Variant_PWM implemented
This commit is contained in:
EmanuelFeru
parent
d6d22351e3
commit
39e4fdc869
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@ -3,9 +3,9 @@
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*
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* Code generated for Simulink model 'BLDC_controller'.
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*
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* Model version : 1.1256
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* Model version : 1.1260
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* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
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* C/C++ source code generated on : Mon Dec 30 21:36:12 2019
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* C/C++ source code generated on : Tue Mar 24 11:01:08 2020
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*
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* Target selection: ert.tlc
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* Embedded hardware selection: ARM Compatible->ARM Cortex
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15
Inc/config.h
15
Inc/config.h
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@ -284,14 +284,13 @@
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* Channel 1: steering, Channel 2: speed.
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*/
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#define CONTROL_PWM // use RC PWM as input. disable DEBUG_SERIAL_USART2!
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// #define SUPPORT_BUTTONS // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
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#define PWM_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
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// Min / Max values of each channel (use DEBUG to determine these values)
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#define PWM_CH1_MAX 1000 // (0 - 1000)
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#define PWM_CH1_MIN -1000 // (-1000 - 0)
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#define PWM_CH2_MAX 1000 // (0 - 1000)
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#define PWM_CH2_MIN -1000 // (-1000 - 0)
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// right sensor board cable. Only read once during startup
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#define BUTTONS_RIGHT // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
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#define FILTER 6553 // 0.1f [-] fixdt(0,16,16) lower value == softer filter [0, 65535] = [0.0 - 1.0].
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#define SPEED_COEFFICIENT 16384 // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14
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#define STEER_COEFFICIENT 0 // 0.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 0 = 0.0 * 2^14. If you do not want any steering, set it to 0.
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@ -464,6 +463,14 @@
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#error CONTROL_PPM and SERIAL_USART2 not allowed. It is on the same cable.
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#endif
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#if (defined(CONTROL_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2)) && defined(CONTROL_PWM)
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#error CONTROL_PWM and SERIAL_USART2 not allowed. It is on the same cable.
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#endif
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#if (defined(CONTROL_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3)) && defined(CONTROL_PWM) && defined(SUPPORT_BUTTONS)
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#error SUPPORT_BUTTONS and SERIAL_USART3 not allowed for VARIANT_PWM. It is on the same cable.
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#endif
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#if (defined(CONTROL_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3)) && defined(CONTROL_NUNCHUK)
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#error CONTROL_NUNCHUK and SERIAL_USART3 not allowed. It is on the same cable.
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#endif
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@ -472,8 +479,8 @@
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#error DEBUG_I2C_LCD and SERIAL_USART3 not allowed. It is on the same cable.
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#endif
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#if defined(CONTROL_PPM) && defined(CONTROL_ADC) && defined(CONTROL_NUNCHUK) || defined(CONTROL_PPM) && defined(CONTROL_ADC) || defined(CONTROL_ADC) && defined(CONTROL_NUNCHUK) || defined(CONTROL_PPM) && defined(CONTROL_NUNCHUK)
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#error only 1 input method allowed. use CONTROL_PPM or CONTROL_ADC or CONTROL_NUNCHUK.
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#if defined(CONTROL_ADC) && (defined(CONTROL_PPM) || defined(CONTROL_PWM) || defined(CONTROL_NUNCHUK)) || defined(CONTROL_PPM) && (defined(CONTROL_PWM) || defined(CONTROL_NUNCHUK)) || defined(CONTROL_PWM) && defined(CONTROL_NUNCHUK)
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#error only 1 input method allowed. use CONTROL_ADC or CONTROL_PPM or CONTROL_PWM or CONTROL_NUNCHUK.
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#endif
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#if defined(ADC_PROTECT_ENA) && ((ADC1_MIN - ADC_PROTECT_THRESH) <= 0 || (ADC1_MAX + ADC_PROTECT_THRESH) >= 4095)
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@ -124,6 +124,11 @@
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#define CHARGER_PIN GPIO_PIN_12
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#define CHARGER_PORT GPIOA
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#define BUTTON1_RIGHT_PIN GPIO_PIN_10
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#define BUTTON1_RIGHT_PORT GPIOB
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#define BUTTON2_RIGHT_PIN GPIO_PIN_11
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#define BUTTON2_RIGHT_PORT GPIOB
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#define DELAY_TIM_FREQUENCY_US 1000000
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#define MILLI_R (R * 1000)
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@ -141,6 +146,7 @@
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#define RAD(a) ((a)*180.0f / M_PI)
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#define SIGN(a) (((a) < 0) ? (-1) : (((a) > 0) ? (1) : (0)))
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#define CLAMP(x, low, high) (((x) > (high)) ? (high) : (((x) < (low)) ? (low) : (x)))
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#define IN_RANGE(x, low, high) (((x) >= (low)) && ((x) <= (high)))
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#define SCALE(value, high, max) MIN(MAX(((max) - (value)) / ((max) - (high)), 0.0f), 1.0f)
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#define MIN(a, b) (((a) < (b)) ? (a) : (b))
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#define MAX(a, b) (((a) > (b)) ? (a) : (b))
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@ -168,7 +174,7 @@ uint8_t Nunchuk_Ping(void);
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void PPM_Init(void);
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void PPM_ISR_Callback(void);
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void PWM_Init(void);
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//void PWM_ISR_CH1_Callback(void);
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void PWM_ISR_CH1_Callback(void);
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void PWM_ISR_CH2_Callback(void);
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// Sideboard definitions
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@ -3,9 +3,9 @@
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*
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* Code generated for Simulink model 'BLDC_controller'.
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*
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* Model version : 1.1256
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* Model version : 1.1260
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* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
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* C/C++ source code generated on : Mon Dec 30 21:36:12 2019
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* C/C++ source code generated on : Tue Mar 24 11:01:08 2020
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*
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* Target selection: ert.tlc
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* Embedded hardware selection: ARM Compatible->ARM Cortex
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@ -75,7 +75,7 @@
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<OPTFL>
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<tvExp>1</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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<IsCurrentTarget>0</IsCurrentTarget>
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<IsCurrentTarget>1</IsCurrentTarget>
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</OPTFL>
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<CpuCode>18</CpuCode>
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<DebugOpt>
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@ -633,6 +633,159 @@
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</TargetOption>
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</Target>
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<Target>
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<TargetName>VARIANT_PWM</TargetName>
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<ToolsetNumber>0x4</ToolsetNumber>
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<ToolsetName>ARM-ADS</ToolsetName>
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<TargetOption>
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<CLKADS>8000000</CLKADS>
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<OPTTT>
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<gFlags>1</gFlags>
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<BeepAtEnd>0</BeepAtEnd>
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<RunSim>0</RunSim>
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<RunTarget>1</RunTarget>
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<RunAbUc>0</RunAbUc>
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</OPTTT>
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<OPTHX>
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<HexSelection>1</HexSelection>
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<FlashByte>65535</FlashByte>
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<HexRangeLowAddress>0</HexRangeLowAddress>
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<HexRangeHighAddress>0</HexRangeHighAddress>
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<HexOffset>0</HexOffset>
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</OPTHX>
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<OPTLEX>
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<PageWidth>79</PageWidth>
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<PageLength>66</PageLength>
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<TabStop>8</TabStop>
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<ListingPath>.\Listing\</ListingPath>
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</OPTLEX>
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<ListingPage>
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<CreateCListing>1</CreateCListing>
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<CreateAListing>1</CreateAListing>
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<CreateLListing>1</CreateLListing>
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<CreateIListing>0</CreateIListing>
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<AsmCond>1</AsmCond>
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<AsmSymb>1</AsmSymb>
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<AsmXref>0</AsmXref>
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<CCond>1</CCond>
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<CCode>0</CCode>
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<CListInc>0</CListInc>
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<CSymb>0</CSymb>
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<LinkerCodeListing>0</LinkerCodeListing>
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</ListingPage>
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<OPTXL>
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<LMap>1</LMap>
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<LComments>1</LComments>
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<LGenerateSymbols>1</LGenerateSymbols>
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<LLibSym>1</LLibSym>
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<LLines>1</LLines>
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<LLocSym>1</LLocSym>
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<LPubSym>1</LPubSym>
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<LXref>0</LXref>
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<LExpSel>0</LExpSel>
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</OPTXL>
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<OPTFL>
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<tvExp>1</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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<IsCurrentTarget>0</IsCurrentTarget>
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</OPTFL>
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<CpuCode>18</CpuCode>
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<DebugOpt>
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<uSim>0</uSim>
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<uTrg>1</uTrg>
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<sLdApp>1</sLdApp>
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<sGomain>1</sGomain>
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<sRbreak>1</sRbreak>
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<sRwatch>1</sRwatch>
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<sRmem>1</sRmem>
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<sRfunc>1</sRfunc>
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<sRbox>1</sRbox>
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<tLdApp>1</tLdApp>
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<tGomain>1</tGomain>
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<tRbreak>1</tRbreak>
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<tRwatch>1</tRwatch>
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<tRmem>1</tRmem>
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<tRfunc>0</tRfunc>
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<tRbox>1</tRbox>
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<tRtrace>1</tRtrace>
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<sRSysVw>1</sRSysVw>
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<tRSysVw>1</tRSysVw>
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<sRunDeb>0</sRunDeb>
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<sLrtime>0</sLrtime>
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<bEvRecOn>1</bEvRecOn>
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<nTsel>5</nTsel>
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<sDll></sDll>
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<sDllPa></sDllPa>
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<sDlgDll></sDlgDll>
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<sDlgPa></sDlgPa>
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<sIfile></sIfile>
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<tDll></tDll>
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<tDllPa></tDllPa>
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<tDlgDll></tDlgDll>
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<tDlgPa></tDlgPa>
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<tIfile></tIfile>
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<pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
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</DebugOpt>
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<TargetDriverDllRegistry>
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<SetRegEntry>
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<Number>0</Number>
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<Key>ST-LINKIII-KEIL_SWO</Key>
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<Name>-U -O206 -S0 -C0 -A0 -TO18 -TC10000000 -TP21 -TDS8004 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_512.FLM -FS08000000 -FL080000 -FP0($$Device:STM32F103RC$Flash\STM32F10x_512.FLM)</Name>
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</SetRegEntry>
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<SetRegEntry>
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<Number>0</Number>
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<Key>UL2CM3</Key>
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<Name>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_512 -FS08000000 -FL080000 -FP0($$Device:STM32F103RC$Flash\STM32F10x_512.FLM))</Name>
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</SetRegEntry>
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</TargetDriverDllRegistry>
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<Breakpoint/>
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<Tracepoint>
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<THDelay>0</THDelay>
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</Tracepoint>
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<DebugFlag>
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<trace>0</trace>
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<periodic>0</periodic>
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<aLwin>0</aLwin>
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<aCover>0</aCover>
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<aSer1>0</aSer1>
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<aSer2>0</aSer2>
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<aPa>0</aPa>
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<viewmode>0</viewmode>
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<vrSel>0</vrSel>
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<aSym>0</aSym>
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||||
<aTbox>0</aTbox>
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||||
<AscS1>0</AscS1>
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<AscS2>0</AscS2>
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<AscS3>0</AscS3>
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<aSer3>0</aSer3>
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<eProf>0</eProf>
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<aLa>0</aLa>
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||||
<aPa1>0</aPa1>
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<AscS4>0</AscS4>
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<aSer4>0</aSer4>
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<StkLoc>0</StkLoc>
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<TrcWin>0</TrcWin>
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<newCpu>0</newCpu>
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<uProt>0</uProt>
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</DebugFlag>
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<LintExecutable></LintExecutable>
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<LintConfigFile></LintConfigFile>
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<bLintAuto>0</bLintAuto>
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<bAutoGenD>0</bAutoGenD>
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<LntExFlags>0</LntExFlags>
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<pMisraName></pMisraName>
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<pszMrule></pszMrule>
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<pSingCmds></pSingCmds>
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<pMultCmds></pMultCmds>
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<DebugDescription>
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<Enable>1</Enable>
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<EnableLog>0</EnableLog>
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<Protocol>2</Protocol>
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<DbgClock>10000000</DbgClock>
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</DebugDescription>
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</TargetOption>
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</Target>
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<Target>
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<TargetName>VARIANT_IBUS</TargetName>
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<ToolsetNumber>0x4</ToolsetNumber>
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<OPTFL>
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<tvExp>1</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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<IsCurrentTarget>1</IsCurrentTarget>
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<IsCurrentTarget>0</IsCurrentTarget>
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</OPTFL>
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<CpuCode>18</CpuCode>
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<DebugOpt>
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</Group>
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</Groups>
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</Target>
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<Target>
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<TargetName>VARIANT_PWM</TargetName>
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<ToolsetNumber>0x4</ToolsetNumber>
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<ToolsetName>ARM-ADS</ToolsetName>
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<pCCUsed>5060422::V5.06 update 4 (build 422)::ARMCC</pCCUsed>
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<TargetOption>
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<TargetCommonOption>
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<Device>STM32F103RC</Device>
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<Vendor>STMicroelectronics</Vendor>
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<PackID>Keil.STM32F1xx_DFP.2.3.0</PackID>
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<PackURL>http://www.keil.com/pack/</PackURL>
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<Cpu>IRAM(0x20000000-0x2000BFFF) IROM(0x8000000-0x803FFFF) CLOCK(8000000) CPUTYPE("Cortex-M3")</Cpu>
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<FlashUtilSpec></FlashUtilSpec>
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<StartupFile></StartupFile>
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<FlashDriverDll></FlashDriverDll>
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<DeviceId></DeviceId>
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<RegisterFile></RegisterFile>
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<MemoryEnv></MemoryEnv>
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<Cmp></Cmp>
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<Asm></Asm>
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<Linker></Linker>
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<OHString></OHString>
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||||
<InfinionOptionDll></InfinionOptionDll>
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||||
<SLE66CMisc></SLE66CMisc>
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||||
<SLE66AMisc></SLE66AMisc>
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||||
<SLE66LinkerMisc></SLE66LinkerMisc>
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||||
<SFDFile>$$Device:STM32F103RC$SVD\STM32F103xx.svd</SFDFile>
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||||
<bCustSvd>0</bCustSvd>
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||||
<UseEnv>0</UseEnv>
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||||
<BinPath></BinPath>
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||||
<IncludePath></IncludePath>
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||||
<LibPath></LibPath>
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||||
<RegisterFilePath></RegisterFilePath>
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||||
<DBRegisterFilePath></DBRegisterFilePath>
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||||
<TargetStatus>
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||||
<Error>0</Error>
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||||
<ExitCodeStop>0</ExitCodeStop>
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||||
<ButtonStop>0</ButtonStop>
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||||
<NotGenerated>0</NotGenerated>
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||||
<InvalidFlash>1</InvalidFlash>
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||||
</TargetStatus>
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||||
<OutputDirectory>.\Objects\</OutputDirectory>
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||||
<OutputName>firmware</OutputName>
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||||
<CreateExecutable>1</CreateExecutable>
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||||
<CreateLib>0</CreateLib>
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||||
<CreateHexFile>1</CreateHexFile>
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||||
<DebugInformation>1</DebugInformation>
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||||
<BrowseInformation>1</BrowseInformation>
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||||
<ListingPath>.\Listing\</ListingPath>
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||||
<HexFormatSelection>1</HexFormatSelection>
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||||
<Merge32K>0</Merge32K>
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||||
<CreateBatchFile>0</CreateBatchFile>
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||||
<BeforeCompile>
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||||
<RunUserProg1>0</RunUserProg1>
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||||
<RunUserProg2>0</RunUserProg2>
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||||
<UserProg1Name></UserProg1Name>
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||||
<UserProg2Name></UserProg2Name>
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||||
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
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||||
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
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||||
<nStopU1X>0</nStopU1X>
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||||
<nStopU2X>0</nStopU2X>
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||||
</BeforeCompile>
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||||
<BeforeMake>
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||||
<RunUserProg1>0</RunUserProg1>
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||||
<RunUserProg2>0</RunUserProg2>
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||||
<UserProg1Name></UserProg1Name>
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||||
<UserProg2Name></UserProg2Name>
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||||
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
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||||
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
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||||
<nStopB1X>0</nStopB1X>
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||||
<nStopB2X>0</nStopB2X>
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||||
</BeforeMake>
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||||
<AfterMake>
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||||
<RunUserProg1>1</RunUserProg1>
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||||
<RunUserProg2>0</RunUserProg2>
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||||
<UserProg1Name>$K\ARM\ARMCC\bin\fromelf.exe --bin --output=.\Objects\@L.bin !L</UserProg1Name>
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<UserProg2Name></UserProg2Name>
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||||
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
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||||
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
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||||
<nStopA1X>0</nStopA1X>
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||||
<nStopA2X>0</nStopA2X>
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||||
</AfterMake>
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||||
<SelectedForBatchBuild>0</SelectedForBatchBuild>
|
||||
<SVCSIdString></SVCSIdString>
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||||
</TargetCommonOption>
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||||
<CommonProperty>
|
||||
<UseCPPCompiler>0</UseCPPCompiler>
|
||||
<RVCTCodeConst>0</RVCTCodeConst>
|
||||
<RVCTZI>0</RVCTZI>
|
||||
<RVCTOtherData>0</RVCTOtherData>
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||||
<ModuleSelection>0</ModuleSelection>
|
||||
<IncludeInBuild>1</IncludeInBuild>
|
||||
<AlwaysBuild>0</AlwaysBuild>
|
||||
<GenerateAssemblyFile>0</GenerateAssemblyFile>
|
||||
<AssembleAssemblyFile>0</AssembleAssemblyFile>
|
||||
<PublicsOnly>0</PublicsOnly>
|
||||
<StopOnExitCode>3</StopOnExitCode>
|
||||
<CustomArgument></CustomArgument>
|
||||
<IncludeLibraryModules></IncludeLibraryModules>
|
||||
<ComprImg>0</ComprImg>
|
||||
</CommonProperty>
|
||||
<DllOption>
|
||||
<SimDllName>SARMCM3.DLL</SimDllName>
|
||||
<SimDllArguments>-REMAP</SimDllArguments>
|
||||
<SimDlgDll>DCM.DLL</SimDlgDll>
|
||||
<SimDlgDllArguments>-pCM3</SimDlgDllArguments>
|
||||
<TargetDllName>SARMCM3.DLL</TargetDllName>
|
||||
<TargetDllArguments></TargetDllArguments>
|
||||
<TargetDlgDll>TCM.DLL</TargetDlgDll>
|
||||
<TargetDlgDllArguments>-pCM3</TargetDlgDllArguments>
|
||||
</DllOption>
|
||||
<DebugOption>
|
||||
<OPTHX>
|
||||
<HexSelection>1</HexSelection>
|
||||
<HexRangeLowAddress>0</HexRangeLowAddress>
|
||||
<HexRangeHighAddress>0</HexRangeHighAddress>
|
||||
<HexOffset>0</HexOffset>
|
||||
<Oh166RecLen>16</Oh166RecLen>
|
||||
</OPTHX>
|
||||
</DebugOption>
|
||||
<Utilities>
|
||||
<Flash1>
|
||||
<UseTargetDll>1</UseTargetDll>
|
||||
<UseExternalTool>0</UseExternalTool>
|
||||
<RunIndependent>0</RunIndependent>
|
||||
<UpdateFlashBeforeDebugging>1</UpdateFlashBeforeDebugging>
|
||||
<Capability>1</Capability>
|
||||
<DriverSelection>4096</DriverSelection>
|
||||
</Flash1>
|
||||
<bUseTDR>1</bUseTDR>
|
||||
<Flash2>BIN\UL2CM3.DLL</Flash2>
|
||||
<Flash3>"" ()</Flash3>
|
||||
<Flash4></Flash4>
|
||||
<pFcarmOut></pFcarmOut>
|
||||
<pFcarmGrp></pFcarmGrp>
|
||||
<pFcArmRoot></pFcArmRoot>
|
||||
<FcArmLst>0</FcArmLst>
|
||||
</Utilities>
|
||||
<TargetArmAds>
|
||||
<ArmAdsMisc>
|
||||
<GenerateListings>0</GenerateListings>
|
||||
<asHll>1</asHll>
|
||||
<asAsm>1</asAsm>
|
||||
<asMacX>1</asMacX>
|
||||
<asSyms>1</asSyms>
|
||||
<asFals>1</asFals>
|
||||
<asDbgD>1</asDbgD>
|
||||
<asForm>1</asForm>
|
||||
<ldLst>0</ldLst>
|
||||
<ldmm>1</ldmm>
|
||||
<ldXref>1</ldXref>
|
||||
<BigEnd>0</BigEnd>
|
||||
<AdsALst>1</AdsALst>
|
||||
<AdsACrf>1</AdsACrf>
|
||||
<AdsANop>0</AdsANop>
|
||||
<AdsANot>0</AdsANot>
|
||||
<AdsLLst>1</AdsLLst>
|
||||
<AdsLmap>1</AdsLmap>
|
||||
<AdsLcgr>1</AdsLcgr>
|
||||
<AdsLsym>1</AdsLsym>
|
||||
<AdsLszi>1</AdsLszi>
|
||||
<AdsLtoi>1</AdsLtoi>
|
||||
<AdsLsun>1</AdsLsun>
|
||||
<AdsLven>1</AdsLven>
|
||||
<AdsLsxf>1</AdsLsxf>
|
||||
<RvctClst>0</RvctClst>
|
||||
<GenPPlst>0</GenPPlst>
|
||||
<AdsCpuType>"Cortex-M3"</AdsCpuType>
|
||||
<RvctDeviceName></RvctDeviceName>
|
||||
<mOS>0</mOS>
|
||||
<uocRom>0</uocRom>
|
||||
<uocRam>0</uocRam>
|
||||
<hadIROM>1</hadIROM>
|
||||
<hadIRAM>1</hadIRAM>
|
||||
<hadXRAM>0</hadXRAM>
|
||||
<uocXRam>0</uocXRam>
|
||||
<RvdsVP>0</RvdsVP>
|
||||
<hadIRAM2>0</hadIRAM2>
|
||||
<hadIROM2>0</hadIROM2>
|
||||
<StupSel>8</StupSel>
|
||||
<useUlib>1</useUlib>
|
||||
<EndSel>0</EndSel>
|
||||
<uLtcg>0</uLtcg>
|
||||
<nSecure>0</nSecure>
|
||||
<RoSelD>3</RoSelD>
|
||||
<RwSelD>3</RwSelD>
|
||||
<CodeSel>0</CodeSel>
|
||||
<OptFeed>0</OptFeed>
|
||||
<NoZi1>0</NoZi1>
|
||||
<NoZi2>0</NoZi2>
|
||||
<NoZi3>0</NoZi3>
|
||||
<NoZi4>0</NoZi4>
|
||||
<NoZi5>0</NoZi5>
|
||||
<Ro1Chk>0</Ro1Chk>
|
||||
<Ro2Chk>0</Ro2Chk>
|
||||
<Ro3Chk>0</Ro3Chk>
|
||||
<Ir1Chk>1</Ir1Chk>
|
||||
<Ir2Chk>0</Ir2Chk>
|
||||
<Ra1Chk>0</Ra1Chk>
|
||||
<Ra2Chk>0</Ra2Chk>
|
||||
<Ra3Chk>0</Ra3Chk>
|
||||
<Im1Chk>1</Im1Chk>
|
||||
<Im2Chk>0</Im2Chk>
|
||||
<OnChipMemories>
|
||||
<Ocm1>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</Ocm1>
|
||||
<Ocm2>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</Ocm2>
|
||||
<Ocm3>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</Ocm3>
|
||||
<Ocm4>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</Ocm4>
|
||||
<Ocm5>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</Ocm5>
|
||||
<Ocm6>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</Ocm6>
|
||||
<IRAM>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x20000000</StartAddress>
|
||||
<Size>0xc000</Size>
|
||||
</IRAM>
|
||||
<IROM>
|
||||
<Type>1</Type>
|
||||
<StartAddress>0x8000000</StartAddress>
|
||||
<Size>0x40000</Size>
|
||||
</IROM>
|
||||
<XRAM>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</XRAM>
|
||||
<OCR_RVCT1>
|
||||
<Type>1</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</OCR_RVCT1>
|
||||
<OCR_RVCT2>
|
||||
<Type>1</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</OCR_RVCT2>
|
||||
<OCR_RVCT3>
|
||||
<Type>1</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</OCR_RVCT3>
|
||||
<OCR_RVCT4>
|
||||
<Type>1</Type>
|
||||
<StartAddress>0x8000000</StartAddress>
|
||||
<Size>0x40000</Size>
|
||||
</OCR_RVCT4>
|
||||
<OCR_RVCT5>
|
||||
<Type>1</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</OCR_RVCT5>
|
||||
<OCR_RVCT6>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</OCR_RVCT6>
|
||||
<OCR_RVCT7>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</OCR_RVCT7>
|
||||
<OCR_RVCT8>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</OCR_RVCT8>
|
||||
<OCR_RVCT9>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x20000000</StartAddress>
|
||||
<Size>0xc000</Size>
|
||||
</OCR_RVCT9>
|
||||
<OCR_RVCT10>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</OCR_RVCT10>
|
||||
</OnChipMemories>
|
||||
<RvctStartVector></RvctStartVector>
|
||||
</ArmAdsMisc>
|
||||
<Cads>
|
||||
<interw>1</interw>
|
||||
<Optim>4</Optim>
|
||||
<oTime>0</oTime>
|
||||
<SplitLS>0</SplitLS>
|
||||
<OneElfS>1</OneElfS>
|
||||
<Strict>0</Strict>
|
||||
<EnumInt>0</EnumInt>
|
||||
<PlainCh>0</PlainCh>
|
||||
<Ropi>0</Ropi>
|
||||
<Rwpi>0</Rwpi>
|
||||
<wLevel>2</wLevel>
|
||||
<uThumb>0</uThumb>
|
||||
<uSurpInc>0</uSurpInc>
|
||||
<uC99>1</uC99>
|
||||
<useXO>0</useXO>
|
||||
<v6Lang>1</v6Lang>
|
||||
<v6LangP>1</v6LangP>
|
||||
<vShortEn>1</vShortEn>
|
||||
<vShortWch>1</vShortWch>
|
||||
<v6Lto>0</v6Lto>
|
||||
<v6WtE>0</v6WtE>
|
||||
<v6Rtti>0</v6Rtti>
|
||||
<VariousControls>
|
||||
<MiscControls></MiscControls>
|
||||
<Define>USE_HAL_DRIVER,STM32F103xE,VARIANT_PWM</Define>
|
||||
<Undefine></Undefine>
|
||||
<IncludePath>..\Inc;..\Drivers\STM32F1xx_HAL_Driver\Inc;..\Drivers\STM32F1xx_HAL_Driver\Inc\Legacy;..\Drivers\CMSIS\Device\ST\STM32F1xx\Include;..\Drivers\CMSIS\Include</IncludePath>
|
||||
</VariousControls>
|
||||
</Cads>
|
||||
<Aads>
|
||||
<interw>1</interw>
|
||||
<Ropi>0</Ropi>
|
||||
<Rwpi>0</Rwpi>
|
||||
<thumb>0</thumb>
|
||||
<SplitLS>0</SplitLS>
|
||||
<SwStkChk>0</SwStkChk>
|
||||
<NoWarn>0</NoWarn>
|
||||
<uSurpInc>0</uSurpInc>
|
||||
<useXO>0</useXO>
|
||||
<uClangAs>0</uClangAs>
|
||||
<VariousControls>
|
||||
<MiscControls></MiscControls>
|
||||
<Define></Define>
|
||||
<Undefine></Undefine>
|
||||
<IncludePath></IncludePath>
|
||||
</VariousControls>
|
||||
</Aads>
|
||||
<LDads>
|
||||
<umfTarg>1</umfTarg>
|
||||
<Ropi>0</Ropi>
|
||||
<Rwpi>0</Rwpi>
|
||||
<noStLib>0</noStLib>
|
||||
<RepFail>1</RepFail>
|
||||
<useFile>0</useFile>
|
||||
<TextAddressRange>0x08000000</TextAddressRange>
|
||||
<DataAddressRange>0x20000000</DataAddressRange>
|
||||
<pXoBase></pXoBase>
|
||||
<ScatterFile></ScatterFile>
|
||||
<IncludeLibs></IncludeLibs>
|
||||
<IncludeLibsPath></IncludeLibsPath>
|
||||
<Misc></Misc>
|
||||
<LinkerInputFile></LinkerInputFile>
|
||||
<DisabledWarnings></DisabledWarnings>
|
||||
</LDads>
|
||||
</TargetArmAds>
|
||||
</TargetOption>
|
||||
<Groups>
|
||||
<Group>
|
||||
<GroupName>Startup</GroupName>
|
||||
<Files>
|
||||
<File>
|
||||
<FileName>startup_stm32f103xe.s</FileName>
|
||||
<FileType>2</FileType>
|
||||
<FilePath>.\startup_stm32f103xe.s</FilePath>
|
||||
</File>
|
||||
</Files>
|
||||
</Group>
|
||||
<Group>
|
||||
<GroupName>Src</GroupName>
|
||||
<Files>
|
||||
<File>
|
||||
<FileName>bldc.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\bldc.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>BLDC_controller.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\BLDC_controller.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>BLDC_controller_data.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\BLDC_controller_data.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>comms.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\comms.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>control.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\control.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>eeprom.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\eeprom.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>hd44780.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\hd44780.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>main.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\main.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>pcf8574.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\pcf8574.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>setup.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\setup.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_it.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\stm32f1xx_it.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>util.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Src\util.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>config.h</FileName>
|
||||
<FileType>5</FileType>
|
||||
<FilePath>..\Inc\config.h</FilePath>
|
||||
</File>
|
||||
</Files>
|
||||
</Group>
|
||||
<Group>
|
||||
<GroupName>HAL_Driver</GroupName>
|
||||
<Files>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_adc.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_adc.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_adc_ex.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_adc_ex.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_cortex.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_cortex.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_dma.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_dma.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_flash.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_flash_ex.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash_ex.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_gpio.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_gpio_ex.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio_ex.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_i2c.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_i2c.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_pwr.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_pwr.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_rcc.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_rcc_ex.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc_ex.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_tim.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_tim_ex.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim_ex.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>stm32f1xx_hal_uart.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_uart.c</FilePath>
|
||||
</File>
|
||||
</Files>
|
||||
</Group>
|
||||
<Group>
|
||||
<GroupName>CMSIS</GroupName>
|
||||
<Files>
|
||||
<File>
|
||||
<FileName>system_stm32f1xx.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Src/system_stm32f1xx.c</FilePath>
|
||||
</File>
|
||||
</Files>
|
||||
</Group>
|
||||
<Group>
|
||||
<GroupName>::CMSIS</GroupName>
|
||||
<GroupOption>
|
||||
<CommonProperty>
|
||||
<UseCPPCompiler>0</UseCPPCompiler>
|
||||
<RVCTCodeConst>0</RVCTCodeConst>
|
||||
<RVCTZI>0</RVCTZI>
|
||||
<RVCTOtherData>0</RVCTOtherData>
|
||||
<ModuleSelection>0</ModuleSelection>
|
||||
<IncludeInBuild>1</IncludeInBuild>
|
||||
<AlwaysBuild>2</AlwaysBuild>
|
||||
<GenerateAssemblyFile>2</GenerateAssemblyFile>
|
||||
<AssembleAssemblyFile>2</AssembleAssemblyFile>
|
||||
<PublicsOnly>2</PublicsOnly>
|
||||
<StopOnExitCode>11</StopOnExitCode>
|
||||
<CustomArgument></CustomArgument>
|
||||
<IncludeLibraryModules></IncludeLibraryModules>
|
||||
<ComprImg>1</ComprImg>
|
||||
</CommonProperty>
|
||||
<GroupArmAds>
|
||||
<Cads>
|
||||
<interw>2</interw>
|
||||
<Optim>0</Optim>
|
||||
<oTime>2</oTime>
|
||||
<SplitLS>2</SplitLS>
|
||||
<OneElfS>2</OneElfS>
|
||||
<Strict>2</Strict>
|
||||
<EnumInt>2</EnumInt>
|
||||
<PlainCh>2</PlainCh>
|
||||
<Ropi>2</Ropi>
|
||||
<Rwpi>2</Rwpi>
|
||||
<wLevel>0</wLevel>
|
||||
<uThumb>2</uThumb>
|
||||
<uSurpInc>2</uSurpInc>
|
||||
<uC99>2</uC99>
|
||||
<useXO>2</useXO>
|
||||
<v6Lang>0</v6Lang>
|
||||
<v6LangP>0</v6LangP>
|
||||
<vShortEn>2</vShortEn>
|
||||
<vShortWch>2</vShortWch>
|
||||
<v6Lto>2</v6Lto>
|
||||
<v6WtE>2</v6WtE>
|
||||
<v6Rtti>2</v6Rtti>
|
||||
<VariousControls>
|
||||
<MiscControls></MiscControls>
|
||||
<Define></Define>
|
||||
<Undefine></Undefine>
|
||||
<IncludePath></IncludePath>
|
||||
</VariousControls>
|
||||
</Cads>
|
||||
<Aads>
|
||||
<interw>2</interw>
|
||||
<Ropi>2</Ropi>
|
||||
<Rwpi>2</Rwpi>
|
||||
<thumb>2</thumb>
|
||||
<SplitLS>2</SplitLS>
|
||||
<SwStkChk>2</SwStkChk>
|
||||
<NoWarn>2</NoWarn>
|
||||
<uSurpInc>2</uSurpInc>
|
||||
<useXO>2</useXO>
|
||||
<uClangAs>2</uClangAs>
|
||||
<VariousControls>
|
||||
<MiscControls></MiscControls>
|
||||
<Define></Define>
|
||||
<Undefine></Undefine>
|
||||
<IncludePath></IncludePath>
|
||||
</VariousControls>
|
||||
</Aads>
|
||||
</GroupArmAds>
|
||||
</GroupOption>
|
||||
</Group>
|
||||
</Groups>
|
||||
</Target>
|
||||
<Target>
|
||||
<TargetName>VARIANT_IBUS</TargetName>
|
||||
<ToolsetNumber>0x4</ToolsetNumber>
|
||||
|
|
@ -4760,6 +5378,7 @@
|
|||
<targetInfo name="VARIANT_IBUS"/>
|
||||
<targetInfo name="VARIANT_NUNCHUK"/>
|
||||
<targetInfo name="VARIANT_PPM"/>
|
||||
<targetInfo name="VARIANT_PWM"/>
|
||||
<targetInfo name="VARIANT_TRANSPOTTER"/>
|
||||
<targetInfo name="VARIANT_USART"/>
|
||||
</targetInfos>
|
||||
|
|
|
|||
|
|
@ -104,8 +104,9 @@ This firmware offers currently these variants (selectable in [platformio.ini](/p
|
|||
- **VARIANT_ADC**: In this variant the motors are controlled by two potentiometers connected to the Left sensor cable (long wired)
|
||||
- **VARIANT_USART**: In this variant the motors are controlled via serial protocol (e.g. on USART3 right sensor cable, the short wired cable). The commands can be sent from an Arduino. Check out the [hoverserial.ino](/02_Arduino/hoverserial) as an example sketch.
|
||||
- **VARIANT_NUNCHUK**: Wii Nunchuk offers one hand control for throttle, braking and steering. This was one of the first input device used for electric armchairs or bottle crates.
|
||||
- **VARIANT_PPM**: This is when you want to use a RC remote control with PPM Sum signal
|
||||
- **VARIANT_IBUS**: This is when you want to use a RC remote control with Flysky IBUS protocol connected to the Left sensor cable.
|
||||
- **VARIANT_PPM**: This is when you want to use an RC remote control with PPM Sum signal.
|
||||
- **VARIANT_PWM**: This is when you want to use an RC remote control with PWM signal.
|
||||
- **VARIANT_IBUS**: This is when you want to use an RC remote control with Flysky IBUS protocol connected to the Left sensor cable.
|
||||
- **VARIANT_HOVERCAR**: In this variant the motors are controlled by two pedals brake and throttle. Reverse is engaged by double tapping on the brake pedal at standstill.
|
||||
- **VARIANT_HOVERBOARD**: In this variant the mainboard reads the sideboards data. The sideboards need to be flashed with the hacked version. Only balancing controller is still to be implemented.
|
||||
- **VARIANT_TRANSPOTTER**: This build is for transpotter which is a hoverboard based transportation system. For more details on how to build it check [here](https://github.com/NiklasFauth/hoverboard-firmware-hack/wiki/Build-Instruction:-TranspOtter) and [here](https://hackaday.io/project/161891-transpotter-ng).
|
||||
|
|
|
|||
|
|
@ -3,9 +3,9 @@
|
|||
*
|
||||
* Code generated for Simulink model 'BLDC_controller'.
|
||||
*
|
||||
* Model version : 1.1256
|
||||
* Model version : 1.1260
|
||||
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
|
||||
* C/C++ source code generated on : Mon Dec 30 21:36:12 2019
|
||||
* C/C++ source code generated on : Tue Mar 24 11:01:08 2020
|
||||
*
|
||||
* Target selection: ert.tlc
|
||||
* Embedded hardware selection: ARM Compatible->ARM Cortex
|
||||
|
|
@ -1012,6 +1012,7 @@ void BLDC_controller_step(RT_MODEL *const rtM)
|
|||
* Abs: '<S3>/Abs4'
|
||||
* Constant: '<S3>/CTRL_COMM4'
|
||||
* Constant: '<S3>/r_errInpTgtThres'
|
||||
* Inport: '<Root>/b_motEna'
|
||||
* Logic: '<S3>/Logical Operator1'
|
||||
* RelationalOperator: '<S3>/Relational Operator7'
|
||||
* S-Function (sfix_bitop): '<S3>/Bitwise Operator1'
|
||||
|
|
@ -1033,8 +1034,8 @@ void BLDC_controller_step(RT_MODEL *const rtM)
|
|||
rtb_Merge_f_idx_1 = rtDW->UnitDelay4_DSTATE_eu;
|
||||
}
|
||||
|
||||
rtb_RelationalOperator1_m = ((rtb_Merge_f_idx_1 > rtP->r_errInpTgtThres) &&
|
||||
rtb_RelationalOperator9);
|
||||
rtb_RelationalOperator1_m = (rtU->b_motEna && rtb_RelationalOperator9 &&
|
||||
(rtb_Merge_f_idx_1 > rtP->r_errInpTgtThres));
|
||||
}
|
||||
|
||||
/* End of Switch: '<S3>/Switch3' */
|
||||
|
|
|
|||
|
|
@ -3,9 +3,9 @@
|
|||
*
|
||||
* Code generated for Simulink model 'BLDC_controller'.
|
||||
*
|
||||
* Model version : 1.1256
|
||||
* Model version : 1.1260
|
||||
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
|
||||
* C/C++ source code generated on : Mon Dec 30 21:36:12 2019
|
||||
* C/C++ source code generated on : Tue Mar 24 11:01:08 2020
|
||||
*
|
||||
* Target selection: ert.tlc
|
||||
* Embedded hardware selection: ARM Compatible->ARM Cortex
|
||||
|
|
|
|||
|
|
@ -26,8 +26,6 @@ uint32_t ppm_timeout = 0;
|
|||
|
||||
bool ppm_valid = true;
|
||||
|
||||
#define IN_RANGE(x, low, up) (((x) >= (low)) && ((x) <= (up)))
|
||||
|
||||
void PPM_ISR_Callback(void) {
|
||||
// Dummy loop with 16 bit count wrap around
|
||||
uint16_t rc_delay = TIM2->CNT;
|
||||
|
|
@ -87,84 +85,54 @@ void PPM_Init(void) {
|
|||
#endif
|
||||
|
||||
|
||||
#ifdef BUTTONS_RIGHT
|
||||
|
||||
uint8_t btn1 = 0;
|
||||
uint8_t btn2 = 0;
|
||||
|
||||
void BUTTONS_RIGHT_Init() {
|
||||
GPIO_InitTypeDef GPIO_InitStruct;
|
||||
/*Configure GPIO pin : PB10 */
|
||||
GPIO_InitStruct.Pin = GPIO_PIN_10;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
|
||||
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM;
|
||||
GPIO_InitStruct.Pull = GPIO_PULLUP;
|
||||
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
|
||||
|
||||
btn1 = !HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_10);
|
||||
|
||||
GPIO_InitTypeDef GPIO_InitStruct2;
|
||||
/*Configure GPIO pin : PB11 */
|
||||
GPIO_InitStruct2.Pin = GPIO_PIN_11;
|
||||
GPIO_InitStruct2.Mode = GPIO_MODE_INPUT;
|
||||
GPIO_InitStruct2.Speed = GPIO_SPEED_FREQ_MEDIUM;
|
||||
GPIO_InitStruct2.Pull = GPIO_PULLUP;
|
||||
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct2);
|
||||
|
||||
btn2 = !HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_11);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
#ifdef CONTROL_PWM
|
||||
//uint16_t pwm_captured_ch1_value = 500;
|
||||
uint16_t pwm_captured_ch1_value = 500;
|
||||
uint16_t pwm_captured_ch2_value = 500;
|
||||
uint32_t pwm_timeout = 0;
|
||||
uint32_t pwm_timeout_ch1 = 0;
|
||||
uint32_t pwm_timeout_ch2 = 0;
|
||||
|
||||
#define IN_RANGE(x, low, up) (((x) >= (low)) && ((x) <= (up)))
|
||||
|
||||
/*
|
||||
void PWM_ISR_CH1_Callback(void) {
|
||||
// Dummy loop with 16 bit count wrap around
|
||||
uint16_t rc_signal = TIM3->CNT;
|
||||
TIM3->CNT = 0;
|
||||
|
||||
// The interval check below should be larger than the feasible PWM interval of ~[500, 2500] ms
|
||||
if (IN_RANGE(rc_signal, 200, 4000)){
|
||||
if (IN_RANGE(rc_signal, 900, 2100)){
|
||||
timeout = 0;
|
||||
pwm_timeout = 0;
|
||||
pwm_timeout_ch1 = 0;
|
||||
pwm_captured_ch1_value = CLAMP(rc_signal, 1000, 2000) - 1000;
|
||||
}
|
||||
}
|
||||
*/
|
||||
|
||||
|
||||
void PWM_ISR_CH2_Callback(void) {
|
||||
// Dummy loop with 16 bit count wrap around
|
||||
uint16_t rc_signal = TIM2->CNT;
|
||||
TIM2->CNT = 0;
|
||||
|
||||
// The interval check below should be larger than the feasible PWM interval of ~[900, 2100] ms
|
||||
if (IN_RANGE(rc_signal, 200, 3000)){
|
||||
if (IN_RANGE(rc_signal, 900, 2100)){
|
||||
timeout = 0;
|
||||
pwm_timeout = 0;
|
||||
pwm_timeout_ch2 = 0;
|
||||
pwm_captured_ch2_value = CLAMP(rc_signal, 1000, 2000) - 1000;
|
||||
}
|
||||
}
|
||||
|
||||
// SysTick executes once each ms
|
||||
void PWM_SysTick_Callback(void) {
|
||||
pwm_timeout++;
|
||||
pwm_timeout_ch1++;
|
||||
pwm_timeout_ch2++;
|
||||
// Stop after 500 ms without PWM signal
|
||||
if(pwm_timeout > 500) {
|
||||
//pwm_captured_ch1_value = 500;
|
||||
if(pwm_timeout_ch1 > 500) {
|
||||
pwm_captured_ch1_value = 500;
|
||||
pwm_timeout_ch1 = 500; // limit the timeout to max timeout value of 500 ms
|
||||
}
|
||||
if(pwm_timeout_ch2 > 500) {
|
||||
pwm_captured_ch2_value = 500;
|
||||
pwm_timeout = 500; // limit the timeout to max timeout value of 500 ms
|
||||
pwm_timeout_ch2 = 500; // limit the timeout to max timeout value of 500 ms
|
||||
}
|
||||
}
|
||||
|
||||
void PWM_Init(void) {
|
||||
// Channel 1 (steering)
|
||||
/*
|
||||
GPIO_InitTypeDef GPIO_InitStruct2;
|
||||
// Configure GPIO pin : PA2
|
||||
GPIO_InitStruct2.Pin = GPIO_PIN_2;
|
||||
|
|
@ -185,10 +153,8 @@ void PWM_Init(void) {
|
|||
HAL_NVIC_SetPriority(EXTI2_IRQn, 0, 0);
|
||||
HAL_NVIC_EnableIRQ(EXTI2_IRQn);
|
||||
HAL_TIM_Base_Start(&TimHandle2);
|
||||
*/
|
||||
|
||||
// Channel 2 (speed)
|
||||
|
||||
GPIO_InitTypeDef GPIO_InitStruct;
|
||||
/*Configure GPIO pin : PA3 */
|
||||
GPIO_InitStruct.Pin = GPIO_PIN_3;
|
||||
|
|
@ -209,10 +175,25 @@ void PWM_Init(void) {
|
|||
HAL_NVIC_SetPriority(EXTI3_IRQn, 0, 0);
|
||||
HAL_NVIC_EnableIRQ(EXTI3_IRQn);
|
||||
HAL_TIM_Base_Start(&TimHandle);
|
||||
|
||||
#ifdef SUPPORT_BUTTONS
|
||||
/*Configure GPIO pin : PB10 */
|
||||
GPIO_InitStruct.Pin = BUTTON1_RIGHT_PIN;
|
||||
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
|
||||
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM;
|
||||
GPIO_InitStruct.Pull = GPIO_PULLUP;
|
||||
HAL_GPIO_Init(BUTTON1_RIGHT_PORT, &GPIO_InitStruct);
|
||||
|
||||
/*Configure GPIO pin : PB11 */
|
||||
GPIO_InitStruct2.Pin = BUTTON2_RIGHT_PIN;
|
||||
GPIO_InitStruct2.Mode = GPIO_MODE_INPUT;
|
||||
GPIO_InitStruct2.Speed = GPIO_SPEED_FREQ_MEDIUM;
|
||||
GPIO_InitStruct2.Pull = GPIO_PULLUP;
|
||||
HAL_GPIO_Init(BUTTON2_RIGHT_PORT, &GPIO_InitStruct2);
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
uint8_t Nunchuk_Ping(void) {
|
||||
if (HAL_I2C_Master_Receive(&hi2c2,0xA4,(uint8_t*)nunchuk_data, 1, 10) == HAL_OK) {
|
||||
return 1;
|
||||
|
|
|
|||
|
|
@ -242,13 +242,12 @@ void EXTI3_IRQHandler(void)
|
|||
PWM_ISR_CH2_Callback();
|
||||
__HAL_GPIO_EXTI_CLEAR_IT(GPIO_PIN_3);
|
||||
}
|
||||
/*
|
||||
|
||||
void EXTI2_IRQHandler(void)
|
||||
{
|
||||
PWM_ISR_CH1_Callback();
|
||||
__HAL_GPIO_EXTI_CLEAR_IT(GPIO_PIN_2);
|
||||
}*/
|
||||
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef CONTROL_SERIAL_USART2
|
||||
|
|
|
|||
24
Src/util.c
24
Src/util.c
|
|
@ -64,7 +64,7 @@ extern volatile uint16_t ppm_captured_value[PPM_NUM_CHANNELS+1];
|
|||
#endif
|
||||
|
||||
#ifdef CONTROL_PWM
|
||||
//extern volatile uint16_t pwm_captured_ch1_value;
|
||||
extern volatile uint16_t pwm_captured_ch1_value;
|
||||
extern volatile uint16_t pwm_captured_ch2_value;
|
||||
#endif
|
||||
|
||||
|
|
@ -152,7 +152,6 @@ uint16_t VirtAddVarTab[NB_OF_VAR] = {0x1300}; // Dummy virtual address to av
|
|||
//------------------------------------------------------------------------
|
||||
static int16_t INPUT_MAX; // [-] Input target maximum limitation
|
||||
static int16_t INPUT_MIN; // [-] Input target minimum limitation
|
||||
static int16_t INPUT_MID; // [-] Input target middle
|
||||
|
||||
#if defined(CONTROL_ADC) && defined(ADC_PROTECT_ENA)
|
||||
static int16_t timeoutCntADC = 0; // Timeout counter for ADC Protection
|
||||
|
|
@ -238,7 +237,6 @@ void Input_Lim_Init(void) { // Input Limitations - ! Do NOT touch !
|
|||
INPUT_MAX = 1000;
|
||||
INPUT_MIN = -1000;
|
||||
}
|
||||
INPUT_MID = INPUT_MAX / 2;
|
||||
}
|
||||
|
||||
void Input_Init(void) {
|
||||
|
|
@ -639,18 +637,22 @@ void readCommand(void) {
|
|||
#endif
|
||||
|
||||
#ifdef CONTROL_PPM
|
||||
cmd1 = CLAMP((ppm_captured_value[0] - INPUT_MID) * 2, INPUT_MIN, INPUT_MAX);
|
||||
cmd2 = CLAMP((ppm_captured_value[1] - INPUT_MID) * 2, INPUT_MIN, INPUT_MAX);
|
||||
cmd1 = CLAMP((ppm_captured_value[0] - 500) * 2, INPUT_MIN, INPUT_MAX);
|
||||
cmd2 = CLAMP((ppm_captured_value[1] - 500) * 2, INPUT_MIN, INPUT_MAX);
|
||||
#ifdef SUPPORT_BUTTONS
|
||||
button1 = ppm_captured_value[5] > INPUT_MID;
|
||||
button1 = ppm_captured_value[5] > 500;
|
||||
button2 = 0;
|
||||
#endif
|
||||
// float scale = ppm_captured_value[2] / 1000.0f; // not used for now, uncomment if needed
|
||||
#endif
|
||||
|
||||
#ifdef CONTROL_PWM
|
||||
cmd1 = 0; // CLAMP(PWM_Signal_Correct((pwm_captured_ch1_value - 500) * 2, PWM_CH1_MIN, PWM_CH1_MAX), INPUT_MIN, INPUT_MAX);
|
||||
cmd1 = CLAMP(PWM_Signal_Correct((pwm_captured_ch1_value - 500) * 2, PWM_CH1_MIN, PWM_CH1_MAX), INPUT_MIN, INPUT_MAX);
|
||||
cmd2 = CLAMP(PWM_Signal_Correct((pwm_captured_ch2_value - 500) * 2, PWM_CH2_MIN, PWM_CH2_MAX), INPUT_MIN, INPUT_MAX);
|
||||
#ifdef SUPPORT_BUTTONS
|
||||
button1 = !HAL_GPIO_ReadPin(BUTTON1_RIGHT_PORT, BUTTON1_RIGHT_PIN);
|
||||
button2 = !HAL_GPIO_ReadPin(BUTTON2_RIGHT_PORT, BUTTON2_RIGHT_PIN);
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#ifdef CONTROL_ADC
|
||||
|
|
@ -718,8 +720,8 @@ void readCommand(void) {
|
|||
for (uint8_t i = 0; i < (IBUS_NUM_CHANNELS * 2); i+=2) {
|
||||
ibus_captured_value[(i/2)] = CLAMP(command.channels[i] + (command.channels[i+1] << 8) - 1000, 0, INPUT_MAX); // 1000-2000 -> 0-1000
|
||||
}
|
||||
cmd1 = CLAMP((ibus_captured_value[0] - INPUT_MID) * 2, INPUT_MIN, INPUT_MAX);
|
||||
cmd2 = CLAMP((ibus_captured_value[1] - INPUT_MID) * 2, INPUT_MIN, INPUT_MAX);
|
||||
cmd1 = CLAMP((ibus_captured_value[0] - 500) * 2, INPUT_MIN, INPUT_MAX);
|
||||
cmd2 = CLAMP((ibus_captured_value[1] - 500) * 2, INPUT_MIN, INPUT_MAX);
|
||||
command.start = 0xFF; // Change the Start Frame for timeout detection in the next cycle
|
||||
timeoutCntSerial = 0; // Reset the timeout counter
|
||||
}
|
||||
|
|
@ -844,6 +846,7 @@ void readCommand(void) {
|
|||
* This function realizes a dead-band around 0 and scales the input within a min and a max
|
||||
*/
|
||||
int PWM_Signal_Correct(int16_t u, int16_t min, int16_t max) {
|
||||
#ifdef CONTROL_PWM
|
||||
int outVal = 0;
|
||||
if(u > -PWM_DEADBAND && u < PWM_DEADBAND) {
|
||||
outVal = 0;
|
||||
|
|
@ -853,6 +856,9 @@ int PWM_Signal_Correct(int16_t u, int16_t min, int16_t max) {
|
|||
outVal = (INPUT_MIN * CLAMP(u + PWM_DEADBAND, min + PWM_DEADBAND, 0)) / (min + PWM_DEADBAND);
|
||||
}
|
||||
return outVal;
|
||||
#else
|
||||
return 0;
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -13,7 +13,7 @@ src_dir = Src
|
|||
;default_envs = VARIANT_USART ; Variant for Serial control via USART3 input
|
||||
;default_envs = VARIANT_NUNCHUK ; Variant for Nunchuk controlled vehicle build
|
||||
;default_envs = VARIANT_PPM ; Variant for RC-Remotes with PPM-Sum signal
|
||||
default_envs = VARIANT_PWM ; Variant for RC-Remotes with PWM signal
|
||||
;default_envs = VARIANT_PWM ; Variant for RC-Remotes with PWM signal
|
||||
;default_envs = VARIANT_IBUS ; Variant for RC-Remotes with FLYSKY IBUS
|
||||
;default_envs = VARIANT_HOVERCAR ; Variant for HOVERCAR build
|
||||
;default_envs = VARIANT_HOVERBOARD ; Variant for HOVERBOARD
|
||||
|
|
|
|||
Loading…
Reference in New Issue