From eb0005f58fc6efb93cc0d00c16a6f52dccb979af Mon Sep 17 00:00:00 2001 From: Michael Chemic Date: Fri, 26 Jul 2024 14:51:23 +0800 Subject: [PATCH] =?UTF-8?q?ABZ=20=E7=BC=96=E7=A0=81=E5=99=A8=E9=A9=B1?= =?UTF-8?q?=E5=8A=A8=E7=BC=96=E5=86=99?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Core/Inc/stm32g4xx_it.h | 1 + Core/Src/main.c | 116 +- Core/Src/stm32g4xx_it.c | 15 + Core/Src/tim.c | 5 + FOC_Related/ABZ/ABZ.c | 231 +- FOC_Related/ABZ/ABZ.h | 20 +- FOC_Related/AS5600/AS5600.c | 39 +- FOC_Related/FOC/FOC.c | 8 +- FOC_Related/PID/pid.c | 4 +- MDK-ARM/MDK-ARM.code-workspace | 15 +- ...ETx_Demo_Blink+STM32G474RETxDemoBlink.cprj | 2 +- ...2G474RETx_Demo_Blink.uvguix.Michael_Chemic | 161 +- MDK-ARM/STM32G474RETx_Demo_Blink.uvoptx | 51 +- .../STM32G474RETx_Demo_Blink.axf | Bin 494168 -> 502328 bytes .../STM32G474RETx_Demo_Blink.build_log.htm | 40 +- .../STM32G474RETx_Demo_Blink.hex | 3216 +++++++++-------- .../STM32G474RETx_Demo_Blink.htm | 1230 ++++--- .../STM32G474RETx_Demo_Blink.map | 1441 ++++---- ...Tx_Demo_Blink_STM32G474RETx_Demo_Blink.dep | 23 +- MDK-ARM/STM32G474RETx_Demo_Blink/abz.d | 3 +- MDK-ARM/STM32G474RETx_Demo_Blink/abz.o | Bin 12096 -> 15980 bytes MDK-ARM/STM32G474RETx_Demo_Blink/adc.o | Bin 19996 -> 19980 bytes MDK-ARM/STM32G474RETx_Demo_Blink/as5600.o | Bin 13784 -> 13768 bytes MDK-ARM/STM32G474RETx_Demo_Blink/control.o | Bin 5164 -> 5148 bytes MDK-ARM/STM32G474RETx_Demo_Blink/dma.o | Bin 7176 -> 7156 bytes MDK-ARM/STM32G474RETx_Demo_Blink/fdcan.o | Bin 11776 -> 11756 bytes MDK-ARM/STM32G474RETx_Demo_Blink/foc.o | Bin 33824 -> 33844 bytes MDK-ARM/STM32G474RETx_Demo_Blink/gpio.o | Bin 8188 -> 8172 bytes MDK-ARM/STM32G474RETx_Demo_Blink/i2c.o | Bin 12808 -> 12792 bytes .../STM32G474RETx_Demo_Blink/lowpass_filter.o | Bin 4552 -> 4536 bytes MDK-ARM/STM32G474RETx_Demo_Blink/main.o | Bin 11356 -> 15704 bytes MDK-ARM/STM32G474RETx_Demo_Blink/pid.o | Bin 2664 -> 2644 bytes .../startup_stm32g474xx.o | Bin 8796 -> 8776 bytes .../STM32G474RETx_Demo_Blink/stm32g4xx_hal.o | Bin 25756 -> 25740 bytes .../stm32g4xx_hal_adc.o | Bin 54312 -> 54292 bytes .../stm32g4xx_hal_adc_ex.o | Bin 43492 -> 43472 bytes .../stm32g4xx_hal_cortex.o | Bin 21588 -> 21572 bytes .../stm32g4xx_hal_dma.o | Bin 18168 -> 18152 bytes .../stm32g4xx_hal_dma_ex.o | Bin 8032 -> 8012 bytes .../stm32g4xx_hal_exti.o | Bin 11880 -> 11864 bytes .../stm32g4xx_hal_fdcan.o | Bin 51580 -> 51564 bytes .../stm32g4xx_hal_flash.o | Bin 17544 -> 17528 bytes .../stm32g4xx_hal_flash_ex.o | Bin 18420 -> 18404 bytes .../stm32g4xx_hal_flash_ramfunc.o | Bin 5524 -> 5508 bytes .../stm32g4xx_hal_gpio.o | Bin 11212 -> 11196 bytes .../stm32g4xx_hal_i2c.o | Bin 114880 -> 114864 bytes .../stm32g4xx_hal_i2c_ex.o | Bin 11660 -> 11640 bytes .../stm32g4xx_hal_msp.o | Bin 3708 -> 3688 bytes .../stm32g4xx_hal_pwr.o | Bin 13416 -> 13396 bytes .../stm32g4xx_hal_pwr_ex.o | Bin 25896 -> 25876 bytes .../stm32g4xx_hal_rcc.o | Bin 21852 -> 21832 bytes .../stm32g4xx_hal_rcc_ex.o | Bin 24280 -> 24260 bytes .../stm32g4xx_hal_tim.o | Bin 134252 -> 134236 bytes .../stm32g4xx_hal_tim_ex.o | Bin 69848 -> 69828 bytes .../stm32g4xx_hal_uart.o | Bin 93768 -> 93748 bytes .../stm32g4xx_hal_uart_ex.o | Bin 23252 -> 23232 bytes .../STM32G474RETx_Demo_Blink/stm32g4xx_it.o | Bin 13384 -> 13868 bytes .../system_stm32g4xx.o | Bin 5956 -> 5940 bytes MDK-ARM/STM32G474RETx_Demo_Blink/tim.o | Bin 23964 -> 23916 bytes MDK-ARM/STM32G474RETx_Demo_Blink/usart.o | Bin 14952 -> 14936 bytes .../STM32G474RETxDemoBlink/.ninja_deps | Bin 24388 -> 31716 bytes .../STM32G474RETxDemoBlink/.ninja_log | 31 +- .../STM32G4-DRV8301-FOC/Core/Src/main.o | Bin 12376 -> 16748 bytes .../Core/Src/stm32g4xx_it.o | Bin 13732 -> 14232 bytes .../STM32G4-DRV8301-FOC/Core/Src/tim.o | Bin 25752 -> 25716 bytes .../STM32G4-DRV8301-FOC/FOC_Related/ABZ/ABZ.o | Bin 12764 -> 15752 bytes .../FOC_Related/AS5600/AS5600.o | Bin 15044 -> 15044 bytes .../STM32G4-DRV8301-FOC/FOC_Related/FOC/FOC.o | Bin 30216 -> 30256 bytes .../STM32G4-DRV8301-FOC/FOC_Related/PID/pid.o | Bin 2884 -> 2884 bytes MDK-ARM/vcpkg-configuration.json | 11 +- .../topics/Writerside_topics_starter.md | 2 + STM32G474RETx_Demo_Blink.ioc | 1 + 72 files changed, 3476 insertions(+), 3190 deletions(-) diff --git a/Core/Inc/stm32g4xx_it.h b/Core/Inc/stm32g4xx_it.h index 7374728..5bc1478 100644 --- a/Core/Inc/stm32g4xx_it.h +++ b/Core/Inc/stm32g4xx_it.h @@ -59,6 +59,7 @@ void DMA1_Channel1_IRQHandler(void); void DMA1_Channel2_IRQHandler(void); void DMA1_Channel3_IRQHandler(void); void DMA1_Channel4_IRQHandler(void); +void TIM2_IRQHandler(void); void TIM3_IRQHandler(void); void EXTI15_10_IRQHandler(void); /* USER CODE BEGIN EFP */ diff --git a/Core/Src/main.c b/Core/Src/main.c index c1de93c..ffa1c1e 100644 --- a/Core/Src/main.c +++ b/Core/Src/main.c @@ -53,7 +53,7 @@ /* USER CODE BEGIN PTD */ // 根据不同电机参数设置 -int PP = 12; // pole_pairs极对数 磁极数/2 +int PP = 1; // pole_pairs极对数 磁极数/2 int DIR = 1; // 无刷电机纠偏旋转方向 extern float raw_angle; // 获取AS5600原始角度值。 @@ -131,9 +131,9 @@ void SystemClock_Config(void); /* USER CODE END 0 */ /** - * @brief The application entry point. - * @retval int - */ + * @brief The application entry point. + * @retval int + */ int main(void) { @@ -176,28 +176,30 @@ int main(void) MX_TIM3_Init(); /* USER CODE BEGIN 2 */ - // HAL_TIM_Base_Start_IT(&htim3); - // 配置 NVIC 中断优先级和使能 - // HAL_NVIC_SetPriority(TIM3_IRQn, 0, 0); + HAL_NVIC_SetPriority(TIM3_IRQn, 0, 0); + HAL_NVIC_EnableIRQ(TIM3_IRQn); + HAL_NVIC_SetPriority(TIM2_IRQn, 0, 0); + HAL_NVIC_EnableIRQ(TIM2_IRQn); - // HAL_NVIC_EnableIRQ(TIM3_IRQn); - - // 定义ADC滤波器结构体 - // ADC_Filter_t adc_filter; - // 初始化滤波器 + // 初始化电机M1 ADC1滤波器 ADC_Filter_Init(&adc1_filter_Ia); ADC_Filter_Init(&adc1_filter_Ib); ADC_Filter_Init(&adc1_filter_Ic); + FOC_Init(voltage_power_supply); // 设置电源电压。 FOC_AS5600_Init(PP, DIR); // 极对数，正补偿方向。 - TIM2_M1_ABZ(); // TIM2 ABZ编码器接口初始化。 - TIM3_M2_ABZ(); // TIM2 ABZ编码器接口初始化。 + TIM2_M1_ABZ(); // TIM2 ABZ编码器接口初始化并启动。 + TIM3_M2_ABZ(); // TIM3 ABZ编码器接口初始化并启动。 + // G474可以带两路电机，此处控制DRV8301 EN脚。 HAL_GPIO_WritePin(M1_EN_GPIO_Port, M1_EN_Pin, GPIO_PIN_SET); HAL_GPIO_WritePin(M2_EN_GPIO_Port, M2_EN_Pin, GPIO_PIN_SET); + // char *msg = "Hello, World!\r\n";//串口1发送测试 + /* USER CODE END 2 */ + /* Infinite loop */ /* USER CODE BEGIN WHILE */ @@ -206,61 +208,52 @@ int main(void) /* USER CODE END WHILE */ /* USER CODE BEGIN 3 */ - // HAL_UART_Transmit(&huart1, (uint8_t*)msg, strlen(msg), HAL_MAX_DELAY);//串口1发送测试 - // HAL_Delay(1000); // 1 second delay - // volatile int speed=100; - // if (AS5600_ReadRawAngle(&hi2c1, &raw_angle) == HAL_OK) - // { - // Set_Angle(5); // 位置闭环。 - // Set_Speed(speed);// 速度闭环。 - // } - - // UpdataEncoderCnt(); - - // Count_M1_ABZ();//ABZ调试计数 - Count_M2_ABZ(); - + // ADC debug // Send_ADC1_Values(&huart1); + // Read_ADC3_Values();//电源电压采集测试。 // 读取新的ADC值（假设Read_ADC_Value()是你获取ADC值的函数） - // Open_Loop_Control(1.0f, -0.1f); // 开环控制顺时针，设置电压和速度。 - // Open_Loop_Control(1.0f, -0.01f); // 开环控制逆时针，设置电压和速度。 - // UpdataEncoderCnt(); - // Read_ADC3_Values();//电源电压采集测试。 - // Read_ADC2_Values();//电源电压采集测试。 - - // Read_ADC1_Values();//电源电压采集测试。 - - // HAL_Delay(1); - + // UART debug + // HAL_UART_Transmit(&huart1, (uint8_t*)msg, strlen(msg), HAL_MAX_DELAY);//串口1发送测试 + // HAL_Delay(1000); // 1 second delay + + volatile int speed=1; + if (AS5600_ReadRawAngle(&hi2c1, &raw_angle) == HAL_OK) + { + //Set_Angle(10); // 位置闭环。 + Set_Speed(speed);// 速度闭环。 + } + + // openloop debug // Current_Speed(2.0f, 0.1f); + // Open_Loop_Control(0.2f, -0.1f); // 开环控制顺时针，设置电压和速度。 + // Open_Loop_Control(1.0f, -0.01f); // 开环控制逆时针，设置电压和速度。 - // Read_ADC2_Values(); + // ABZ编码器debug + UpdateEncoderCnt(); + // Count_M1_ABZ(); + // Count_M2_ABZ();//开发板只预留了M2 的ABZ编码器接口。 - // HAL_GPIO_WritePin(LD2_GPIO_Port, LD2_Pin, GPIO_PIN_SET); - // HAL_Delay(10); - // HAL_GPIO_WritePin(LD2_GPIO_Port, LD2_Pin, GPIO_PIN_RESET); - // HAL_Delay(10); } /* USER CODE END 3 */ } /** - * @brief System Clock Configuration - * @retval None - */ + * @brief System Clock Configuration + * @retval None + */ void SystemClock_Config(void) { RCC_OscInitTypeDef RCC_OscInitStruct = {0}; RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; /** Configure the main internal regulator output voltage - */ + */ HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1_BOOST); /** Initializes the RCC Oscillators according to the specified parameters - * in the RCC_OscInitTypeDef structure. - */ + * in the RCC_OscInitTypeDef structure. + */ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI; RCC_OscInitStruct.HSIState = RCC_HSI_ON; RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT; @@ -277,8 +270,9 @@ void SystemClock_Config(void) } /** Initializes the CPU, AHB and APB buses clocks - */ - RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2; + */ + RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK + |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1; @@ -295,9 +289,9 @@ void SystemClock_Config(void) /* USER CODE END 4 */ /** - * @brief This function is executed in case of error occurrence. - * @retval None - */ + * @brief This function is executed in case of error occurrence. + * @retval None + */ void Error_Handler(void) { /* USER CODE BEGIN Error_Handler_Debug */ @@ -309,14 +303,14 @@ void Error_Handler(void) /* USER CODE END Error_Handler_Debug */ } -#ifdef USE_FULL_ASSERT +#ifdef USE_FULL_ASSERT /** - * @brief Reports the name of the source file and the source line number - * where the assert_param error has occurred. - * @param file: pointer to the source file name - * @param line: assert_param error line source number - * @retval None - */ + * @brief Reports the name of the source file and the source line number + * where the assert_param error has occurred. + * @param file: pointer to the source file name + * @param line: assert_param error line source number + * @retval None + */ void assert_failed(uint8_t *file, uint32_t line) { /* USER CODE BEGIN 6 */ diff --git a/Core/Src/stm32g4xx_it.c b/Core/Src/stm32g4xx_it.c index efce976..9d79a2d 100644 --- a/Core/Src/stm32g4xx_it.c +++ b/Core/Src/stm32g4xx_it.c @@ -59,6 +59,7 @@ extern DMA_HandleTypeDef hdma_adc1; extern DMA_HandleTypeDef hdma_adc2; extern DMA_HandleTypeDef hdma_adc3; extern DMA_HandleTypeDef hdma_usart1_tx; +extern TIM_HandleTypeDef htim2; extern TIM_HandleTypeDef htim3; /* USER CODE BEGIN EV */ @@ -258,6 +259,20 @@ void DMA1_Channel4_IRQHandler(void) /* USER CODE END DMA1_Channel4_IRQn 1 */ } +/** + * @brief This function handles TIM2 global interrupt. + */ +void TIM2_IRQHandler(void) +{ + /* USER CODE BEGIN TIM2_IRQn 0 */ + + /* USER CODE END TIM2_IRQn 0 */ + HAL_TIM_IRQHandler(&htim2); + /* USER CODE BEGIN TIM2_IRQn 1 */ + + /* USER CODE END TIM2_IRQn 1 */ +} + /** * @brief This function handles TIM3 global interrupt. */ diff --git a/Core/Src/tim.c b/Core/Src/tim.c index 8127e1c..c429c7e 100644 --- a/Core/Src/tim.c +++ b/Core/Src/tim.c @@ -387,6 +387,9 @@ void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle) GPIO_InitStruct.Alternate = GPIO_AF1_TIM2; HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); + /* TIM2 interrupt Init */ + HAL_NVIC_SetPriority(TIM2_IRQn, 0, 0); + HAL_NVIC_EnableIRQ(TIM2_IRQn); /* USER CODE BEGIN TIM2_MspInit 1 */ /* USER CODE END TIM2_MspInit 1 */ @@ -559,6 +562,8 @@ void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* tim_encoderHandle) HAL_GPIO_DeInit(GPIOB, GPIO_PIN_10|GPIO_PIN_3); + /* TIM2 interrupt Deinit */ + HAL_NVIC_DisableIRQ(TIM2_IRQn); /* USER CODE BEGIN TIM2_MspDeInit 1 */ /* USER CODE END TIM2_MspDeInit 1 */ diff --git a/FOC_Related/ABZ/ABZ.c b/FOC_Related/ABZ/ABZ.c index b832355..d491a41 100644 --- a/FOC_Related/ABZ/ABZ.c +++ b/FOC_Related/ABZ/ABZ.c @@ -1,10 +1,19 @@ #include "tim.h" #include "ABZ.h" #include "foc.h" +#include "math.h" -int realCnt = 0; +//姝ら┍鍔ㄦ寜鐓S5600椹卞姩涓殑鍑芥暟缂栧啓 -ABZ_Encoder encoderDef; +// ABZ 姝ｄ氦缂栫爜鍣ㄧ殑姣忚浆鑴夊啿鏁 +#define ENCODER_PULSES_PER_REV 4096 + +// 瀹氭椂鍣ㄥ懆鏈 (绉) +#define TIMER_PERIOD 1.0f + +int realCnt = 0; // 鐪熷疄缂栫爜鍣ㄨ鏁板 + +ABZ_Encoder encoderDef; //encoderDef缁撴瀯浣撳０鏄 // 鍙橀噺澹版槑 volatile int32_t ABZ_pulse_count = 0; @@ -12,18 +21,31 @@ volatile int32_t ABZ_prev_pulse_count = 0; volatile float ABZ_speed = 0.0f; volatile float ABZ_angle = 0.0f; -// 鍋囪缂栫爜鍣ㄧ殑姣忚浆鑴夊啿鏁 -#define ENCODER_PULSES_PER_REV 4096 +///////////////////////////////////////////////////////////////////// + +//姝ゅ閫傜敤鐨勫畾鏃跺櫒鏃堕棿鎴宠绠楅熷害 +float ABZ_full_rotations; // 褰撳墠鏃嬭浆鍦堟暟 +float ABZ_raw_angle = 0; // 瑙掑害寮у害浼犲弬鍊 + +unsigned long ABZ_angle_prev_ts; // 涓婃鐨勮繍琛屾椂闂 +unsigned long ABZ_vel_angle_prev_ts; // 涓婃鐨勮繍琛屾椂闂 + +unsigned long ABZ_angle_prev_ts; // 涓婃鐨勮繍琛屾椂闂 +unsigned long ABZ_vel_angle_prev_ts; // 涓婃鐨勮繍琛屾椂闂 + +float ABZ_angle_prev_Velocity; // 涓婃瑙掑害(鐢ㄤ簬閫熷害鐜) +float ABZ_vel_angle_prev_Velocity; // 涓婃瑙掑害(鐢ㄤ簬閫熷害鐜) + +int32_t ABZ_encoder_count = 0; // 璇诲彇褰撳墠缂栫爜鍣ㄨ鏁板 +int32_t ABZ_prev_encoder_count = 0; // 璇诲彇涓婃缂栫爜鍣ㄨ鏁板 -// 瀹氭椂鍣ㄥ懆鏈 (绉) -#define TIMER_PERIOD 1.0f void TIM2_M1_ABZ(void) { // 鍚姩缂栫爜鍣ㄦā寮 HAL_TIM_Encoder_Start(&htim2, TIM_CHANNEL_ALL); - // 鍚姩绱㈠紩涓柇 + // 鍚姩绱㈠紩涓柇,妫娴嬪埌ABZ缂栫爜鍣╖淇″彿灏遍噸缃鏁板櫒銆 HAL_TIMEx_EnableEncoderIndex(&htim2); } @@ -32,10 +54,14 @@ void TIM3_M2_ABZ(void) // 鍚姩缂栫爜鍣ㄦā寮 HAL_TIM_Encoder_Start(&htim3, TIM_CHANNEL_ALL); - // 鍚姩绱㈠紩涓柇 + // 鍚姩绱㈠紩涓柇,妫娴嬪埌ABZ缂栫爜鍣╖淇″彿灏遍噸缃鏁板櫒銆 HAL_TIMEx_EnableEncoderIndex(&htim3); } +/** + * @brief 缂栫爜鍣ㄨ皟璇曞嚱鏁 + * + */ void Count_M1_ABZ(void) { // Debug锛氳鍙栫紪鐮佸櫒璁℃暟鍊 @@ -48,91 +74,138 @@ void Count_M2_ABZ(void) volatile int32_t encoder_count = __HAL_TIM_GET_COUNTER(&htim3); } -//// 涓柇鏈嶅姟鍑芥暟 -// void HAL_TIMEx_EncoderIndexCallback(TIM_HandleTypeDef *htim) -//{ +// // 鐢垫満閫熷害鍜岃搴﹁绠 +// void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) +// { // if (htim->Instance == TIM3) // { -// // 绱㈠紩淇″彿涓柇澶勭悊閫昏緫 -// // 鍙互鍦ㄨ繖閲岄噸缃紪鐮佸櫒璁℃暟鍊硷紝鎴栬呰褰曞綋鍓嶈鏁板 -// __HAL_TIM_SET_COUNTER(htim, 0); -// // printf("Encoder Index detected!\r\n"); +// // 鑾峰彇褰撳墠鑴夊啿璁℃暟 +// ABZ_pulse_count = __HAL_TIM_GET_COUNTER(&htim3); + +// // 璁＄畻鑴夊啿澧為噺 +// int32_t pulse_delta = ABZ_pulse_count - ABZ_prev_pulse_count; + +// // 璁＄畻閫熷害 (PPS: 鑴夊啿姣忕) +// // 鍋囪瀹氭椂鍣ㄥ懆鏈熶负1绉掞紝鍒欓熷害涓鸿剦鍐插閲 +// ABZ_speed = (float)pulse_delta / TIMER_PERIOD; + +// // 璁＄畻瑙掑害 (鍗曚綅锛氬害) +// // 瑙掑害 = 褰撳墠璁℃暟鍊 / 姣忚浆鑴夊啿鏁 * 360搴 +// ABZ_angle = (float)((ABZ_pulse_count % ENCODER_PULSES_PER_REV + ENCODER_PULSES_PER_REV) % ENCODER_PULSES_PER_REV) / ENCODER_PULSES_PER_REV * 360.0f; + +// // 鏇存柊涓婃鑴夊啿璁℃暟 +// ABZ_prev_pulse_count = ABZ_pulse_count; + +// // 娓呴櫎瀹氭椂鍣ㄦ洿鏂颁腑鏂爣蹇 +// __HAL_TIM_CLEAR_FLAG(htim, TIM_FLAG_UPDATE); // } // } -// 鐢垫満閫熷害鍜岃搴﹁绠 -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - if (htim->Instance == TIM3) - { - // 娓呴櫎瀹氭椂鍣ㄦ洿鏂颁腑鏂爣蹇 - __HAL_TIM_CLEAR_FLAG(htim, TIM_FLAG_UPDATE); - // 鑾峰彇褰撳墠鑴夊啿璁℃暟 - ABZ_pulse_count = __HAL_TIM_GET_COUNTER(&htim3); +//瀹氭椂鍣ㄤ腑鏂柟娉曡绠楅熷害 +// int UpdateEncoderCnt(void) +// { +// // 鍚姩缂栫爜鍣ㄦā寮 +// HAL_TIM_Encoder_Start(&htim3, TIM_CHANNEL_ALL); - // 璁＄畻鑴夊啿澧為噺 - int32_t pulse_delta = ABZ_pulse_count - ABZ_prev_pulse_count; +// // 鍚姩绱㈠紩涓柇 +// HAL_TIMEx_EnableEncoderIndex(&htim3); - // 璁＄畻閫熷害 (PPS: 鑴夊啿姣忕) - // 鍋囪瀹氭椂鍣ㄥ懆鏈熶负1绉掞紝鍒欓熷害涓鸿剦鍐插閲 - ABZ_speed = (float)pulse_delta / TIMER_PERIOD; +// // 鑾峰彇鐢垫満璇绘暟 +// encoderDef.cnt = (int32_t)__HAL_TIM_GET_COUNTER(&htim3); - // 璁＄畻瑙掑害 (鍗曚綅锛氬害) - // 瑙掑害 = 褰撳墠璁℃暟鍊 / 姣忚浆鑴夊啿鏁 * 360搴 - ABZ_angle = (float)(ABZ_pulse_count % ENCODER_PULSES_PER_REV) / ENCODER_PULSES_PER_REV * 360.0f; +// // 璁＄畻鐢垫満鍋忕Щ閲 +// encoderDef.incCnt = ModifyIncCnt(encoderDef.cnt - encoderDef.preCnt); +// // 鏇存柊涓婃鑴夊啿璁℃暟 +// encoderDef.preCnt = encoderDef.cnt; - // 鏇存柊涓婃鑴夊啿璁℃暟 - ABZ_prev_pulse_count = ABZ_pulse_count; - } -} +// // 鑾峰彇鐪熷疄鐨勭紪鐮佸櫒璁℃暟鍊 +// realCnt = encoderDef.cnt - encoderDef.offsetCnt; -int UpdataEncoderCnt(void) -{ - // 鍚姩缂栫爜鍣ㄦā寮 - HAL_TIM_Encoder_Start(&htim3, TIM_CHANNEL_ALL); +// // 褰撹鏁板间负璐熸暟鏃讹紝鍔犱笂涓鍦堢殑璁℃暟鏁 +// while (realCnt < 0) +// { +// realCnt += ENCODER_PULSES_PER_REV * 4; +// } - // 鍚姩绱㈠紩涓柇 - HAL_TIMEx_EnableEncoderIndex(&htim3); - // 鑾峰彇鐢垫満璇绘暟 +// // 璁＄畻鐪熷疄鐨勮搴﹀ +// encoderDef.angle = realCnt * 2 * PI / ENCODER_PULSES_PER_REV / 4; - encoderDef.cnt = (int32_t)__HAL_TIM_GET_COUNTER(&htim3); +// // 璁＄畻鐢佃搴 +// encoderDef.elecAngle = _normalizeAngle(encoderDef.angle); - encoderDef.preCnt = encoderDef.cnt; - // 璁＄畻鐢垫満鍋忕Щ閲 - encoderDef.incCnt = ModifyIncCnt(encoderDef.cnt - encoderDef.preCnt); - // 鑾峰彇鐪熷疄鐨勭紪鐮佸櫒璁℃暟鍊 - realCnt = encoderDef.cnt - encoderDef.offsetCnt; - // 褰撹鏁板间负璐熸暟鏃讹紝鍔犱笂涓鍦堢殑璁℃暟鏁 - while (realCnt < 0) - { - realCnt += ENCODER_PULSES_PER_REV * 4; - } - // 璁＄畻鐪熷疄鐨勮搴﹀ - encoderDef.angle = encoderDef.cnt * 2 * PI / ENCODER_PULSES_PER_REV / 4; - - // 璁＄畻鐢佃搴 - encoderDef.elecAngle = _normalizeAngle(encoderDef.angle); - - // 杩斿洖缂栫爜鍣ㄨ鏁 - return encoderDef.cnt; -} - -//// 3. 瀹氫箟涓柇鏈嶅姟绋嬪簭 -// void TIM3_IRQHandler(void) -//{ -// HAL_TIM_IRQHandler(&htim3); +// // 杩斿洖缂栫爜鍣ㄨ鏁 +// return encoderDef.cnt; // } -int16_t ModifyIncCnt(int16_t delta) +// int16_t ModifyIncCnt(int16_t delta) +// { +// // 濡傛灉澧為噺瓒呰繃浜嗕竴鍗婅鏁拌寖鍥达紝璇存槑鏄孩鍑猴紝闇瑕佽繘琛岃皟鏁 +// if (delta > ENCODER_HALF_COUNT) +// { +// delta -= (ENCODER_MAX_COUNT + 1); +// } +// else if (delta < -ENCODER_HALF_COUNT) +// { +// delta += (ENCODER_MAX_COUNT + 1); +// } +// return delta; +// } + +/////////////////////////////////////////////////////////////////////////////// + +// 鎶婂師濮嬪艰В绠楁垚缂栫爜鍣360掳鍊 +float ABZ_GetAngle360(void) { - // 濡傛灉澧為噺瓒呰繃浜嗕竴鍗婅鏁拌寖鍥达紝璇存槑鏄孩鍑猴紝闇瑕佽繘琛岃皟鏁 - if (delta > ENCODER_HALF_COUNT) - { - delta -= (ENCODER_MAX_COUNT + 1); - } - else if (delta < -ENCODER_HALF_COUNT) - { - delta += (ENCODER_MAX_COUNT + 1); - } - return delta; + ABZ_encoder_count = __HAL_TIM_GET_COUNTER(&htim3); + ABZ_raw_angle = ABZ_encoder_count; + return ABZ_raw_angle * 0.08789f; // 灏嗗師濮嬪艰浆鎹负0-360掳鐨勮搴,4096*0.08789鈮360掳 +} + +// 璇诲彇纾佺紪鐮佸櫒褰掍竴鍖栧姬搴﹀:(0-6.28) +float ABZ_GetAngle2PI(void) +{ + ABZ_encoder_count = __HAL_TIM_GET_COUNTER(&htim3); + ABZ_raw_angle = ABZ_encoder_count; + return ABZ_raw_angle * 0.08789f / 57.32484f; // 灏嗗師濮嬪艰浆鎹负0-2蟺鐨勫姬搴 +} + +// 纾佺紪鐮佸櫒寮у害鍒惰搴︾疮璁¤绠:(0-鈭) +float ABZ_GetAngle(void) +{ + float val = ABZ_GetAngle2PI(); // 鑾峰彇褰撳墠寮у害 + float d_angle = val - ABZ_prev_encoder_count; // 璁＄畻瑙掑害鍙樺寲 + + // 璁＄畻鏃嬭浆鐨勫湀鏁 + // 閫氳繃鍒ゆ柇瑙掑害鍙樺寲鏄惁澶т簬80%鐨勪竴鍦(0.8f*6.28318530718f)鏉ュ垽鏂槸鍚﹀彂鐢熶簡婧㈠嚭 + // 濡傛灉鍙戠敓浜嗘孩鍑,鍒欏皢full_rotations澧炲姞1(濡傛灉d_angle灏忎簬0)鎴栧噺灏1(濡傛灉d_angle澶т簬0) + if (fabs(d_angle) > (0.8f * 6.28318530718f)) + ABZ_full_rotations += (d_angle > 0) ? -1 : 1; // 鏍规嵁瑙掑害鍙樺寲鏂瑰悜璋冩暣鏃嬭浆鍦堟暟 + + ABZ_prev_encoder_count = val; // 鏇存柊涓婃瑙掑害 + return (float)ABZ_full_rotations * 6.28318530718f + ABZ_prev_encoder_count; // 杩斿洖绱瑙掑害 +} + +// 纾佺紪鐮佸櫒閫熷害璁＄畻:(0-鈭) +float ABZ_GetVelocity(void) +{ + float Ts, vel = 0.0f; // Ts涓洪噰鏍锋椂闂达紝vel涓洪熷害 + + // 璁＄畻閲囨牱鏃堕棿 + ABZ_angle_prev_ts = SysTick->VAL; // 鑾峰彇褰撳墠鏃堕棿鎴 + + if (ABZ_angle_prev_ts < ABZ_vel_angle_prev_ts) + Ts = (float)(ABZ_vel_angle_prev_ts - ABZ_angle_prev_ts); // 璁＄畻鏃堕棿宸 + else + Ts = (float)(0xFFFFFF - ABZ_angle_prev_ts + ABZ_vel_angle_prev_ts); // 澶勭悊鏃堕棿鎴虫孩鍑烘儏鍐 + + // 蹇熶慨澶嶅井灏忔孩鍑 + if (Ts == 0 || Ts > 0.5f) + Ts = 1e-3f; // 闃叉閲囨牱鏃堕棿涓0鎴栬繃澶 + + ABZ_angle_prev_Velocity = ABZ_GetAngle(); // 鑾峰彇褰撳墠瑙掑害 + vel = (ABZ_angle_prev_Velocity - ABZ_vel_angle_prev_Velocity) / Ts; // 璁＄畻閫熷害 + ABZ_vel_angle_prev_Velocity = ABZ_angle_prev_Velocity; // 鏇存柊涓婃瑙掑害 + ABZ_vel_angle_prev_ts = ABZ_angle_prev_ts; // 鏇存柊涓婃鏃堕棿鎴 + + return vel; // 杩斿洖閫熷害 } diff --git a/FOC_Related/ABZ/ABZ.h b/FOC_Related/ABZ/ABZ.h index 1fe65d9..7f71dfa 100644 --- a/FOC_Related/ABZ/ABZ.h +++ b/FOC_Related/ABZ/ABZ.h @@ -6,12 +6,12 @@ #define ENCODER_HALF_COUNT (ENCODER_MAX_COUNT / 2) // 定时器计数器的中间值 typedef struct{ - int16_t preCnt; - int16_t cnt; - int16_t offsetCnt; - int16_t angle; - int16_t elecAngle; - int16_t incCnt; + int32_t preCnt; + int32_t cnt; + int32_t offsetCnt; + int32_t angle; + int32_t elecAngle; + int32_t incCnt; }ABZ_Encoder; @@ -22,5 +22,11 @@ void TIM3_M2_ABZ(void); void Count_M2_ABZ(void); int16_t ModifyIncCnt(int16_t delta); -int UpdataEncoderCnt(void); +int UpdateEncoderCnt(void); + +float ABZ_GetAngle360(void); +float ABZ_GetAngle2PI(void); +float ABZ_GetAngle(void); +float ABZ_GetVelocity(void); + #endif diff --git a/FOC_Related/AS5600/AS5600.c b/FOC_Related/AS5600/AS5600.c index b7e5107..9f6b8ae 100644 --- a/FOC_Related/AS5600/AS5600.c +++ b/FOC_Related/AS5600/AS5600.c @@ -88,6 +88,7 @@ float AS5600_GetVelocity(void) // 计算采样时间 angle_prev_ts = SysTick->VAL; // 获取当前时间戳 + if (angle_prev_ts < vel_angle_prev_ts) Ts = (float)(vel_angle_prev_ts - angle_prev_ts); // 计算时间差 else @@ -105,44 +106,6 @@ float AS5600_GetVelocity(void) return vel; // 返回速度 } -//float AS5600_GetVelocity(void) -//{ -// float Ts, vel = 0.0f; // Ts为采样时间，vel为速度 - -// // 获取当前时间戳 -// uint32_t current_ts = SysTick->VAL; - -// // 计算采样时间，SysTick->LOAD的值为系统定时器重装值 -// if (current_ts < vel_angle_prev_ts) -// Ts = (float)(vel_angle_prev_ts - current_ts) / SysTick->LOAD * 1e-6f; // 计算时间差 -// else -// Ts = (float)(0xFFFFFF - current_ts + vel_angle_prev_ts) / SysTick->LOAD * 1e-6f; // 处理时间戳溢出情况 - -// // 快速修复微小溢出 -// if (Ts == 0 || Ts > 0.5f) -// Ts = 1e-3f; // 防止采样时间为0或过大 - -// // 获取当前角度 -// float current_angle = AS5600_GetAngle(); - -// // 计算角度差值，处理角度溢出情况（假设角度范围是0到360度） -// float angle_diff = current_angle - vel_angle_prev_Velocity; -// if (angle_diff > 180.0f) -// angle_diff -= 360.0f; -// else if (angle_diff < -180.0f) -// angle_diff += 360.0f; - -// // 计算速度 -// vel = angle_diff / Ts; - -// // 更新上次角度和时间戳 -// vel_angle_prev_Velocity = current_angle; -// vel_angle_prev_ts = current_ts; - -// return vel; // 返回速度 -//} - - // 磁编码器速度低通滤波计算:(0-∞) float AS5600_Get_Speed(void) { diff --git a/FOC_Related/FOC/FOC.c b/FOC_Related/FOC/FOC.c index 9e9708f..d3e3a31 100644 --- a/FOC_Related/FOC/FOC.c +++ b/FOC_Related/FOC/FOC.c @@ -149,14 +149,11 @@ void FOC_AS5600_Init(int _PP, int _DIR) PP = _PP; DIR = _DIR; -// setTorque(3, _2PI); - -// -//HAL_Delay(3000); + setTorque(3, _2PI); + HAL_Delay(3000); setTorque(0, _2PI); - zero_electric_angle = _electricalAngle(); // 设置零点角度。 Sensor_Speed = AS5600_Get_Speed(); // 速度初始值计算。 } @@ -218,7 +215,6 @@ void Open_Loop_Control(float Uq, float speed) // 设置力矩 setTorque(Uq, angle_el); - // 获取当前ADC值 // 调试打印：确保ADC值已经被正确读取 // HAL_UART_Transmit(&huart1, "Toggle LED0!\r\n", sizeof("Toggle LED0!\r\n"),10000); diff --git a/FOC_Related/PID/pid.c b/FOC_Related/PID/pid.c index f1a0f42..5182d9a 100644 --- a/FOC_Related/PID/pid.c +++ b/FOC_Related/PID/pid.c @@ -39,8 +39,8 @@ void PID_init() // pid_speed.err_last = 0.0f; // 上次误差初始化为0 pid_speed.voltage = 0.0f; // 输出电压初始化为0 pid_speed.integral = 0.0f; // 积分项初始化为0 - pid_speed.Kp = 0.01f; // 速度环比例系数初始化为0.11 - pid_speed.Ki = 0.0001f; // 速度环积分系数初始化为0.005 + pid_speed.Kp = 0.002f; // 速度环比例系数初始化为0.11 + pid_speed.Ki = 0.0005f; // 速度环积分系数初始化为0.005 pid_speed.Kd = 0.00001f; // 速度环微分系数初始化为0.0008 // 电流环pid diff --git a/MDK-ARM/MDK-ARM.code-workspace b/MDK-ARM/MDK-ARM.code-workspace index 4163f10..4a8d2f0 100644 --- a/MDK-ARM/MDK-ARM.code-workspace +++ b/MDK-ARM/MDK-ARM.code-workspace @@ -20,8 +20,19 @@ "lowpass_filter.h": "c", "control.h": "c", "pid.h": "c", - "string.h": "c" - } + "string.h": "c", + "foc.h": "c" + }, + "cmsis-csolution.actions": [ + { + "path": "STM32G474RETx_Demo_Blink.csolution.yml", + "target": "STM32G474RETxDemoBlink", + "config": { + "run": "Flash Device", + "debug": "Arm Debugger" + } + } + ] }, "extensions": {} } \ No newline at end of file diff --git a/MDK-ARM/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink.cprj b/MDK-ARM/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink.cprj index c5909c3..fa62c1c 100644 --- a/MDK-ARM/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink.cprj +++ b/MDK-ARM/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink.cprj @@ -1,6 +1,6 @@ - + Automatically generated project diff --git a/MDK-ARM/STM32G474RETx_Demo_Blink.uvguix.Michael_Chemic b/MDK-ARM/STM32G474RETx_Demo_Blink.uvguix.Michael_Chemic index 556ee49..f5c9f3b 100644 --- a/MDK-ARM/STM32G474RETx_Demo_Blink.uvguix.Michael_Chemic +++ b/MDK-ARM/STM32G474RETx_Demo_Blink.uvguix.Michael_Chemic @@ -93,8 +93,8 @@ 2 3 - -1 - -1 + -32000 + -32000 -1 @@ -102,16 +102,16 @@ 0 - 167 - 1091 + -5 + 919 878 0 - 1950 - 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b/MDK-ARM/STM32G474RETx_Demo_Blink.uvoptx index ccb150e..23c83d2 100644 --- a/MDK-ARM/STM32G474RETx_Demo_Blink.uvoptx +++ b/MDK-ARM/STM32G474RETx_Demo_Blink.uvoptx @@ -148,24 +148,7 @@ -U004900283232510139353236 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO31 -FD20000000 -FC1000 -FN1 -FF0STM32G47x-8x_512.FLM -FS08000000 -FL080000 -FP0($$Device:STM32G474RETx$CMSIS\Flash\STM32G47x-8x_512.FLM) - - - 0 - 0 - 140 - 1 -
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ZN^x%V;&Project: -C:\Users\Michael_Chemic\Desktop\STM32G474RETx_FOC\STM32G4-DRV8301-FOC\MDK-ARM\STM32G474RETx_Demo_Blink.uvprojx -Project File Date: 07/17/2024 +C:\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\MDK-ARM\STM32G474RETx_Demo_Blink.uvprojx +Project File Date: 07/26/2024

Output:

*** Using Compiler 'V6.18', folder: 'D:\Keil_v5\ARM\ARMCLANG\Bin' Rebuild target 'STM32G474RETx_Demo_Blink' +compiling LowPass_Filter.c... +compiling control.c... +compiling pid.c... compiling HALL.c... assembling startup_stm32g474xx.s... -compiling pid.c... -compiling control.c... -compiling LowPass_Filter.c... -compiling main.c... -compiling ABZ.c... -compiling gpio.c... -compiling AS5600.c... -compiling adc.c... compiling FOC.c... +compiling main.c... +compiling gpio.c... +compiling adc.c... +compiling AS5600.c... +compiling ABZ.c... compiling dma.c... compiling fdcan.c... -compiling i2c.c... compiling usart.c... +compiling i2c.c... compiling tim.c... compiling stm32g4xx_ll_adc.c... compiling stm32g4xx_it.c... compiling stm32g4xx_hal_msp.c... compiling stm32g4xx_hal.c... +compiling stm32g4xx_hal_adc_ex.c... compiling stm32g4xx_hal_rcc.c... +compiling stm32g4xx_hal_adc.c... compiling stm32g4xx_hal_rcc_ex.c... compiling stm32g4xx_hal_flash_ramfunc.c... -compiling stm32g4xx_hal_flash.c... -compiling stm32g4xx_hal_adc_ex.c... compiling stm32g4xx_hal_flash_ex.c... -compiling stm32g4xx_hal_gpio.c... -compiling stm32g4xx_hal_adc.c... compiling stm32g4xx_hal_exti.c... -compiling stm32g4xx_hal_dma_ex.c... +compiling stm32g4xx_hal_flash.c... +compiling stm32g4xx_hal_gpio.c... compiling stm32g4xx_hal_dma.c... +compiling stm32g4xx_hal_dma_ex.c... compiling stm32g4xx_hal_pwr.c... +compiling stm32g4xx_hal_cortex.c... compiling stm32g4xx_hal_pwr_ex.c... compiling stm32g4xx_hal_i2c_ex.c... -compiling stm32g4xx_hal_cortex.c... compiling system_stm32g4xx.c... compiling stm32g4xx_hal_uart_ex.c... compiling stm32g4xx_hal_fdcan.c... @@ -73,7 +73,7 @@ compiling stm32g4xx_hal_uart.c... compiling stm32g4xx_hal_i2c.c... compiling stm32g4xx_hal_tim.c... linking... -Program Size: Code=26000 RO-data=880 RW-data=32 ZI-data=3184 +Program Size: Code=28208 RO-data=880 RW-data=32 ZI-data=3224 FromELF: creating hex file... "STM32G474RETx_Demo_Blink\STM32G474RETx_Demo_Blink.axf" - 0 Error(s), 0 Warning(s). @@ -99,7 +99,7 @@ Package Vendor: Keil * Component: ARM::CMSIS:CORE:5.6.0 Include file: CMSIS/Core/Include/tz_context.h -Build Time Elapsed: 00:00:05 +Build Time Elapsed: 00:00:04 diff --git a/MDK-ARM/STM32G474RETx_Demo_Blink/STM32G474RETx_Demo_Blink.hex b/MDK-ARM/STM32G474RETx_Demo_Blink/STM32G474RETx_Demo_Blink.hex index 35a4e69..b8e7e0e 100644 --- a/MDK-ARM/STM32G474RETx_Demo_Blink/STM32G474RETx_Demo_Blink.hex +++ b/MDK-ARM/STM32G474RETx_Demo_Blink/STM32G474RETx_Demo_Blink.hex @@ -1,19 +1,19 @@ :020000040800F2 -:10000000900C0020ED010008354D00080D4200085D -:10001000314D0008B5090008DD5700080000000058 -:10002000000000000000000000000000B94D0008C2 -:10003000FD09000800000000B54D0008BD4D000896 +:10000000B80C0020ED010008355300083544000805 +:10001000A5520008F5090008E15F00080000000093 +:10002000000000000000000000000000B9530008BC +:10003000290A000800000000B55300080555000813 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+:1071A000000000000100000001000000000040415C +:1071B00010000000010000000024F4000000404125 :04000005080001D915 :00000001FF diff --git a/MDK-ARM/STM32G474RETx_Demo_Blink/STM32G474RETx_Demo_Blink.htm b/MDK-ARM/STM32G474RETx_Demo_Blink/STM32G474RETx_Demo_Blink.htm index ee7c115..2799f7f 100644 --- a/MDK-ARM/STM32G474RETx_Demo_Blink/STM32G474RETx_Demo_Blink.htm +++ b/MDK-ARM/STM32G474RETx_Demo_Blink/STM32G474RETx_Demo_Blink.htm @@ -3,7 +3,7 @@ Static Call Graph - [STM32G474RETx_Demo_Blink\STM32G474RETx_Demo_Blink.axf]

Static Call Graph for image STM32G474RETx_Demo_Blink\STM32G474RETx_Demo_Blink.axf

-

#<CALLGRAPH># ARM Linker, 6180002: Last Updated: Wed Jul 24 17:00:50 2024 +

#<CALLGRAPH># ARM Linker, 6180002: Last Updated: Fri Jul 26 14:29:51 2024

Maximum Stack Usage = 432 bytes + Unknown(Cycles, Untraceable Function Pointers)

Call chain for Maximum Stack Depth:

@@ -113,7 +113,7 @@ Function Pointers
  • TIM20_TRG_COM_IRQHandler from startup_stm32g474xx.o(.text) referenced from startup_stm32g474xx.o(RESET)
  • TIM20_UP_IRQHandler from startup_stm32g474xx.o(.text) referenced from startup_stm32g474xx.o(RESET) -
  • TIM2_IRQHandler from startup_stm32g474xx.o(.text) referenced from startup_stm32g474xx.o(RESET) +
  • TIM2_IRQHandler from stm32g4xx_it.o(.text.TIM2_IRQHandler) referenced from startup_stm32g474xx.o(RESET)
  • TIM3_IRQHandler from stm32g4xx_it.o(.text.TIM3_IRQHandler) referenced from startup_stm32g474xx.o(RESET)
  • TIM4_IRQHandler from startup_stm32g474xx.o(.text) referenced from startup_stm32g474xx.o(RESET)
  • TIM5_IRQHandler from startup_stm32g474xx.o(.text) referenced from startup_stm32g474xx.o(RESET) @@ -144,7 +144,7 @@ Global Symbols

    __main (Thumb, 0 bytes, Stack size unknown bytes, entry.o(.ARM.Collect$$$$00000000))
    [Address Reference Count : 1]

    • startup_stm32g474xx.o(.text)
    -

    _main_stk (Thumb, 0 bytes, Stack size unknown bytes, entry2.o(.ARM.Collect$$$$00000001)) +

    _main_stk (Thumb, 0 bytes, Stack size unknown bytes, entry2.o(.ARM.Collect$$$$00000001))

    _main_scatterload (Thumb, 0 bytes, Stack size unknown bytes, entry5.o(.ARM.Collect$$$$00000004))

    [Calls]

  • TIM20_CC_IRQHandler from startup_stm32g474xx.o(.text) referenced from startup_stm32g474xx.o(RESET)