmid = (double)V0;                    /* V0 parameter here is vmid (caller should pass vmid) */
+
+    double S_cont = (double)pulse_num * 1000.0;  /* 连续量 */
+
+    double t;
+    if (Vmid > 0.0) 
+    {
+        t = S_cont / Vmid;
+        if (t <= 0.0) t = Tj_d / 2.0;
     } else {
-        /* 加速段：第二阶段起点 */
-        vel_mid = vel_start + (uint32_t)((jerk * T_sq) / 2000);
+        t = Tj_d / 2.0;
     }
-    
-    /* 第二阶段方程求解 */
-    /* 加速第二阶段: s = v_mid·t - (1/6)·J·t³ （减jerk）
-       减速第二阶段: s = v_mid·t + (1/6)·J·t³ （减jerk，但整体仍是减速）*/
-    
-    if (vel_mid == 0) {
-        /* 特殊情况处理 */
-        uint64_t t_cubed = (6000ULL * displacement) / jerk;
-        uint32_t time_ms = cbrt_approx(t_cubed);
-        
-        uint64_t velocity;
-        if (is_deceleration) {
-            velocity = ((uint64_t)jerk * time_ms * time_ms) / 2000;
-        } else {
-            velocity = vel_mid > ((uint64_t)jerk * time_ms * time_ms) / 2000 ?
-                      vel_mid - ((uint64_t)jerk * time_ms * time_ms) / 2000 : 0;
+
+    /* 牛顿迭代求解 F(t) = Vmid*t + 0.5*Amax*t^2 - (1/6)*J_real*t^3 - S_cont = 0 */
+    for (int i = 0; i < 40; ++i) {
+        double t2 = t * t;
+        double t3 = t2 * t;
+        double F = Vmid * t + 0.5 * Amax * t2 - (1.0/6.0) * J_real * t3 - S_cont;
+        double dF = Vmid + Amax * t - 0.5 * J_real * t2;
+
+        if (fabs(dF) < 1e-12) break;
+        double t_new = t - F / dF;
+        if (t_new <= 0.0) {
+            t_new = t * 0.5;
         }
-        return CLAMP_FREQUENCY(velocity);
-    }
-    
-    /* 多项式近似求解 */
-    uint64_t v_mid_sq = (uint64_t)vel_mid * vel_mid;
-    uint64_t v_mid_cu = v_mid_sq * vel_mid;
-    
-    /* 基础时间: τ = s/v_mid */
-    uint64_t tau_ms = displacement / vel_mid;
-    
-    /* 修正项: x = J·s/(v_mid³) */
-    uint64_t x = ((uint64_t)jerk * displacement) / v_mid_cu;
-    
-    /* 第二阶段的修正（负jerk效应）*/
-    uint64_t correction = x / 6;
-    uint64_t time_ms = (tau_ms > correction) ? tau_ms - correction : tau_ms;
-    if (time_ms == 0) time_ms = 1;
-    
-    /* 计算最终速度 */
-    uint64_t time_sq = (time_ms * time_ms) / 1000;
-    uint64_t jerk_term = ((uint64_t)jerk * time_sq) / 2000;
-    
-    uint64_t velocity;
-    if (is_deceleration) {
-        /* 减速第二阶段: v = v_mid + (1/2)·J·t² （注意这里是加号，因为jerk方向改变）*/
-        velocity = vel_mid + jerk_term;
-    } else {
-        /* 加速第二阶段: v = v_mid - (1/2)·J·t² （减jerk阶段）*/
-        velocity = (vel_mid > jerk_term) ? vel_mid - jerk_term : 0;
+        if (fabs(t_new - t) < 1e-7) {
+            t = t_new;
+            break;
+        }
+        t = t_new;
     }
-    
-    return CLAMP_FREQUENCY(velocity);
+
+    if (t < 0.0) t = 0.0;
+    return t; /* ms */
 }
 
-/* ==================== 主要的多项式近似速度计算函数 ==================== */
-uint32_t SCurve_CalculateVelocityByPosition_Polynomial(PLSR_RouteConfig_t* route, 
-                                                      uint8_t is_acceleration, 
-                                                      uint32_t executed_pulses)
-{
+/* 主函数：使用上述两个反函数，并在计算频率时用 J_real */
+uint32_t PLSR_Calculate_SCurve_FreqByPulses_Exact(PLSR_RouteConfig_t* route, uint8_t is_accel) {
     if (route == NULL) return 0;
-    
-    uint32_t vel_start, jerk, jerk_time_ms;
-    uint32_t phase1_pulses, phase2_pulses;
-    
-    if (is_acceleration) {
-        /* 加速段参数 */
-        vel_start = route->initial_freq;
-        jerk = route->scurve.accel_jerk;
-        jerk_time_ms = route->scurve.accel_jerk_time_ms;
+
+    int64_t current_tim2_count = __HAL_TIM_GET_COUNTER(&htim2);
+    uint32_t executed_pulses = current_tim2_count;
+
+    uint32_t V0, jerk, Tj, phase1_pulses, phase2_pulses;
+
+    if (is_accel) {
+        V0 = route->initial_freq;
+        jerk = route->scurve.accel_jerk;           /* NOTE: assumed scaled = J_real * 1000 */
+        Tj = route->scurve.accel_jerk_time_ms;
         phase1_pulses = route->scurve.accel_phase1_pulses;
         phase2_pulses = route->scurve.accel_phase2_pulses;
     } else {
-        /* 减速段参数 */
-        vel_start = route->initial_freq;
+        V0 = route->part2_target_freq;
         jerk = route->scurve.decel_jerk;
-        jerk_time_ms = route->scurve.decel_jerk_time_ms;
+        Tj = route->scurve.decel_jerk_time_ms;
         phase1_pulses = route->scurve.decel_phase1_pulses;
         phase2_pulses = route->scurve.decel_phase2_pulses;
     }
+
+    if (jerk == 0 || Tj == 0) return V0;
+
+    uint32_t calculated_freq = V0;
+
+    if (executed_pulses == 0) {
+        return V0;
+    } 
+    else if (executed_pulses <= phase1_pulses) 
+    {
+        /* Phase1 */
+        double t = SCurve_GetTimeFromPulses_Phase1(executed_pulses, jerk); /* ms */
+        double J_real = (double)jerk / 1000.0; /* Hz / ms^2 */
+        if (is_accel) {
+            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;
+            calculated_freq = (uint32_t)(freq_double + 0.5);
+        }
+    } 
+    else if (executed_pulses <= (phase1_pulses + phase2_pulses)) 
+    {
+        /* Phase2 */
+        double Tj_d = (double)Tj;
+        double J_real = (double)jerk / 1000.0;
+        double vmid_double;
+        if (is_accel) {
+            vmid_double = (double)V0 + 0.5 * J_real * Tj_d * Tj_d;
+        } else {
+            vmid_double = (double)V0 - 0.5 * J_real * Tj_d * Tj_d;
+            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) 
+        {
+            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;
+            calculated_freq = (uint32_t)(freq_double + 0.5);
+        }
+    } else {
+        calculated_freq = is_accel ? route->part1_target_freq : route->part3_target_freq;
+    }
+
+    if (calculated_freq > PLSR_PWM_FREQ_MAX) calculated_freq = PLSR_PWM_FREQ_MAX;
+    if (calculated_freq == 0) calculated_freq = 1;
+
+    return calculated_freq;
+}
+
+
+/**
+ * @brief 获取下一个脉冲的周期时间
+ * @param current_freq 当前计算得到的频率
+ * @return 下一个脉冲的周期时间（微秒）
+ */
+uint32_t PLSR_GetNextPulsePeriod_us(uint32_t current_freq) {
+    if (current_freq == 0) return 0xFFFFFFFF;  // 无效频率
     
-    /* 参数有效性检查 */
-    if (jerk == 0 || jerk_time_ms == 0) return vel_start;
-    if ((phase1_pulses + phase2_pulses) == 0) return vel_start;
+    // 周期 = 1/频率，转换为微秒
+    uint32_t period_us = 1000000 / current_freq;
+    return period_us;
+}
+
+/**
+ * @brief 修改后的主控制函数，使用精确的反函数计算
+ */
+uint32_t PLSR_SCurve_Control(PLSR_RouteConfig_t* route) {
+    if (route == NULL) return 0;
     
-    /* 将脉冲转换为位移 (Hz·ms) */
-    uint64_t displacement = (uint64_t)executed_pulses * 1000ULL;
+    uint32_t current_freq = 0;
     
-    /* 判断当前处于哪个阶段并求解 */
-    if (executed_pulses <= phase1_pulses) {
-        /* 第一阶段：正jerk或负jerk开始 */
-        return SCurve_SolvePhase1_Polynomial(vel_start, jerk, displacement, !is_acceleration);
-    } else if (executed_pulses <= (phase1_pulses + phase2_pulses)) {
-        /* 第二阶段：jerk减小阶段 */
-        uint64_t phase2_displacement = (uint64_t)(executed_pulses - phase1_pulses) * 1000ULL;
-        return SCurve_SolvePhase2_Polynomial(vel_start, jerk, jerk_time_ms, 
-                                           phase2_displacement, !is_acceleration);
-    } else {
-        /* 超出范围，返回目标速度 */
-        if (is_acceleration) {
-            return CLAMP_FREQUENCY(route->part1_target_freq);
-        } else {
-            return CLAMP_FREQUENCY(route->part3_target_freq);
-        }
+    switch(route->run_state) {
+        case PLSR_STATE_ACCEL:
+            // 加速阶段使用精确S曲线计算
+            current_freq = PLSR_Calculate_SCurve_FreqByPulses_Exact(route, 1);
+            break;
+            
+        case PLSR_STATE_DECEL:
+            // 减速阶段使用精确S曲线计算
+            current_freq = PLSR_Calculate_SCurve_FreqByPulses_Exact(route, 0);
+            break;
+            
+        case PLSR_STATE_CONST:
+            // 匀速阶段保持目标频率
+            current_freq = route->target_freq;
+            break;
+            
+        default:
+            current_freq = route->current_freq;
+            break;
     }
+    return current_freq;
 }

PLSR/PLSR/EWARM/settings/test.1.dbgdt

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                 <ID>34049</ID>
@@ -1150,7 +1150,7 @@
             </BasePane-34049>
             <MFCToolBar-34050>
                 <Name>Main</Name>
-                <Buttons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uttons>
+                <Buttons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uttons>
             </MFCToolBar-34050>
             <Pane-34050>
                 <ID>34050</ID>

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

@@ -20,7 +20,7 @@
         <stlinkResetStrategy>2</stlinkResetStrategy>
     </StLinkDriver>
     <DebugChecksum>
-        <Checksum>3379969080</Checksum>
+        <Checksum>1173251154</Checksum>
     </DebugChecksum>
     <Exceptions>
         <StopOnUncaught>_ 0</StopOnUncaught>

PLSR/PLSR/EWARM/test.1.ewp

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

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

@@ -1,64 +1,88 @@
 # ninja log v5
-556	591	7784095308609417	stm32f4xx_ll_rng.pbi	5e12b9ea00d0b826
-38	105	7784095303419003	stm32f4xx_ll_gpio.pbi	df8b54563945d41d
-583	646	7784095308935140	stm32f4xx_ll_tim.pbi	b88554c6464192f5
-1057	1444	7784095316950350	stm32f4xx_hal_flash_ex.pbi	ac2d035774fe6a2e
-1051	1448	7784095316960349	stm32f4xx_hal_pwr.pbi	b347497fce55b6a8
-141	175	7784095304450158	stm32f4xx_ll_pwr.pbi	952cb4e4f4edb65b
-1578	1657	7784095318867766	test.1_part7.pbi	500429da32d98820
-1524	2108	7784095323780438	test.1_part3.pbi	351715abf331fd8f
-45	458	7784095307257064	stm32f4xx_hal_rcc_ex.pbi	c1d751d24d77a2df
-597	666	7784095309345140	app_hooks.pbi	ffd399489d189d5a
-1450	2093	7784095323353785	test.1_part4.pbi	56a4af6f8e33d2b8
-42	433	7784095307007069	stm32f4xx_hal_pwr_ex.pbi	b84426bf5a4ce0cf
-600	685	7784095309395131	os_cpu_c.pbi	eb75b848b406ea34
-1145	1524	7784095317900360	stm32f4xx_hal_rcc.pbi	50976e6b18f3b8bc
-103	599	7784095308679416	stm32f4xx_hal_tim.pbi	71840baae88d57c4
-1054	1450	7784095316880351	stm32f4xx_hal_usart.pbi	b368fafd8b8b8bb9
-4151	5857	7784095360879135	test.1.pbw	f11e09b552b4c82f
+1179	1316	7784167807236548	stm32f4xx_ll_rng.pbi	5e12b9ea00d0b826
+482	706	7784167800296124	stm32f4xx_ll_gpio.pbi	df8b54563945d41d
+851	882	7784167802887048	stm32f4xx_ll_tim.pbi	b88554c6464192f5
+947	1309	7784167807088128	stm32f4xx_hal_flash_ex.pbi	ac2d035774fe6a2e
+175	703	7784167800206123	stm32f4xx_hal_pwr.pbi	b347497fce55b6a8
+879	914	7784167803217106	stm32f4xx_ll_pwr.pbi	952cb4e4f4edb65b
+1485	1528	7784167809346973	test.1_part7.pbi	500429da32d98820
+979	1565	7784167809593242	test.1_part3.pbi	351715abf331fd8f
+490	879	7784167802677036	stm32f4xx_hal_rcc_ex.pbi	c1d751d24d77a2df
+883	946	7784167803517033	app_hooks.pbi	ffd399489d189d5a
+1488	2181	7784167815668558	test.1_part4.pbi	56a4af6f8e33d2b8
+488	851	7784167802567047	stm32f4xx_hal_pwr_ex.pbi	b84426bf5a4ce0cf
+914	982	7784167803867031	os_cpu_c.pbi	eb75b848b406ea34
+485	978	7784167803577050	stm32f4xx_hal_rcc.pbi	50976e6b18f3b8bc
+704	1147	7784167805475020	stm32f4xx_hal_tim.pbi	71840baae88d57c4
+983	1313	7784167807168158	stm32f4xx_hal_usart.pbi	b368fafd8b8b8bb9
+1314	3003	7784279571085987	test.1.pbw	f11e09b552b4c82f
 2014	2487	7762488664073707	uart.pbi	5ce52444157923c9
-1282	1328	7784095315920352	stm32f4xx_ll_dac.pbi	7dfc4be0933cdfaf
-495	556	7784095308065863	stm32f4xx_ll_crc.pbi	dcf41d4b97590765
-456	494	7784095307637066	stm32f4xx_ll_rcc.pbi	fb9ace481decf8ab
-2369	2693	7784095329629266	stm32f4xx_hal_msp.pbi	8144db72f01a260b
-558	596	7784095308659413	stm32f4xx_ll_spi.pbi	ce805017b70a4f43
-1415	1578	7784095318480350	os_dbg.pbi	f7287a072fe86a55
-592	772	7784095310045139	stm32f4xx_ll_usart.pbi	783190689e783d9
-2545	2884	7784095331409267	stm32f4xx_hal_crc.pbi	881b29e4c80746b3
-33	103	7784095303369004	stm32f4xx_ll_dma.pbi	f9e6142ede2883b4
-36	108	7784095303399009	stm32f4xx_ll_exti.pbi	883a2fd463949e02
-1386	1414	7784095316700350	test.1_part5.pbi	6e09abdb5099df5f
-1328	1572	7784095318370346	ucos_ii.pbi	4e0ab25e0060431e
-1657	2027	7784095322863806	stm32f4xx_hal.pbi	a073c739b6b34173
-108	140	7784095304100165	stm32f4xx_ll_i2c.pbi	7f1151d8874c40c9
-459	879	7784095311115129	stm32f4xx_hal_sram.pbi	4652c5af4efd4e19
-667	1054	7784095313095130	stm32f4xx_hal_flash.pbi	eccf13860e1d0c6a
-1445	1468	7784095317390342	test.1_part6.pbi	1f990020cfbdc2d2
-880	1386	7784095316550352	stm32f4xx_hal_tim_ex.pbi	3c68a2e86514987f
-646	1051	7784095312665144	stm32f4xx_hal_flash_ramfunc.pbi	ae498685b336a49c
-433	816	7784095310855143	stm32f4xx_hal_wwdg.pbi	fca2b44f67349f99
-106	558	7784095308245789	stm32f4xx_hal_uart.pbi	e7ca7ebbb4330340
+450	490	7784167798971037	stm32f4xx_ll_dac.pbi	7dfc4be0933cdfaf
+447	487	7784167798941039	stm32f4xx_ll_crc.pbi	dcf41d4b97590765
+706	743	7784167801506126	stm32f4xx_ll_rcc.pbi	fb9ace481decf8ab
+2795	3229	7784167826369586	stm32f4xx_hal_msp.pbi	8144db72f01a260b
+40	73	7784167794814239	stm32f4xx_ll_spi.pbi	ce805017b70a4f43
+1313	1484	7784167807878362	os_dbg.pbi	f7287a072fe86a55
+1186	1350	7784167807410203	stm32f4xx_ll_usart.pbi	783190689e783d9
+1930	2414	7784167818085080	stm32f4xx_hal_crc.pbi	881b29e4c80746b3
+1109	1145	7784167805495019	stm32f4xx_ll_dma.pbi	f9e6142ede2883b4
+1309	1481	7784167808498366	stm32f4xx_ll_exti.pbi	883a2fd463949e02
+1481	1496	7784167809026978	test.1_part5.pbi	6e09abdb5099df5f
+34	174	7784167795819338	ucos_ii.pbi	4e0ab25e0060431e
+2191	2698	7784167820919536	stm32f4xx_hal.pbi	a073c739b6b34173
+1145	1178	7784167805842337	stm32f4xx_ll_i2c.pbi	7f1151d8874c40c9
+849	1186	7784167805942199	stm32f4xx_hal_sram.pbi	4652c5af4efd4e19
+37	446	7784167798521034	stm32f4xx_hal_flash.pbi	eccf13860e1d0c6a
+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
+1148	1488	7784167808711460	stm32f4xx_hal_wwdg.pbi	fca2b44f67349f99
+743	1109	7784167805164109	stm32f4xx_hal_uart.pbi	e7ca7ebbb4330340
 35	454	7762489045860992	timer.pbi	8f8acc6a162957f
-817	1281	7784095315510351	stm32f4xx_hal_i2c.pbi	74395538aa12fa10
-2579	3023	7784095332931819	stm32f4xx_hal_dma.pbi	2d6aa8f3983bf80a
-2028	2402	7784095326633620	stm32f4xx_hal_timebase_tim.pbi	b6f5ce0feaca8054
-685	1057	7784095313215134	stm32f4xx_hal_dma_ex.pbi	1960c5ab56ffede7
-176	583	7784095308534324	stm32f4xx_hal_i2c_ex.pbi	7798e48f8e6ef374
-39	455	7784095307177070	stm32f4xx_hal_exti.pbi	373789209d565f00
-2108	2578	7784095328313628	main.pbi	9c0a6aa02351636a
-2402	2827	7784095330459267	stm32f4xx_it.pbi	d01766022cb163bc
-2422	2883	7784095331169269	stm32f4xx_hal_cortex.pbi	2c6d2473a153fb5a
-2828	3211	7784095334201534	system_stm32f4xx.pbi	f50e519d7e78a5de
-2094	2545	7784095328073625	gpio.pbi	a088b5271f02118a
-3777	4151	7784095344123703	test.1.pbd	363d5d355a216cdf
-2693	3312	7784095335559038	test.1_part0.pbi	60db414ccd7a80f4
-773	1145	7784095313986274	stm32f4xx_hal_gpio.pbi	53b438f48be9a8d0
-3212	3777	7784095340331742	test.1_part1.pbi	132c9eecf11b0e50
-3024	3555	7784095338269031	test.1_part2.pbi	9358ff0702a0a659
-2062	2421	7784095326913633	dma.pbi	4f5ebe00ac67ed57
-1468	2062	7784095323280687	tim.pbi	f07c6d790a519d93
-2537	2985	7784095332441816	usart.pbi	7c2d93866867ab60
-1903	2369	7784095326383628	modbus_log.pbi	596603da5f343c45
-1573	2030	7784095323003812	modbus_crc.pbi	9b76681ddf289794
-1448	1903	7784095321727763	flash_save.pbi	dc7405226be28cc6
-2030	2536	7784095327803633	tools.pbi	50c1b905eccec5a9
+38	460	7784167798631034	stm32f4xx_hal_i2c.pbi	74395538aa12fa10
+2182	2695	7784167820789536	stm32f4xx_hal_dma.pbi	2d6aa8f3983bf80a
+1316	1689	7784167810970779	stm32f4xx_hal_timebase_tim.pbi	b6f5ce0feaca8054
+2411	2797	7784167821919543	stm32f4xx_hal_dma_ex.pbi	1960c5ab56ffede7
+461	848	7784167802356119	stm32f4xx_hal_i2c_ex.pbi	7798e48f8e6ef374
+2414	2794	7784167821959537	stm32f4xx_hal_exti.pbi	373789209d565f00
+40	614	7784278404872903	main.pbi	9c0a6aa02351636a
+1478	1932	7784167813252468	stm32f4xx_it.pbi	d01766022cb163bc
+2179	2548	7784167819384369	stm32f4xx_hal_cortex.pbi	2c6d2473a153fb5a
+1982	2411	7784167817604177	system_stm32f4xx.pbi	f50e519d7e78a5de
+37	583	7784278404462865	gpio.pbi	a088b5271f02118a
+965	1313	7784279554645077	test.1.pbd	363d5d355a216cdf
+615	1215	7784278410929298	test.1_part0.pbi	60db414ccd7a80f4
+73	481	7784167798891047	stm32f4xx_hal_gpio.pbi	53b438f48be9a8d0
+413	965	7784279551162514	test.1_part1.pbi	132c9eecf11b0e50
+2797	3379	7784167827809588	test.1_part2.pbi	9358ff0702a0a659
+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
+495	1103	7784279802455313	test.1_part1.pbi	132c9eecf11b0e50
+1103	1509	7784279806571254	test.1.pbd	363d5d355a216cdf
+1510	3258	7784279823678588	test.1.pbw	f11e09b552b4c82f
+35	526	7784286750342297	tools.pbi	50c1b905eccec5a9
+526	1115	7784286755983960	test.1_part1.pbi	132c9eecf11b0e50
+1115	1496	7784286759952451	test.1.pbd	363d5d355a216cdf
+1496	3153	7784286776198971	test.1.pbw	f11e09b552b4c82f
+42	421	7784286865146048	tools.pbi	50c1b905eccec5a9
+421	968	7784286870626236	test.1_part1.pbi	132c9eecf11b0e50
+969	1324	7784286874186105	test.1.pbd	363d5d355a216cdf
+1324	3024	7784286890790863	test.1.pbw	f11e09b552b4c82f
+38	524	7784287000838654	tools.pbi	50c1b905eccec5a9
+525	1104	7784287006633794	test.1_part1.pbi	132c9eecf11b0e50
+1104	1473	7784287010334258	test.1.pbd	363d5d355a216cdf
+1474	3178	7784287026954716	test.1.pbw	f11e09b552b4c82f
+34	407	7784289088070313	tools.pbi	50c1b905eccec5a9
+408	952	7784289093572070	test.1_part1.pbi	132c9eecf11b0e50
+953	1302	7784289097071205	test.1.pbd	363d5d355a216cdf
+1303	2947	7784289113149025	test.1.pbw	f11e09b552b4c82f

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

@@ -1,57 +1,64 @@
 main.pbi: \
-  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:\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:\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\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
+  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:\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

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

@@ -1,59 +1,55 @@
-tim.pbi: e:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\Core\Src\tim.c \
-  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/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/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:\Users\Mortal\Desktop\Train_Camp_PLSR\PLSR\PLSR\EWARM/../Core/Inc/tim.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 \
+tim.pbi: E:\Software\IAR\arm\inc\c\iar_intrinsics_common.h \
   E:\Software\IAR\arm\inc\c\intrinsics.h \
-  E:\Software\IAR\arm\inc\c\iar_intrinsics_common.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\tim.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\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\tim.c