├── Code
└── SCARA运动学
│ ├── CORE
│ ├── core_cm4.h
│ ├── core_cm4_simd.h
│ ├── core_cmFunc.h
│ ├── core_cmInstr.h
│ └── startup_stm32f40_41xxx.s
│ ├── FWLIB
│ ├── inc
│ │ ├── misc.h
│ │ ├── stm32f4xx_adc.h
│ │ ├── stm32f4xx_can.h
│ │ ├── stm32f4xx_crc.h
│ │ ├── stm32f4xx_cryp.h
│ │ ├── stm32f4xx_dac.h
│ │ ├── stm32f4xx_dbgmcu.h
│ │ ├── stm32f4xx_dcmi.h
│ │ ├── stm32f4xx_dma.h
│ │ ├── stm32f4xx_dma2d.h
│ │ ├── stm32f4xx_exti.h
│ │ ├── stm32f4xx_flash.h
│ │ ├── stm32f4xx_flash_ramfunc.h
│ │ ├── stm32f4xx_fmc.h
│ │ ├── stm32f4xx_fsmc.h
│ │ ├── stm32f4xx_gpio.h
│ │ ├── stm32f4xx_hash.h
│ │ ├── stm32f4xx_i2c.h
│ │ ├── stm32f4xx_iwdg.h
│ │ ├── stm32f4xx_ltdc.h
│ │ ├── stm32f4xx_pwr.h
│ │ ├── stm32f4xx_rcc.h
│ │ ├── stm32f4xx_rng.h
│ │ ├── stm32f4xx_rtc.h
│ │ ├── stm32f4xx_sai.h
│ │ ├── stm32f4xx_sdio.h
│ │ ├── stm32f4xx_spi.h
│ │ ├── stm32f4xx_syscfg.h
│ │ ├── stm32f4xx_tim.h
│ │ ├── stm32f4xx_usart.h
│ │ └── stm32f4xx_wwdg.h
│ └── src
│ │ ├── misc.c
│ │ ├── stm32f4xx_adc.c
│ │ ├── stm32f4xx_can.c
│ │ ├── stm32f4xx_crc.c
│ │ ├── stm32f4xx_cryp.c
│ │ ├── stm32f4xx_cryp_aes.c
│ │ ├── stm32f4xx_cryp_des.c
│ │ ├── stm32f4xx_cryp_tdes.c
│ │ ├── stm32f4xx_dac.c
│ │ ├── stm32f4xx_dbgmcu.c
│ │ ├── stm32f4xx_dcmi.c
│ │ ├── stm32f4xx_dma.c
│ │ ├── stm32f4xx_dma2d.c
│ │ ├── stm32f4xx_exti.c
│ │ ├── stm32f4xx_flash.c
│ │ ├── stm32f4xx_flash_ramfunc.c
│ │ ├── stm32f4xx_fmc.c
│ │ ├── stm32f4xx_fsmc.c
│ │ ├── stm32f4xx_gpio.c
│ │ ├── stm32f4xx_hash.c
│ │ ├── stm32f4xx_hash_md5.c
│ │ ├── stm32f4xx_hash_sha1.c
│ │ ├── stm32f4xx_i2c.c
│ │ ├── stm32f4xx_iwdg.c
│ │ ├── stm32f4xx_ltdc.c
│ │ ├── stm32f4xx_pwr.c
│ │ ├── stm32f4xx_rcc.c
│ │ ├── stm32f4xx_rng.c
│ │ ├── stm32f4xx_rtc.c
│ │ ├── stm32f4xx_sai.c
│ │ ├── stm32f4xx_sdio.c
│ │ ├── stm32f4xx_spi.c
│ │ ├── stm32f4xx_syscfg.c
│ │ ├── stm32f4xx_tim.c
│ │ ├── stm32f4xx_usart.c
│ │ └── stm32f4xx_wwdg.c
│ ├── HARDWARE
│ ├── BALANCE
│ │ ├── balance.c
│ │ └── balance.h
│ ├── KEY
│ │ ├── key.c
│ │ └── key.h
│ ├── LED
│ │ ├── led.c
│ │ └── led.h
│ ├── MOTOR
│ │ ├── MOTOR.c
│ │ └── MOTOR.h
│ ├── OPENMV
│ │ ├── openmv.c
│ │ └── openmv.h
│ ├── PWM
│ │ ├── pwm.c
│ │ └── pwm.h
│ ├── SCARA
│ │ ├── SCARA.c
│ │ └── SCARA.h
│ └── XBOX
│ │ ├── xbox.c
│ │ └── xbox.h
│ ├── OBJ
│ ├── ExtDll.iex
│ ├── Template.axf
│ ├── Template.build_log.htm
│ ├── Template.hex
│ ├── Template.htm
│ ├── Template.lnp
│ ├── Template.map
│ ├── Template.sct
│ ├── Template_Template.dep
│ ├── Template_sct.Bak
│ ├── balance.crf
│ ├── balance.d
│ ├── balance.o
│ ├── delay.crf
│ ├── delay.d
│ ├── delay.o
│ ├── key.crf
│ ├── key.d
│ ├── key.o
│ ├── led.crf
│ ├── led.d
│ ├── led.o
│ ├── main.crf
│ ├── main.d
│ ├── main.o
│ ├── misc.crf
│ ├── misc.d
│ ├── misc.o
│ ├── motor.crf
│ ├── motor.d
│ ├── motor.o
│ ├── openmv.crf
│ ├── openmv.d
│ ├── openmv.o
│ ├── pwm.crf
│ ├── pwm.d
│ ├── pwm.o
│ ├── scara.crf
│ ├── scara.d
│ ├── scara.o
│ ├── startup_stm32f40_41xxx.d
│ ├── startup_stm32f40_41xxx.lst
│ ├── startup_stm32f40_41xxx.o
│ ├── stm32f4xx_adc.crf
│ ├── stm32f4xx_adc.d
│ ├── stm32f4xx_adc.o
│ ├── stm32f4xx_can.crf
│ ├── stm32f4xx_can.d
│ ├── stm32f4xx_can.o
│ ├── stm32f4xx_crc.crf
│ ├── stm32f4xx_crc.d
│ ├── stm32f4xx_crc.o
│ ├── stm32f4xx_cryp.crf
│ ├── stm32f4xx_cryp.d
│ ├── stm32f4xx_cryp.o
│ ├── stm32f4xx_cryp_aes.crf
│ ├── stm32f4xx_cryp_aes.d
│ ├── stm32f4xx_cryp_aes.o
│ ├── stm32f4xx_cryp_des.crf
│ ├── stm32f4xx_cryp_des.d
│ ├── stm32f4xx_cryp_des.o
│ ├── stm32f4xx_cryp_tdes.crf
│ ├── stm32f4xx_cryp_tdes.d
│ ├── stm32f4xx_cryp_tdes.o
│ ├── stm32f4xx_dac.crf
│ ├── stm32f4xx_dac.d
│ ├── stm32f4xx_dac.o
│ ├── stm32f4xx_dbgmcu.crf
│ ├── stm32f4xx_dbgmcu.d
│ ├── stm32f4xx_dbgmcu.o
│ ├── stm32f4xx_dcmi.crf
│ ├── stm32f4xx_dcmi.d
│ ├── stm32f4xx_dcmi.o
│ ├── stm32f4xx_dma.crf
│ ├── stm32f4xx_dma.d
│ ├── stm32f4xx_dma.o
│ ├── stm32f4xx_dma2d.crf
│ ├── stm32f4xx_dma2d.d
│ ├── stm32f4xx_dma2d.o
│ ├── stm32f4xx_exti.crf
│ ├── stm32f4xx_exti.d
│ ├── stm32f4xx_exti.o
│ ├── stm32f4xx_flash.crf
│ ├── stm32f4xx_flash.d
│ ├── stm32f4xx_flash.o
│ ├── stm32f4xx_flash_ramfunc.crf
│ ├── stm32f4xx_flash_ramfunc.d
│ ├── stm32f4xx_flash_ramfunc.o
│ ├── stm32f4xx_fsmc.crf
│ ├── stm32f4xx_fsmc.d
│ ├── stm32f4xx_fsmc.o
│ ├── stm32f4xx_gpio.crf
│ ├── stm32f4xx_gpio.d
│ ├── stm32f4xx_gpio.o
│ ├── stm32f4xx_hash.crf
│ ├── stm32f4xx_hash.d
│ ├── stm32f4xx_hash.o
│ ├── stm32f4xx_hash_md5.crf
│ ├── stm32f4xx_hash_md5.d
│ ├── stm32f4xx_hash_md5.o
│ ├── stm32f4xx_hash_sha1.crf
│ ├── stm32f4xx_hash_sha1.d
│ ├── stm32f4xx_hash_sha1.o
│ ├── stm32f4xx_i2c.crf
│ ├── stm32f4xx_i2c.d
│ ├── stm32f4xx_i2c.o
│ ├── stm32f4xx_it.crf
│ ├── stm32f4xx_it.d
│ ├── stm32f4xx_it.o
│ ├── stm32f4xx_iwdg.crf
│ ├── stm32f4xx_iwdg.d
│ ├── stm32f4xx_iwdg.o
│ ├── stm32f4xx_ltdc.crf
│ ├── stm32f4xx_ltdc.d
│ ├── stm32f4xx_ltdc.o
│ ├── stm32f4xx_pwr.crf
│ ├── stm32f4xx_pwr.d
│ ├── stm32f4xx_pwr.o
│ ├── stm32f4xx_rcc.crf
│ ├── stm32f4xx_rcc.d
│ ├── stm32f4xx_rcc.o
│ ├── stm32f4xx_rng.crf
│ ├── stm32f4xx_rng.d
│ ├── stm32f4xx_rng.o
│ ├── stm32f4xx_rtc.crf
│ ├── stm32f4xx_rtc.d
│ ├── stm32f4xx_rtc.o
│ ├── stm32f4xx_sai.crf
│ ├── stm32f4xx_sai.d
│ ├── stm32f4xx_sai.o
│ ├── stm32f4xx_sdio.crf
│ ├── stm32f4xx_sdio.d
│ ├── stm32f4xx_sdio.o
│ ├── stm32f4xx_spi.crf
│ ├── stm32f4xx_spi.d
│ ├── stm32f4xx_spi.o
│ ├── stm32f4xx_syscfg.crf
│ ├── stm32f4xx_syscfg.d
│ ├── stm32f4xx_syscfg.o
│ ├── stm32f4xx_tim.crf
│ ├── stm32f4xx_tim.d
│ ├── stm32f4xx_tim.o
│ ├── stm32f4xx_usart.crf
│ ├── stm32f4xx_usart.d
│ ├── stm32f4xx_usart.o
│ ├── stm32f4xx_wwdg.crf
│ ├── stm32f4xx_wwdg.d
│ ├── stm32f4xx_wwdg.o
│ ├── sys.crf
│ ├── sys.d
│ ├── sys.o
│ ├── system_stm32f4xx.crf
│ ├── system_stm32f4xx.d
│ ├── system_stm32f4xx.o
│ ├── usart.crf
│ ├── usart.d
│ ├── usart.o
│ ├── xbox.crf
│ ├── xbox.d
│ └── xbox.o
│ ├── README
│ └── README.txt
│ ├── SYSTEM
│ ├── delay
│ │ ├── delay.c
│ │ └── delay.h
│ ├── sys
│ │ ├── sys.c
│ │ └── sys.h
│ └── usart
│ │ ├── usart.c
│ │ └── usart.h
│ ├── USER
│ ├── EventRecorderStub.scvd
│ ├── JLinkSettings.ini
│ ├── Template.uvguix.86178
│ ├── Template.uvguix.Lenovo
│ ├── Template.uvguix.ManGoChen
│ ├── Template.uvoptx
│ ├── Template.uvprojx
│ ├── main.c
│ ├── stm32f4xx.h
│ ├── stm32f4xx.h~RF1311837b.TMP
│ ├── stm32f4xx_conf.h
│ ├── stm32f4xx_it.c
│ ├── stm32f4xx_it.h
│ ├── system_stm32f4xx.c
│ └── system_stm32f4xx.h
│ ├── keilkilll.bat
│ └── readme.txt
├── Docs
├── Motor_Driver.png
├── SCARA.png
├── SCARA_Model.png
├── bearing.png
├── harmonic.jpg
└── 杆件.jpg
├── LICENSE
├── MATLAB_simulation
├── CSDN
│ ├── matlab GUI中移动点的位置，放缩图像，移动图像位置（调试曲线）.zip
│ ├── matlab GUI中移动点的位置，放缩图像，移动图像位置（调试曲线）
│ │ ├── movePoints.fig
│ │ ├── movePoints.m
│ │ ├── newX.txt
│ │ ├── newY.txt
│ │ ├── xData.txt
│ │ ├── yData.txt
│ │ └── 说明.txt
│ ├── test.fig
│ └── test.m
├── forward.m
├── forwardF.m
├── gui.fig
├── gui.m
├── inverse.m
├── inverseF.m
├── scara.m
├── shubiao.m
├── test02.m
├── test5.m
├── untitled6.fig
├── untitled6.m
├── untitled7.fig
└── untitled7.m
├── README.md
└── Solidworks_Model
├── SCARA.SLDASM
├── 减速器
├── LCSG-17-XXX-C-I.SLDASM
└── 谐波减速.SLDASM
├── 打印件
├── 中间关节_上.SLDPRT
├── 中间关节_下.SLDPRT
├── 中间关节_下_长.SLDPRT
├── 减速器固定法兰1.SLDPRT
├── 减速器固定法兰2.SLDPRT
├── 减速器连接关节.SLDPRT
├── 末端关节_上.SLDPRT
├── 末端关节_下.SLDPRT
└── 电机距离250mm确认.SLDPRT
├── 机械臂固定底座
├── 横350mm.SLDPRT
├── 竖120mm.SLDPRT
└── 竖150mm.SLDPRT
├── 电机_支架
├── 电机支架1.SLDPRT
├── 电机支架2.SLDPRT
├── 闭环步进电机1.SLDPRT
└── 闭环步进电机2.SLDPRT
├── 碳纤维管
├── 碳管_185mm.SLDPRT
├── 碳管_255mm.SLDPRT
└── 碳管_270mm.SLDPRT
├── 螺丝_螺母_垫片_铜柱
├── M3X12_锁紧碳管.SLDPRT
├── M3X14_固定轴承_中间关节.SLDPRT
├── M3六角螺母.SLDPRT
├── M4×25_固定减速器_减速器法兰_电机距离确定打印件.SLDPRT
├── M4六角螺母.SLDPRT
├── M5×14_固定电机底座_机械臂底座.SLDPRT
├── M5×25_固定关节_减速器.SLDPRT
├── M5×25_固定电机_电机底座_减速器法兰.SLDPRT
├── M5六角螺母.SLDPRT
├── M5轴肩螺丝.SLDPRT
├── M5铜柱18mm.SLDPRT
├── M5铜柱50mm.SLDPRT
├── M5锁紧螺母.SLDPRT
└── 垫片.SLDPRT
├── 轴加工_键槽销
├── 电机轴加粗.SLDPRT
└── 键槽销.SLDPRT
└── 轴承
└── 轴承.SLDPRT
/Code/SCARA运动学/FWLIB/inc/stm32f4xx_crc.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file stm32f4xx_crc.h
4 | * @author MCD Application Team
5 | * @version V1.4.0
6 | * @date 04-August-2014
7 | * @brief This file contains all the functions prototypes for the CRC firmware
8 | * library.
9 | ******************************************************************************
10 | * @attention
11 | *
12 | * © COPYRIGHT 2014 STMicroelectronics
13 | *
14 | * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
15 | * You may not use this file except in compliance with the License.
16 | * You may obtain a copy of the License at:
17 | *
18 | * http://www.st.com/software_license_agreement_liberty_v2
19 | *
20 | * Unless required by applicable law or agreed to in writing, software
21 | * distributed under the License is distributed on an "AS IS" BASIS,
22 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
23 | * See the License for the specific language governing permissions and
24 | * limitations under the License.
25 | *
26 | ******************************************************************************
27 | */
28 |
29 | /* Define to prevent recursive inclusion -------------------------------------*/
30 | #ifndef __STM32F4xx_CRC_H
31 | #define __STM32F4xx_CRC_H
32 |
33 | #ifdef __cplusplus
34 | extern "C" {
35 | #endif
36 |
37 | /* Includes ------------------------------------------------------------------*/
38 | #include "stm32f4xx.h"
39 |
40 | /** @addtogroup STM32F4xx_StdPeriph_Driver
41 | * @{
42 | */
43 |
44 | /** @addtogroup CRC
45 | * @{
46 | */
47 |
48 | /* Exported types ------------------------------------------------------------*/
49 | /* Exported constants --------------------------------------------------------*/
50 |
51 | /** @defgroup CRC_Exported_Constants
52 | * @{
53 | */
54 |
55 | /**
56 | * @}
57 | */
58 |
59 | /* Exported macro ------------------------------------------------------------*/
60 | /* Exported functions --------------------------------------------------------*/
61 |
62 | void CRC_ResetDR(void);
63 | uint32_t CRC_CalcCRC(uint32_t Data);
64 | uint32_t CRC_CalcBlockCRC(uint32_t pBuffer[], uint32_t BufferLength);
65 | uint32_t CRC_GetCRC(void);
66 | void CRC_SetIDRegister(uint8_t IDValue);
67 | uint8_t CRC_GetIDRegister(void);
68 |
69 | #ifdef __cplusplus
70 | }
71 | #endif
72 |
73 | #endif /* __STM32F4xx_CRC_H */
74 |
75 | /**
76 | * @}
77 | */
78 |
79 | /**
80 | * @}
81 | */
82 |
83 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
84 |
--------------------------------------------------------------------------------
/Code/SCARA运动学/FWLIB/inc/stm32f4xx_dbgmcu.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file stm32f4xx_dbgmcu.h
4 | * @author MCD Application Team
5 | * @version V1.4.0
6 | * @date 04-August-2014
7 | * @brief This file contains all the functions prototypes for the DBGMCU firmware library.
8 | ******************************************************************************
9 | * @attention
10 | *
11 | * © COPYRIGHT 2014 STMicroelectronics
12 | *
13 | * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
14 | * You may not use this file except in compliance with the License.
15 | * You may obtain a copy of the License at:
16 | *
17 | * http://www.st.com/software_license_agreement_liberty_v2
18 | *
19 | * Unless required by applicable law or agreed to in writing, software
20 | * distributed under the License is distributed on an "AS IS" BASIS,
21 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
22 | * See the License for the specific language governing permissions and
23 | * limitations under the License.
24 | *
25 | ******************************************************************************
26 | */
27 |
28 | /* Define to prevent recursive inclusion -------------------------------------*/
29 | #ifndef __STM32F4xx_DBGMCU_H
30 | #define __STM32F4xx_DBGMCU_H
31 |
32 | #ifdef __cplusplus
33 | extern "C" {
34 | #endif
35 |
36 | /* Includes ------------------------------------------------------------------*/
37 | #include "stm32f4xx.h"
38 |
39 | /** @addtogroup STM32F4xx_StdPeriph_Driver
40 | * @{
41 | */
42 |
43 | /** @addtogroup DBGMCU
44 | * @{
45 | */
46 |
47 | /* Exported types ------------------------------------------------------------*/
48 | /* Exported constants --------------------------------------------------------*/
49 |
50 | /** @defgroup DBGMCU_Exported_Constants
51 | * @{
52 | */
53 | #define DBGMCU_SLEEP ((uint32_t)0x00000001)
54 | #define DBGMCU_STOP ((uint32_t)0x00000002)
55 | #define DBGMCU_STANDBY ((uint32_t)0x00000004)
56 | #define IS_DBGMCU_PERIPH(PERIPH) ((((PERIPH) & 0xFFFFFFF8) == 0x00) && ((PERIPH) != 0x00))
57 |
58 | #define DBGMCU_TIM2_STOP ((uint32_t)0x00000001)
59 | #define DBGMCU_TIM3_STOP ((uint32_t)0x00000002)
60 | #define DBGMCU_TIM4_STOP ((uint32_t)0x00000004)
61 | #define DBGMCU_TIM5_STOP ((uint32_t)0x00000008)
62 | #define DBGMCU_TIM6_STOP ((uint32_t)0x00000010)
63 | #define DBGMCU_TIM7_STOP ((uint32_t)0x00000020)
64 | #define DBGMCU_TIM12_STOP ((uint32_t)0x00000040)
65 | #define DBGMCU_TIM13_STOP ((uint32_t)0x00000080)
66 | #define DBGMCU_TIM14_STOP ((uint32_t)0x00000100)
67 | #define DBGMCU_RTC_STOP ((uint32_t)0x00000400)
68 | #define DBGMCU_WWDG_STOP ((uint32_t)0x00000800)
69 | #define DBGMCU_IWDG_STOP ((uint32_t)0x00001000)
70 | #define DBGMCU_I2C1_SMBUS_TIMEOUT ((uint32_t)0x00200000)
71 | #define DBGMCU_I2C2_SMBUS_TIMEOUT ((uint32_t)0x00400000)
72 | #define DBGMCU_I2C3_SMBUS_TIMEOUT ((uint32_t)0x00800000)
73 | #define DBGMCU_CAN1_STOP ((uint32_t)0x02000000)
74 | #define DBGMCU_CAN2_STOP ((uint32_t)0x04000000)
75 | #define IS_DBGMCU_APB1PERIPH(PERIPH) ((((PERIPH) & 0xF91FE200) == 0x00) && ((PERIPH) != 0x00))
76 |
77 | #define DBGMCU_TIM1_STOP ((uint32_t)0x00000001)
78 | #define DBGMCU_TIM8_STOP ((uint32_t)0x00000002)
79 | #define DBGMCU_TIM9_STOP ((uint32_t)0x00010000)
80 | #define DBGMCU_TIM10_STOP ((uint32_t)0x00020000)
81 | #define DBGMCU_TIM11_STOP ((uint32_t)0x00040000)
82 | #define IS_DBGMCU_APB2PERIPH(PERIPH) ((((PERIPH) & 0xFFF8FFFC) == 0x00) && ((PERIPH) != 0x00))
83 | /**
84 | * @}
85 | */
86 |
87 | /* Exported macro ------------------------------------------------------------*/
88 | /* Exported functions --------------------------------------------------------*/
89 | uint32_t DBGMCU_GetREVID(void);
90 | uint32_t DBGMCU_GetDEVID(void);
91 | void DBGMCU_Config(uint32_t DBGMCU_Periph, FunctionalState NewState);
92 | void DBGMCU_APB1PeriphConfig(uint32_t DBGMCU_Periph, FunctionalState NewState);
93 | void DBGMCU_APB2PeriphConfig(uint32_t DBGMCU_Periph, FunctionalState NewState);
94 |
95 | #ifdef __cplusplus
96 | }
97 | #endif
98 |
99 | #endif /* __STM32F4xx_DBGMCU_H */
100 |
101 | /**
102 | * @}
103 | */
104 |
105 | /**
106 | * @}
107 | */
108 |
109 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
110 |
--------------------------------------------------------------------------------
/Code/SCARA运动学/FWLIB/inc/stm32f4xx_flash_ramfunc.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file stm32f4xx_flash_ramfunc.h
4 | * @author MCD Application Team
5 | * @version V1.4.0
6 | * @date 04-August-2014
7 | * @brief Header file of FLASH RAMFUNC driver.
8 | ******************************************************************************
9 | * @attention
10 | *
11 | * © COPYRIGHT 2014 STMicroelectronics
12 | *
13 | * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
14 | * You may not use this file except in compliance with the License.
15 | * You may obtain a copy of the License at:
16 | *
17 | * http://www.st.com/software_license_agreement_liberty_v2
18 | *
19 | * Unless required by applicable law or agreed to in writing, software
20 | * distributed under the License is distributed on an "AS IS" BASIS,
21 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
22 | * See the License for the specific language governing permissions and
23 | * limitations under the License.
24 | *
25 | ******************************************************************************
26 | */
27 |
28 |
29 | /* Define to prevent recursive inclusion -------------------------------------*/
30 | #ifndef __STM32F4xx_FLASH_RAMFUNC_H
31 | #define __STM32F4xx_FLASH_RAMFUNC_H
32 |
33 | #ifdef __cplusplus
34 | extern "C" {
35 | #endif
36 |
37 | /* Includes ------------------------------------------------------------------*/
38 | #include "stm32f4xx.h"
39 |
40 | /** @addtogroup STM32F4xx_StdPeriph_Driver
41 | * @{
42 | */
43 |
44 | /** @addtogroup FLASH RAMFUNC
45 | * @{
46 | */
47 |
48 | /* Exported types ------------------------------------------------------------*/
49 | /* Private define ------------------------------------------------------------*/
50 | /**
51 | * @brief __RAM_FUNC definition
52 | */
53 | #if defined ( __CC_ARM )
54 | /* ARM Compiler
55 | ------------
56 | RAM functions are defined using the toolchain options.
57 | Functions that are executed in RAM should reside in a separate source module.
58 | Using the 'Options for File' dialog you can simply change the 'Code / Const'
59 | area of a module to a memory space in physical RAM.
60 | Available memory areas are declared in the 'Target' tab of the 'Options for Target'
61 | dialog.
62 | */
63 | #define __RAM_FUNC void
64 |
65 | #elif defined ( __ICCARM__ )
66 | /* ICCARM Compiler
67 | ---------------
68 | RAM functions are defined using a specific toolchain keyword "__ramfunc".
69 | */
70 | #define __RAM_FUNC __ramfunc void
71 |
72 | #elif defined ( __GNUC__ )
73 | /* GNU Compiler
74 | ------------
75 | RAM functions are defined using a specific toolchain attribute
76 | "__attribute__((section(".RamFunc")))".
77 | */
78 | #define __RAM_FUNC void __attribute__((section(".RamFunc")))
79 |
80 | #endif
81 | /* Exported constants --------------------------------------------------------*/
82 | /* Exported macro ------------------------------------------------------------*/
83 | /* Exported functions --------------------------------------------------------*/
84 | __RAM_FUNC FLASH_FlashInterfaceCmd(FunctionalState NewState);
85 | __RAM_FUNC FLASH_FlashSleepModeCmd(FunctionalState NewState);
86 |
87 |
88 | #ifdef __cplusplus
89 | }
90 | #endif
91 |
92 | #endif /* __STM32F4xx_FLASH_RAMFUNC_H */
93 |
94 | /**
95 | * @}
96 | */
97 |
98 | /**
99 | * @}
100 | */
101 |
102 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
103 |
104 |
--------------------------------------------------------------------------------
/Code/SCARA运动学/FWLIB/inc/stm32f4xx_iwdg.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file stm32f4xx_iwdg.h
4 | * @author MCD Application Team
5 | * @version V1.4.0
6 | * @date 04-August-2014
7 | * @brief This file contains all the functions prototypes for the IWDG
8 | * firmware library.
9 | ******************************************************************************
10 | * @attention
11 | *
12 | * © COPYRIGHT 2014 STMicroelectronics
13 | *
14 | * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
15 | * You may not use this file except in compliance with the License.
16 | * You may obtain a copy of the License at:
17 | *
18 | * http://www.st.com/software_license_agreement_liberty_v2
19 | *
20 | * Unless required by applicable law or agreed to in writing, software
21 | * distributed under the License is distributed on an "AS IS" BASIS,
22 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
23 | * See the License for the specific language governing permissions and
24 | * limitations under the License.
25 | *
26 | ******************************************************************************
27 | */
28 |
29 | /* Define to prevent recursive inclusion -------------------------------------*/
30 | #ifndef __STM32F4xx_IWDG_H
31 | #define __STM32F4xx_IWDG_H
32 |
33 | #ifdef __cplusplus
34 | extern "C" {
35 | #endif
36 |
37 | /* Includes ------------------------------------------------------------------*/
38 | #include "stm32f4xx.h"
39 |
40 | /** @addtogroup STM32F4xx_StdPeriph_Driver
41 | * @{
42 | */
43 |
44 | /** @addtogroup IWDG
45 | * @{
46 | */
47 |
48 | /* Exported types ------------------------------------------------------------*/
49 | /* Exported constants --------------------------------------------------------*/
50 |
51 | /** @defgroup IWDG_Exported_Constants
52 | * @{
53 | */
54 |
55 | /** @defgroup IWDG_WriteAccess
56 | * @{
57 | */
58 | #define IWDG_WriteAccess_Enable ((uint16_t)0x5555)
59 | #define IWDG_WriteAccess_Disable ((uint16_t)0x0000)
60 | #define IS_IWDG_WRITE_ACCESS(ACCESS) (((ACCESS) == IWDG_WriteAccess_Enable) || \
61 | ((ACCESS) == IWDG_WriteAccess_Disable))
62 | /**
63 | * @}
64 | */
65 |
66 | /** @defgroup IWDG_prescaler
67 | * @{
68 | */
69 | #define IWDG_Prescaler_4 ((uint8_t)0x00)
70 | #define IWDG_Prescaler_8 ((uint8_t)0x01)
71 | #define IWDG_Prescaler_16 ((uint8_t)0x02)
72 | #define IWDG_Prescaler_32 ((uint8_t)0x03)
73 | #define IWDG_Prescaler_64 ((uint8_t)0x04)
74 | #define IWDG_Prescaler_128 ((uint8_t)0x05)
75 | #define IWDG_Prescaler_256 ((uint8_t)0x06)
76 | #define IS_IWDG_PRESCALER(PRESCALER) (((PRESCALER) == IWDG_Prescaler_4) || \
77 | ((PRESCALER) == IWDG_Prescaler_8) || \
78 | ((PRESCALER) == IWDG_Prescaler_16) || \
79 | ((PRESCALER) == IWDG_Prescaler_32) || \
80 | ((PRESCALER) == IWDG_Prescaler_64) || \
81 | ((PRESCALER) == IWDG_Prescaler_128)|| \
82 | ((PRESCALER) == IWDG_Prescaler_256))
83 | /**
84 | * @}
85 | */
86 |
87 | /** @defgroup IWDG_Flag
88 | * @{
89 | */
90 | #define IWDG_FLAG_PVU ((uint16_t)0x0001)
91 | #define IWDG_FLAG_RVU ((uint16_t)0x0002)
92 | #define IS_IWDG_FLAG(FLAG) (((FLAG) == IWDG_FLAG_PVU) || ((FLAG) == IWDG_FLAG_RVU))
93 | #define IS_IWDG_RELOAD(RELOAD) ((RELOAD) <= 0xFFF)
94 | /**
95 | * @}
96 | */
97 |
98 | /**
99 | * @}
100 | */
101 |
102 | /* Exported macro ------------------------------------------------------------*/
103 | /* Exported functions --------------------------------------------------------*/
104 |
105 | /* Prescaler and Counter configuration functions ******************************/
106 | void IWDG_WriteAccessCmd(uint16_t IWDG_WriteAccess);
107 | void IWDG_SetPrescaler(uint8_t IWDG_Prescaler);
108 | void IWDG_SetReload(uint16_t Reload);
109 | void IWDG_ReloadCounter(void);
110 |
111 | /* IWDG activation function ***************************************************/
112 | void IWDG_Enable(void);
113 |
114 | /* Flag management function ***************************************************/
115 | FlagStatus IWDG_GetFlagStatus(uint16_t IWDG_FLAG);
116 |
117 | #ifdef __cplusplus
118 | }
119 | #endif
120 |
121 | #endif /* __STM32F4xx_IWDG_H */
122 |
123 | /**
124 | * @}
125 | */
126 |
127 | /**
128 | * @}
129 | */
130 |
131 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
132 |
--------------------------------------------------------------------------------
/Code/SCARA运动学/FWLIB/inc/stm32f4xx_rng.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file stm32f4xx_rng.h
4 | * @author MCD Application Team
5 | * @version V1.4.0
6 | * @date 04-August-2014
7 | * @brief This file contains all the functions prototypes for the Random
8 | * Number Generator(RNG) firmware library.
9 | ******************************************************************************
10 | * @attention
11 | *
12 | * © COPYRIGHT 2014 STMicroelectronics
13 | *
14 | * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
15 | * You may not use this file except in compliance with the License.
16 | * You may obtain a copy of the License at:
17 | *
18 | * http://www.st.com/software_license_agreement_liberty_v2
19 | *
20 | * Unless required by applicable law or agreed to in writing, software
21 | * distributed under the License is distributed on an "AS IS" BASIS,
22 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
23 | * See the License for the specific language governing permissions and
24 | * limitations under the License.
25 | *
26 | ******************************************************************************
27 | */
28 |
29 | /* Define to prevent recursive inclusion -------------------------------------*/
30 | #ifndef __STM32F4xx_RNG_H
31 | #define __STM32F4xx_RNG_H
32 |
33 | #ifdef __cplusplus
34 | extern "C" {
35 | #endif
36 |
37 | /* Includes ------------------------------------------------------------------*/
38 | #include "stm32f4xx.h"
39 |
40 | /** @addtogroup STM32F4xx_StdPeriph_Driver
41 | * @{
42 | */
43 |
44 | /** @addtogroup RNG
45 | * @{
46 | */
47 |
48 | /* Exported types ------------------------------------------------------------*/
49 | /* Exported constants --------------------------------------------------------*/
50 |
51 | /** @defgroup RNG_Exported_Constants
52 | * @{
53 | */
54 |
55 | /** @defgroup RNG_flags_definition
56 | * @{
57 | */
58 | #define RNG_FLAG_DRDY ((uint8_t)0x0001) /*!< Data ready */
59 | #define RNG_FLAG_CECS ((uint8_t)0x0002) /*!< Clock error current status */
60 | #define RNG_FLAG_SECS ((uint8_t)0x0004) /*!< Seed error current status */
61 |
62 | #define IS_RNG_GET_FLAG(RNG_FLAG) (((RNG_FLAG) == RNG_FLAG_DRDY) || \
63 | ((RNG_FLAG) == RNG_FLAG_CECS) || \
64 | ((RNG_FLAG) == RNG_FLAG_SECS))
65 | #define IS_RNG_CLEAR_FLAG(RNG_FLAG) (((RNG_FLAG) == RNG_FLAG_CECS) || \
66 | ((RNG_FLAG) == RNG_FLAG_SECS))
67 | /**
68 | * @}
69 | */
70 |
71 | /** @defgroup RNG_interrupts_definition
72 | * @{
73 | */
74 | #define RNG_IT_CEI ((uint8_t)0x20) /*!< Clock error interrupt */
75 | #define RNG_IT_SEI ((uint8_t)0x40) /*!< Seed error interrupt */
76 |
77 | #define IS_RNG_IT(IT) ((((IT) & (uint8_t)0x9F) == 0x00) && ((IT) != 0x00))
78 | #define IS_RNG_GET_IT(RNG_IT) (((RNG_IT) == RNG_IT_CEI) || ((RNG_IT) == RNG_IT_SEI))
79 | /**
80 | * @}
81 | */
82 |
83 | /**
84 | * @}
85 | */
86 |
87 | /* Exported macro ------------------------------------------------------------*/
88 | /* Exported functions --------------------------------------------------------*/
89 |
90 | /* Function used to set the RNG configuration to the default reset state *****/
91 | void RNG_DeInit(void);
92 |
93 | /* Configuration function *****************************************************/
94 | void RNG_Cmd(FunctionalState NewState);
95 |
96 | /* Get 32 bit Random number function ******************************************/
97 | uint32_t RNG_GetRandomNumber(void);
98 |
99 | /* Interrupts and flags management functions **********************************/
100 | void RNG_ITConfig(FunctionalState NewState);
101 | FlagStatus RNG_GetFlagStatus(uint8_t RNG_FLAG);
102 | void RNG_ClearFlag(uint8_t RNG_FLAG);
103 | ITStatus RNG_GetITStatus(uint8_t RNG_IT);
104 | void RNG_ClearITPendingBit(uint8_t RNG_IT);
105 |
106 | #ifdef __cplusplus
107 | }
108 | #endif
109 |
110 | #endif /*__STM32F4xx_RNG_H */
111 |
112 | /**
113 | * @}
114 | */
115 |
116 | /**
117 | * @}
118 | */
119 |
120 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
121 |
--------------------------------------------------------------------------------
/Code/SCARA运动学/FWLIB/inc/stm32f4xx_wwdg.h:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file stm32f4xx_wwdg.h
4 | * @author MCD Application Team
5 | * @version V1.4.0
6 | * @date 04-August-2014
7 | * @brief This file contains all the functions prototypes for the WWDG firmware
8 | * library.
9 | ******************************************************************************
10 | * @attention
11 | *
12 | * © COPYRIGHT 2014 STMicroelectronics
13 | *
14 | * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
15 | * You may not use this file except in compliance with the License.
16 | * You may obtain a copy of the License at:
17 | *
18 | * http://www.st.com/software_license_agreement_liberty_v2
19 | *
20 | * Unless required by applicable law or agreed to in writing, software
21 | * distributed under the License is distributed on an "AS IS" BASIS,
22 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
23 | * See the License for the specific language governing permissions and
24 | * limitations under the License.
25 | *
26 | ******************************************************************************
27 | */
28 |
29 | /* Define to prevent recursive inclusion -------------------------------------*/
30 | #ifndef __STM32F4xx_WWDG_H
31 | #define __STM32F4xx_WWDG_H
32 |
33 | #ifdef __cplusplus
34 | extern "C" {
35 | #endif
36 |
37 | /* Includes ------------------------------------------------------------------*/
38 | #include "stm32f4xx.h"
39 |
40 | /** @addtogroup STM32F4xx_StdPeriph_Driver
41 | * @{
42 | */
43 |
44 | /** @addtogroup WWDG
45 | * @{
46 | */
47 |
48 | /* Exported types ------------------------------------------------------------*/
49 | /* Exported constants --------------------------------------------------------*/
50 |
51 | /** @defgroup WWDG_Exported_Constants
52 | * @{
53 | */
54 |
55 | /** @defgroup WWDG_Prescaler
56 | * @{
57 | */
58 |
59 | #define WWDG_Prescaler_1 ((uint32_t)0x00000000)
60 | #define WWDG_Prescaler_2 ((uint32_t)0x00000080)
61 | #define WWDG_Prescaler_4 ((uint32_t)0x00000100)
62 | #define WWDG_Prescaler_8 ((uint32_t)0x00000180)
63 | #define IS_WWDG_PRESCALER(PRESCALER) (((PRESCALER) == WWDG_Prescaler_1) || \
64 | ((PRESCALER) == WWDG_Prescaler_2) || \
65 | ((PRESCALER) == WWDG_Prescaler_4) || \
66 | ((PRESCALER) == WWDG_Prescaler_8))
67 | #define IS_WWDG_WINDOW_VALUE(VALUE) ((VALUE) <= 0x7F)
68 | #define IS_WWDG_COUNTER(COUNTER) (((COUNTER) >= 0x40) && ((COUNTER) <= 0x7F))
69 |
70 | /**
71 | * @}
72 | */
73 |
74 | /**
75 | * @}
76 | */
77 |
78 | /* Exported macro ------------------------------------------------------------*/
79 | /* Exported functions --------------------------------------------------------*/
80 |
81 | /* Function used to set the WWDG configuration to the default reset state ****/
82 | void WWDG_DeInit(void);
83 |
84 | /* Prescaler, Refresh window and Counter configuration functions **************/
85 | void WWDG_SetPrescaler(uint32_t WWDG_Prescaler);
86 | void WWDG_SetWindowValue(uint8_t WindowValue);
87 | void WWDG_EnableIT(void);
88 | void WWDG_SetCounter(uint8_t Counter);
89 |
90 | /* WWDG activation function ***************************************************/
91 | void WWDG_Enable(uint8_t Counter);
92 |
93 | /* Interrupts and flags management functions **********************************/
94 | FlagStatus WWDG_GetFlagStatus(void);
95 | void WWDG_ClearFlag(void);
96 |
97 | #ifdef __cplusplus
98 | }
99 | #endif
100 |
101 | #endif /* __STM32F4xx_WWDG_H */
102 |
103 | /**
104 | * @}
105 | */
106 |
107 | /**
108 | * @}
109 | */
110 |
111 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
112 |
--------------------------------------------------------------------------------
/Code/SCARA运动学/FWLIB/src/stm32f4xx_crc.c:
--------------------------------------------------------------------------------
1 | /**
2 | ******************************************************************************
3 | * @file stm32f4xx_crc.c
4 | * @author MCD Application Team
5 | * @version V1.4.0
6 | * @date 04-August-2014
7 | * @brief This file provides all the CRC firmware functions.
8 | ******************************************************************************
9 | * @attention
10 | *
11 | * © COPYRIGHT 2014 STMicroelectronics
12 | *
13 | * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
14 | * You may not use this file except in compliance with the License.
15 | * You may obtain a copy of the License at:
16 | *
17 | * http://www.st.com/software_license_agreement_liberty_v2
18 | *
19 | * Unless required by applicable law or agreed to in writing, software
20 | * distributed under the License is distributed on an "AS IS" BASIS,
21 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
22 | * See the License for the specific language governing permissions and
23 | * limitations under the License.
24 | *
25 | ******************************************************************************
26 | */
27 |
28 | /* Includes ------------------------------------------------------------------*/
29 | #include "stm32f4xx_crc.h"
30 |
31 | /** @addtogroup STM32F4xx_StdPeriph_Driver
32 | * @{
33 | */
34 |
35 | /** @defgroup CRC
36 | * @brief CRC driver modules
37 | * @{
38 | */
39 |
40 | /* Private typedef -----------------------------------------------------------*/
41 | /* Private define ------------------------------------------------------------*/
42 | /* Private macro -------------------------------------------------------------*/
43 | /* Private variables ---------------------------------------------------------*/
44 | /* Private function prototypes -----------------------------------------------*/
45 | /* Private functions ---------------------------------------------------------*/
46 |
47 | /** @defgroup CRC_Private_Functions
48 | * @{
49 | */
50 |
51 | /**
52 | * @brief Resets the CRC Data register (DR).
53 | * @param None
54 | * @retval None
55 | */
56 | void CRC_ResetDR(void)
57 | {
58 | /* Reset CRC generator */
59 | CRC->CR = CRC_CR_RESET;
60 | }
61 |
62 | /**
63 | * @brief Computes the 32-bit CRC of a given data word(32-bit).
64 | * @param Data: data word(32-bit) to compute its CRC
65 | * @retval 32-bit CRC
66 | */
67 | uint32_t CRC_CalcCRC(uint32_t Data)
68 | {
69 | CRC->DR = Data;
70 |
71 | return (CRC->DR);
72 | }
73 |
74 | /**
75 | * @brief Computes the 32-bit CRC of a given buffer of data word(32-bit).
76 | * @param pBuffer: pointer to the buffer containing the data to be computed
77 | * @param BufferLength: length of the buffer to be computed
78 | * @retval 32-bit CRC
79 | */
80 | uint32_t CRC_CalcBlockCRC(uint32_t pBuffer[], uint32_t BufferLength)
81 | {
82 | uint32_t index = 0;
83 |
84 | for(index = 0; index < BufferLength; index++)
85 | {
86 | CRC->DR = pBuffer[index];
87 | }
88 | return (CRC->DR);
89 | }
90 |
91 | /**
92 | * @brief Returns the current CRC value.
93 | * @param None
94 | * @retval 32-bit CRC
95 | */
96 | uint32_t CRC_GetCRC(void)
97 | {
98 | return (CRC->DR);
99 | }
100 |
101 | /**
102 | * @brief Stores a 8-bit data in the Independent Data(ID) register.
103 | * @param IDValue: 8-bit value to be stored in the ID register
104 | * @retval None
105 | */
106 | void CRC_SetIDRegister(uint8_t IDValue)
107 | {
108 | CRC->IDR = IDValue;
109 | }
110 |
111 | /**
112 | * @brief Returns the 8-bit data stored in the Independent Data(ID) register
113 | * @param None
114 | * @retval 8-bit value of the ID register
115 | */
116 | uint8_t CRC_GetIDRegister(void)
117 | {
118 | return (CRC->IDR);
119 | }
120 |
121 | /**
122 | * @}
123 | */
124 |
125 | /**
126 | * @}
127 | */
128 |
129 | /**
130 | * @}
131 | */
132 |
133 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
134 |
--------------------------------------------------------------------------------
/Code/SCARA运动学/HARDWARE/BALANCE/balance.c:
--------------------------------------------------------------------------------
1 | #include "balance.h"
2 | #include "led.h"
3 | #include "SCARA.h"
4 |
5 | static _Balance Balance;
6 | _pBalance pBalance = &Balance;
7 |
8 | float X_err = 0;
9 | float Y_err = 0;
10 |
11 | int count_X = 0;
12 | int count_Y = 0;
13 |
14 |
15 |
16 | void X_PID_INIT()
17 | {
18 | pBalance->Kp_X = 5;
19 | pBalance->Kd_X = 0;
20 | pBalance->Zero_X = -2.5;
21 | }
22 |
23 | void Y_PID_INIT()
24 | {
25 | pBalance->Kp_Y = 5;
26 | pBalance->Kd_Y = 0;
27 | pBalance->Zero_Y = 1;
28 | }
29 |
30 | void X_PID_Cacluate(float dir,_pBalance pBalance)
31 | {
32 | count_X++;
33 | X_PID_INIT();
34 | pBalance->err_X = dir;
35 | if(pBalance->err_X >= 0)
36 | pBalance->err_X_dir = 1;
37 | else
38 | pBalance->err_X_dir = 0;
39 | if(pBalance->err_X_dir_flag != 0)
40 | LED1 = 0;
41 | else
42 | LED1 = 1;
43 | pBalance->err_X_dir_flag = pBalance->err_X_dir - pBalance->err_X_dir_last;
44 | if(count_X == 5)
45 | {
46 | pBalance->Omega_X = pBalance->err_X - pBalance->last_err_X;
47 | count_X=0;
48 | }
49 | pBalance->P_value_X = pBalance->Kp_X * pBalance->err_X;
50 | pBalance->D_value_X = pBalance->Kd_X * pBalance->Omega_X;
51 | pBalance->PID_OUT_X = pBalance->P_value_X + pBalance->D_value_X;
52 | pBalance->last_err_X=pBalance->err_X;
53 | pBalance->err_X_dir_last = pBalance->err_X_dir;
54 | }
55 |
56 | void Y_PID_Cacluate(float dir,_pBalance pBalance)
57 | {
58 | count_Y++;
59 | Y_PID_INIT();
60 | pBalance->err_Y = dir;
61 |
62 | if(pBalance->err_Y >= 0)
63 | pBalance->err_Y_dir = 1;
64 | else
65 | pBalance->err_Y_dir = 0;
66 | if(count_Y == 5)
67 | {
68 | pBalance->Omega_Y = pBalance->err_Y - pBalance->last_err_Y;
69 | count_Y=0;
70 | }
71 | pBalance->err_Y_dir_flag = pBalance->err_Y_dir - pBalance->err_Y_dir_last;
72 | pBalance->P_value_Y = pBalance->Kp_Y * pBalance->err_Y;
73 | pBalance->D_value_Y = pBalance->Kd_Y * pBalance->Omega_Y;
74 | pBalance->PID_OUT_Y = pBalance->P_value_Y + pBalance->D_value_Y;
75 | pBalance->last_err_Y=pBalance->err_Y;
76 | pBalance->err_Y_dir_last = pBalance->err_Y_dir;
77 | }
78 |
79 | void X_OUT(_pBalance pBalance)
80 | {
81 | if(pBalance->err_X_dir_flag == 0 && model >= 3 && Balance_Begin_flag == 1)
82 | X_E = X_N + pBalance->err_X;
83 | else if(model >= 3)
84 | {
85 | times=1;
86 | X_S=X_N;
87 | X_E=X_N;
88 | Y_S=Y_N;
89 | Y_E=Y_N;
90 | }
91 |
92 | if(pBalance->PID_OUT_X >= 0)
93 | arr1 = 5000/pBalance->PID_OUT_X;
94 | else
95 | arr1 = 5000/(0-(pBalance->PID_OUT_X));
96 |
97 |
98 | if(arr1 <= 200)
99 | arr1 = 200;
100 | if(arr1 >= 20000)
101 | arr1 = 20000;
102 |
103 | if(Y_N >= 450 || Y_N <= 300 || X_N >= 200 || X_N <= 50)
104 | arr1 = 20000;
105 | }
106 |
107 | void Y_OUT(_pBalance pBalance)
108 | {
109 | if(pBalance->err_Y_dir_flag == 0 && model >= 3 && Balance_Begin_flag == 1)
110 | Y_E = Y_N + pBalance->err_Y;
111 | else if(model >= 3)
112 | {
113 | times=1;
114 | Y_S=Y_N;
115 | Y_E=Y_N;
116 | X_S=X_N;
117 | X_E=X_N;
118 | }
119 |
120 | if(pBalance->PID_OUT_Y >= 0)
121 | arr1 = 5000/pBalance->PID_OUT_Y;
122 | else
123 | arr1 = 5000/(0-(pBalance->PID_OUT_Y));
124 |
125 | if(arr1 <= 200)
126 | arr1 = 200;
127 | if(arr1 >= 20000)
128 | arr1 = 20000;
129 |
130 | if(Y_N >= 450 || Y_N <= 300 || X_N >= 200 || X_N <= 50)
131 | arr1 = 20000;
132 | }
133 |
134 |
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/Code/SCARA运动学/HARDWARE/BALANCE/balance.h:
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1 | #ifndef __balance_H
2 | #define __balance_H
3 | #include "sys.h"
4 |
5 | typedef struct
6 | {
7 | float err_X;
8 | float last_err_X;
9 | float P_value_X;
10 | float I_value_X;
11 | float D_value_X;
12 | float Kp_X;
13 | float Ki_X;
14 | float Kd_X;
15 | float PID_OUT_X;
16 | float Zero_X;
17 | float Omega_X;
18 | float err_X_dir;
19 | float err_X_dir_last;
20 | float err_X_dir_flag;
21 |
22 | float err_Y;
23 | float last_err_Y;
24 | float P_value_Y;
25 | float I_value_Y;
26 | float D_value_Y;
27 | float Kp_Y;
28 | float Ki_Y;
29 | float Kd_Y;
30 | float PID_OUT_Y;
31 | float Zero_Y;
32 | float Omega_Y;
33 | float err_Y_dir;
34 | float err_Y_dir_last;
35 | float err_Y_dir_flag;
36 |
37 | }_Balance,*_pBalance;
38 | extern _pBalance pBalance;
39 |
40 | extern float X_err;
41 | extern float Y_err;
42 |
43 | void X_PID_INIT();
44 | void Y_PID_INIT();
45 | void X_PID_Cacluate(float dir,_pBalance pBalance);
46 | void Y_PID_Cacluate(float dir,_pBalance pBalance);
47 | void X_OUT(_pBalance pBalance);
48 | void Y_OUT(_pBalance pBalance);
49 |
50 |
51 | #endif
52 |
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/Code/SCARA运动学/HARDWARE/KEY/key.c:
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https://raw.githubusercontent.com/Yangtao123droid/SCARA_Parallel/e250202d817a311baddd9bbdf9132425a08cb90f/Code/SCARA运动学/HARDWARE/KEY/key.c
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/Code/SCARA运动学/HARDWARE/KEY/key.h:
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/Code/SCARA运动学/HARDWARE/LED/led.c:
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/Code/SCARA运动学/HARDWARE/LED/led.h:
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1 | #ifndef __LED_H
2 | #define __LED_H
3 |
4 | #define LED1 PCout(4)
5 | //#define LED2 PCout(5)
6 | #define LED3 PAout(6)
7 | //#define LED4 PAout(7)
8 |
9 | void LED_init(void);
10 |
11 | #endif
12 |
13 |
14 |
15 |
16 |
17 |
18 |
19 |
20 |
21 |
22 |
23 |
24 |
25 |
26 |
27 |
28 |
29 |
30 |
31 |
32 |
33 |
34 |
35 |
36 |
37 |
38 |
39 |
40 |
41 |
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/Code/SCARA运动学/HARDWARE/MOTOR/MOTOR.c:
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/Code/SCARA运动学/HARDWARE/SCARA/SCARA.h:
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1 | #ifndef _SCARA_H
2 | #define _SCARA_H
3 | #include "sys.h"
4 |
5 | extern float thta1;
6 | extern float thta2;
7 | extern float X_N;
8 | extern float Y_N;
9 | extern float thta2;
10 | extern float times_Inverse;
11 | extern float times;
12 | extern float Sub;
13 | extern float X_d;
14 | extern float Y_d;
15 | extern float u1;
16 | extern float u4;
17 | extern float u3;
18 | extern float X_c;
19 | extern float Y_c;
20 | extern float XN;
21 | extern float YN;
22 | extern float arr1;
23 | extern float X_E;
24 | extern float Y_E;
25 | extern float X_S;
26 | extern float Y_S;
27 | extern float model;
28 | extern int Balance_Begin_flag;
29 | extern float YN_dir;
30 | extern float YN_dir_last;
31 | extern float YN_dir_flag;
32 |
33 |
34 |
35 | void Inverse_motion(float Xc,float Yc);
36 | void Interpolation(float Xa,float Ya,float Xb,float Yb);
37 | int Position_init();
38 | void motion();
39 | void Coordinate_Transformation();
40 |
41 |
42 |
43 | #endif
44 |
45 |
46 |
47 |
48 |
49 |
50 |
51 |
52 |
53 |
54 |
55 |
56 |
57 |
58 |
59 |
60 |
61 |
62 |
63 |
64 |
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/Code/SCARA运动学/OBJ/ExtDll.iex:
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1 | [EXTDLL]
2 | Count=0
3 |
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/Code/SCARA运动学/OBJ/Template.lnp:
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1 | --cpu Cortex-M4
2 | "..\obj\main.o"
3 | "..\obj\stm32f4xx_it.o"
4 | "..\obj\system_stm32f4xx.o"
5 | "..\obj\startup_stm32f40_41xxx.o"
6 | "..\obj\misc.o"
7 | "..\obj\stm32f4xx_gpio.o"
8 | "..\obj\stm32f4xx_rcc.o"
9 | "..\obj\stm32f4xx_usart.o"
10 | "..\obj\stm32f4xx_tim.o"
11 | "..\obj\delay.o"
12 | "..\obj\sys.o"
13 | "..\obj\usart.o"
14 | "..\obj\led.o"
15 | "..\obj\key.o"
16 | "..\obj\pwm.o"
17 | "..\obj\motor.o"
18 | "..\obj\scara.o"
19 | "..\obj\xbox.o"
20 | "..\obj\openmv.o"
21 | "..\obj\balance.o"
22 | --strict --scatter "..\OBJ\Template.sct"
23 | --summary_stderr --info summarysizes --map --xref --callgraph --symbols
24 | --info sizes --info totals --info unused --info veneers
25 | --list "..\OBJ\Template.map" -o ..\OBJ\Template.axf
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/Code/SCARA运动学/OBJ/Template.sct:
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1 | ; *************************************************************
2 | ; *** Scatter-Loading Description File generated by uVision ***
3 | ; *************************************************************
4 |
5 | LR_IROM1 0x08000000 0x00100000 { ; load region size_region
6 | ER_IROM1 0x08000000 0x00100000 { ; load address = execution address
7 | *.o (RESET, +First)
8 | *(InRoot$$Sections)
9 | .ANY (+RO)
10 | }
11 | RW_IRAM1 0x20000000 0x00020000 { ; RW data
12 | .ANY (+RW +ZI)
13 | }
14 | RW_IRAM2 0x10000000 0x00010000 {
15 | .ANY (+RW +ZI)
16 | }
17 | }
18 |
19 |
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/Code/SCARA运动学/OBJ/Template_sct.Bak:
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1 | ; *************************************************************
2 | ; *** Scatter-Loading Description File generated by uVision ***
3 | ; *************************************************************
4 |
5 | LR_IROM1 0x00000000 0x00080000 { ; load region size_region
6 | ER_IROM1 0x00000000 0x00080000 { ; load address = execution address
7 | *.o (RESET, +First)
8 | *(InRoot$$Sections)
9 | .ANY (+RO)
10 | }
11 | RW_IRAM1 0x20000000 0x00020000 { ; RW data
12 | .ANY (+RW +ZI)
13 | }
14 | }
15 |
16 |
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/Code/SCARA运动学/OBJ/balance.d:
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1 | ..\obj\balance.o: ..\HARDWARE\BALANCE\balance.c
2 | ..\obj\balance.o: ..\HARDWARE\BALANCE\balance.h
3 | ..\obj\balance.o: ..\SYSTEM\sys\sys.h
4 | ..\obj\balance.o: ..\USER\stm32f4xx.h
5 | ..\obj\balance.o: ..\CORE\core_cm4.h
6 | ..\obj\balance.o: D:\Keil_v5\ARM\ARMCC\Bin\..\include\stdint.h
7 | ..\obj\balance.o: ..\CORE\core_cmInstr.h
8 | ..\obj\balance.o: ..\CORE\core_cmFunc.h
9 | ..\obj\balance.o: ..\CORE\core_cm4_simd.h
10 | ..\obj\balance.o: ..\USER\system_stm32f4xx.h
11 | ..\obj\balance.o: ..\USER\stm32f4xx_conf.h
12 | ..\obj\balance.o: ..\FWLIB\inc\stm32f4xx_adc.h
13 | ..\obj\balance.o: ..\USER\stm32f4xx.h
14 | ..\obj\balance.o: ..\FWLIB\inc\stm32f4xx_crc.h
15 | ..\obj\balance.o: ..\FWLIB\inc\stm32f4xx_dbgmcu.h
16 | ..\obj\balance.o: ..\FWLIB\inc\stm32f4xx_dma.h
17 | ..\obj\balance.o: ..\FWLIB\inc\stm32f4xx_exti.h
18 | ..\obj\balance.o: ..\FWLIB\inc\stm32f4xx_flash.h
19 | ..\obj\balance.o: ..\FWLIB\inc\stm32f4xx_gpio.h
20 | ..\obj\balance.o: ..\FWLIB\inc\stm32f4xx_i2c.h
21 | ..\obj\balance.o: ..\FWLIB\inc\stm32f4xx_iwdg.h
22 | ..\obj\balance.o: ..\FWLIB\inc\stm32f4xx_pwr.h
23 | ..\obj\balance.o: ..\FWLIB\inc\stm32f4xx_rcc.h
24 | ..\obj\balance.o: ..\FWLIB\inc\stm32f4xx_rtc.h
25 | ..\obj\balance.o: ..\FWLIB\inc\stm32f4xx_sdio.h
26 | ..\obj\balance.o: ..\FWLIB\inc\stm32f4xx_spi.h
27 | ..\obj\balance.o: ..\FWLIB\inc\stm32f4xx_syscfg.h
28 | ..\obj\balance.o: ..\FWLIB\inc\stm32f4xx_tim.h
29 | ..\obj\balance.o: ..\FWLIB\inc\stm32f4xx_usart.h
30 | ..\obj\balance.o: ..\FWLIB\inc\stm32f4xx_wwdg.h
31 | ..\obj\balance.o: ..\FWLIB\inc\misc.h
32 | ..\obj\balance.o: ..\FWLIB\inc\stm32f4xx_cryp.h
33 | ..\obj\balance.o: ..\FWLIB\inc\stm32f4xx_hash.h
34 | ..\obj\balance.o: ..\FWLIB\inc\stm32f4xx_rng.h
35 | ..\obj\balance.o: ..\FWLIB\inc\stm32f4xx_can.h
36 | ..\obj\balance.o: ..\FWLIB\inc\stm32f4xx_dac.h
37 | ..\obj\balance.o: ..\FWLIB\inc\stm32f4xx_dcmi.h
38 | ..\obj\balance.o: ..\FWLIB\inc\stm32f4xx_fsmc.h
39 | ..\obj\balance.o: ..\HARDWARE\LED\led.h
40 | ..\obj\balance.o: ..\HARDWARE\SCARA\SCARA.h
41 |
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/Code/SCARA运动学/OBJ/balance.o:
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1 | ..\obj\delay.o: ..\SYSTEM\delay\delay.c
2 | ..\obj\delay.o: ..\SYSTEM\delay\delay.h
3 | ..\obj\delay.o: ..\SYSTEM\sys\sys.h
4 | ..\obj\delay.o: ..\USER\stm32f4xx.h
5 | ..\obj\delay.o: ..\CORE\core_cm4.h
6 | ..\obj\delay.o: D:\Keil_v5\ARM\ARMCC\Bin\..\include\stdint.h
7 | ..\obj\delay.o: ..\CORE\core_cmInstr.h
8 | ..\obj\delay.o: ..\CORE\core_cmFunc.h
9 | ..\obj\delay.o: ..\CORE\core_cm4_simd.h
10 | ..\obj\delay.o: ..\USER\system_stm32f4xx.h
11 | ..\obj\delay.o: ..\USER\stm32f4xx_conf.h
12 | ..\obj\delay.o: ..\FWLIB\inc\stm32f4xx_adc.h
13 | ..\obj\delay.o: ..\USER\stm32f4xx.h
14 | ..\obj\delay.o: ..\FWLIB\inc\stm32f4xx_crc.h
15 | ..\obj\delay.o: ..\FWLIB\inc\stm32f4xx_dbgmcu.h
16 | ..\obj\delay.o: ..\FWLIB\inc\stm32f4xx_dma.h
17 | ..\obj\delay.o: ..\FWLIB\inc\stm32f4xx_exti.h
18 | ..\obj\delay.o: ..\FWLIB\inc\stm32f4xx_flash.h
19 | ..\obj\delay.o: ..\FWLIB\inc\stm32f4xx_gpio.h
20 | ..\obj\delay.o: ..\FWLIB\inc\stm32f4xx_i2c.h
21 | ..\obj\delay.o: ..\FWLIB\inc\stm32f4xx_iwdg.h
22 | ..\obj\delay.o: ..\FWLIB\inc\stm32f4xx_pwr.h
23 | ..\obj\delay.o: ..\FWLIB\inc\stm32f4xx_rcc.h
24 | ..\obj\delay.o: ..\FWLIB\inc\stm32f4xx_rtc.h
25 | ..\obj\delay.o: ..\FWLIB\inc\stm32f4xx_sdio.h
26 | ..\obj\delay.o: ..\FWLIB\inc\stm32f4xx_spi.h
27 | ..\obj\delay.o: ..\FWLIB\inc\stm32f4xx_syscfg.h
28 | ..\obj\delay.o: ..\FWLIB\inc\stm32f4xx_tim.h
29 | ..\obj\delay.o: ..\FWLIB\inc\stm32f4xx_usart.h
30 | ..\obj\delay.o: ..\FWLIB\inc\stm32f4xx_wwdg.h
31 | ..\obj\delay.o: ..\FWLIB\inc\misc.h
32 | ..\obj\delay.o: ..\FWLIB\inc\stm32f4xx_cryp.h
33 | ..\obj\delay.o: ..\FWLIB\inc\stm32f4xx_hash.h
34 | ..\obj\delay.o: ..\FWLIB\inc\stm32f4xx_rng.h
35 | ..\obj\delay.o: ..\FWLIB\inc\stm32f4xx_can.h
36 | ..\obj\delay.o: ..\FWLIB\inc\stm32f4xx_dac.h
37 | ..\obj\delay.o: ..\FWLIB\inc\stm32f4xx_dcmi.h
38 | ..\obj\delay.o: ..\FWLIB\inc\stm32f4xx_fsmc.h
39 |
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/Code/SCARA运动学/OBJ/key.d:
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1 | ..\obj\key.o: ..\HARDWARE\KEY\key.c
2 | ..\obj\key.o: ..\HARDWARE\KEY\key.h
3 | ..\obj\key.o: ..\SYSTEM\sys\sys.h
4 | ..\obj\key.o: ..\USER\stm32f4xx.h
5 | ..\obj\key.o: ..\CORE\core_cm4.h
6 | ..\obj\key.o: D:\Keil_v5\ARM\ARMCC\Bin\..\include\stdint.h
7 | ..\obj\key.o: ..\CORE\core_cmInstr.h
8 | ..\obj\key.o: ..\CORE\core_cmFunc.h
9 | ..\obj\key.o: ..\CORE\core_cm4_simd.h
10 | ..\obj\key.o: ..\USER\system_stm32f4xx.h
11 | ..\obj\key.o: ..\USER\stm32f4xx_conf.h
12 | ..\obj\key.o: ..\FWLIB\inc\stm32f4xx_adc.h
13 | ..\obj\key.o: ..\USER\stm32f4xx.h
14 | ..\obj\key.o: ..\FWLIB\inc\stm32f4xx_crc.h
15 | ..\obj\key.o: ..\FWLIB\inc\stm32f4xx_dbgmcu.h
16 | ..\obj\key.o: ..\FWLIB\inc\stm32f4xx_dma.h
17 | ..\obj\key.o: ..\FWLIB\inc\stm32f4xx_exti.h
18 | ..\obj\key.o: ..\FWLIB\inc\stm32f4xx_flash.h
19 | ..\obj\key.o: ..\FWLIB\inc\stm32f4xx_gpio.h
20 | ..\obj\key.o: ..\FWLIB\inc\stm32f4xx_i2c.h
21 | ..\obj\key.o: ..\FWLIB\inc\stm32f4xx_iwdg.h
22 | ..\obj\key.o: ..\FWLIB\inc\stm32f4xx_pwr.h
23 | ..\obj\key.o: ..\FWLIB\inc\stm32f4xx_rcc.h
24 | ..\obj\key.o: ..\FWLIB\inc\stm32f4xx_rtc.h
25 | ..\obj\key.o: ..\FWLIB\inc\stm32f4xx_sdio.h
26 | ..\obj\key.o: ..\FWLIB\inc\stm32f4xx_spi.h
27 | ..\obj\key.o: ..\FWLIB\inc\stm32f4xx_syscfg.h
28 | ..\obj\key.o: ..\FWLIB\inc\stm32f4xx_tim.h
29 | ..\obj\key.o: ..\FWLIB\inc\stm32f4xx_usart.h
30 | ..\obj\key.o: ..\FWLIB\inc\stm32f4xx_wwdg.h
31 | ..\obj\key.o: ..\FWLIB\inc\misc.h
32 | ..\obj\key.o: ..\FWLIB\inc\stm32f4xx_cryp.h
33 | ..\obj\key.o: ..\FWLIB\inc\stm32f4xx_hash.h
34 | ..\obj\key.o: ..\FWLIB\inc\stm32f4xx_rng.h
35 | ..\obj\key.o: ..\FWLIB\inc\stm32f4xx_can.h
36 | ..\obj\key.o: ..\FWLIB\inc\stm32f4xx_dac.h
37 | ..\obj\key.o: ..\FWLIB\inc\stm32f4xx_dcmi.h
38 | ..\obj\key.o: ..\FWLIB\inc\stm32f4xx_fsmc.h
39 | ..\obj\key.o: ..\SYSTEM\delay\delay.h
40 |
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1 | ..\obj\led.o: ..\HARDWARE\LED\led.c
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4 | ..\obj\led.o: ..\CORE\core_cm4.h
5 | ..\obj\led.o: D:\Keil_v5\ARM\ARMCC\Bin\..\include\stdint.h
6 | ..\obj\led.o: ..\CORE\core_cmInstr.h
7 | ..\obj\led.o: ..\CORE\core_cmFunc.h
8 | ..\obj\led.o: ..\CORE\core_cm4_simd.h
9 | ..\obj\led.o: ..\USER\system_stm32f4xx.h
10 | ..\obj\led.o: ..\USER\stm32f4xx_conf.h
11 | ..\obj\led.o: ..\FWLIB\inc\stm32f4xx_adc.h
12 | ..\obj\led.o: ..\USER\stm32f4xx.h
13 | ..\obj\led.o: ..\FWLIB\inc\stm32f4xx_crc.h
14 | ..\obj\led.o: ..\FWLIB\inc\stm32f4xx_dbgmcu.h
15 | ..\obj\led.o: ..\FWLIB\inc\stm32f4xx_dma.h
16 | ..\obj\led.o: ..\FWLIB\inc\stm32f4xx_exti.h
17 | ..\obj\led.o: ..\FWLIB\inc\stm32f4xx_flash.h
18 | ..\obj\led.o: ..\FWLIB\inc\stm32f4xx_gpio.h
19 | ..\obj\led.o: ..\FWLIB\inc\stm32f4xx_i2c.h
20 | ..\obj\led.o: ..\FWLIB\inc\stm32f4xx_iwdg.h
21 | ..\obj\led.o: ..\FWLIB\inc\stm32f4xx_pwr.h
22 | ..\obj\led.o: ..\FWLIB\inc\stm32f4xx_rcc.h
23 | ..\obj\led.o: ..\FWLIB\inc\stm32f4xx_rtc.h
24 | ..\obj\led.o: ..\FWLIB\inc\stm32f4xx_sdio.h
25 | ..\obj\led.o: ..\FWLIB\inc\stm32f4xx_spi.h
26 | ..\obj\led.o: ..\FWLIB\inc\stm32f4xx_syscfg.h
27 | ..\obj\led.o: ..\FWLIB\inc\stm32f4xx_tim.h
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31 | ..\obj\led.o: ..\FWLIB\inc\stm32f4xx_cryp.h
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34 | ..\obj\led.o: ..\FWLIB\inc\stm32f4xx_can.h
35 | ..\obj\led.o: ..\FWLIB\inc\stm32f4xx_dac.h
36 | ..\obj\led.o: ..\FWLIB\inc\stm32f4xx_dcmi.h
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1 | ..\obj\main.o: main.c
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5 | ..\obj\main.o: ..\CORE\core_cmInstr.h
6 | ..\obj\main.o: ..\CORE\core_cmFunc.h
7 | ..\obj\main.o: ..\CORE\core_cm4_simd.h
8 | ..\obj\main.o: system_stm32f4xx.h
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10 | ..\obj\main.o: ..\FWLIB\inc\stm32f4xx_adc.h
11 | ..\obj\main.o: ..\USER\stm32f4xx.h
12 | ..\obj\main.o: ..\FWLIB\inc\stm32f4xx_crc.h
13 | ..\obj\main.o: ..\FWLIB\inc\stm32f4xx_dbgmcu.h
14 | ..\obj\main.o: ..\FWLIB\inc\stm32f4xx_dma.h
15 | ..\obj\main.o: ..\FWLIB\inc\stm32f4xx_exti.h
16 | ..\obj\main.o: ..\FWLIB\inc\stm32f4xx_flash.h
17 | ..\obj\main.o: ..\FWLIB\inc\stm32f4xx_gpio.h
18 | ..\obj\main.o: ..\FWLIB\inc\stm32f4xx_i2c.h
19 | ..\obj\main.o: ..\FWLIB\inc\stm32f4xx_iwdg.h
20 | ..\obj\main.o: ..\FWLIB\inc\stm32f4xx_pwr.h
21 | ..\obj\main.o: ..\FWLIB\inc\stm32f4xx_rcc.h
22 | ..\obj\main.o: ..\FWLIB\inc\stm32f4xx_rtc.h
23 | ..\obj\main.o: ..\FWLIB\inc\stm32f4xx_sdio.h
24 | ..\obj\main.o: ..\FWLIB\inc\stm32f4xx_spi.h
25 | ..\obj\main.o: ..\FWLIB\inc\stm32f4xx_syscfg.h
26 | ..\obj\main.o: ..\FWLIB\inc\stm32f4xx_tim.h
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35 | ..\obj\main.o: ..\FWLIB\inc\stm32f4xx_dcmi.h
36 | ..\obj\main.o: ..\FWLIB\inc\stm32f4xx_fsmc.h
37 | ..\obj\main.o: ..\SYSTEM\delay\delay.h
38 | ..\obj\main.o: ..\SYSTEM\sys\sys.h
39 | ..\obj\main.o: ..\HARDWARE\LED\led.h
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41 | ..\obj\main.o: ..\HARDWARE\PWM\pwm.h
42 | ..\obj\main.o: ..\HARDWARE\MOTOR\motor.h
43 | ..\obj\main.o: ..\HARDWARE\SCARA\SCARA.h
44 | ..\obj\main.o: ..\HARDWARE\XBOX\xbox.h
45 | ..\obj\main.o: ..\HARDWARE\OPENMV\openmv.h
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1 | ..\obj\misc.o: ..\FWLIB\src\misc.c
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5 | ..\obj\misc.o: D:\Keil_v5\ARM\ARMCC\Bin\..\include\stdint.h
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7 | ..\obj\misc.o: ..\CORE\core_cmFunc.h
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11 | ..\obj\misc.o: ..\FWLIB\inc\stm32f4xx_adc.h
12 | ..\obj\misc.o: ..\USER\stm32f4xx.h
13 | ..\obj\misc.o: ..\FWLIB\inc\stm32f4xx_crc.h
14 | ..\obj\misc.o: ..\FWLIB\inc\stm32f4xx_dbgmcu.h
15 | ..\obj\misc.o: ..\FWLIB\inc\stm32f4xx_dma.h
16 | ..\obj\misc.o: ..\FWLIB\inc\stm32f4xx_exti.h
17 | ..\obj\misc.o: ..\FWLIB\inc\stm32f4xx_flash.h
18 | ..\obj\misc.o: ..\FWLIB\inc\stm32f4xx_gpio.h
19 | ..\obj\misc.o: ..\FWLIB\inc\stm32f4xx_i2c.h
20 | ..\obj\misc.o: ..\FWLIB\inc\stm32f4xx_iwdg.h
21 | ..\obj\misc.o: ..\FWLIB\inc\stm32f4xx_pwr.h
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23 | ..\obj\misc.o: ..\FWLIB\inc\stm32f4xx_rtc.h
24 | ..\obj\misc.o: ..\FWLIB\inc\stm32f4xx_sdio.h
25 | ..\obj\misc.o: ..\FWLIB\inc\stm32f4xx_spi.h
26 | ..\obj\misc.o: ..\FWLIB\inc\stm32f4xx_syscfg.h
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36 | ..\obj\misc.o: ..\FWLIB\inc\stm32f4xx_dcmi.h
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13 | ..\obj\motor.o: ..\USER\stm32f4xx.h
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15 | ..\obj\motor.o: ..\FWLIB\inc\stm32f4xx_dbgmcu.h
16 | ..\obj\motor.o: ..\FWLIB\inc\stm32f4xx_dma.h
17 | ..\obj\motor.o: ..\FWLIB\inc\stm32f4xx_exti.h
18 | ..\obj\motor.o: ..\FWLIB\inc\stm32f4xx_flash.h
19 | ..\obj\motor.o: ..\FWLIB\inc\stm32f4xx_gpio.h
20 | ..\obj\motor.o: ..\FWLIB\inc\stm32f4xx_i2c.h
21 | ..\obj\motor.o: ..\FWLIB\inc\stm32f4xx_iwdg.h
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23 | ..\obj\motor.o: ..\FWLIB\inc\stm32f4xx_rcc.h
24 | ..\obj\motor.o: ..\FWLIB\inc\stm32f4xx_rtc.h
25 | ..\obj\motor.o: ..\FWLIB\inc\stm32f4xx_sdio.h
26 | ..\obj\motor.o: ..\FWLIB\inc\stm32f4xx_spi.h
27 | ..\obj\motor.o: ..\FWLIB\inc\stm32f4xx_syscfg.h
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36 | ..\obj\motor.o: ..\FWLIB\inc\stm32f4xx_dac.h
37 | ..\obj\motor.o: ..\FWLIB\inc\stm32f4xx_dcmi.h
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1 | ..\obj\scara.o: ..\HARDWARE\SCARA\SCARA.c
2 | ..\obj\scara.o: ..\HARDWARE\SCARA\SCARA.h
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4 | ..\obj\scara.o: ..\USER\stm32f4xx.h
5 | ..\obj\scara.o: ..\CORE\core_cm4.h
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7 | ..\obj\scara.o: ..\CORE\core_cmInstr.h
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9 | ..\obj\scara.o: ..\CORE\core_cm4_simd.h
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13 | ..\obj\scara.o: ..\USER\stm32f4xx.h
14 | ..\obj\scara.o: ..\FWLIB\inc\stm32f4xx_crc.h
15 | ..\obj\scara.o: ..\FWLIB\inc\stm32f4xx_dbgmcu.h
16 | ..\obj\scara.o: ..\FWLIB\inc\stm32f4xx_dma.h
17 | ..\obj\scara.o: ..\FWLIB\inc\stm32f4xx_exti.h
18 | ..\obj\scara.o: ..\FWLIB\inc\stm32f4xx_flash.h
19 | ..\obj\scara.o: ..\FWLIB\inc\stm32f4xx_gpio.h
20 | ..\obj\scara.o: ..\FWLIB\inc\stm32f4xx_i2c.h
21 | ..\obj\scara.o: ..\FWLIB\inc\stm32f4xx_iwdg.h
22 | ..\obj\scara.o: ..\FWLIB\inc\stm32f4xx_pwr.h
23 | ..\obj\scara.o: ..\FWLIB\inc\stm32f4xx_rcc.h
24 | ..\obj\scara.o: ..\FWLIB\inc\stm32f4xx_rtc.h
25 | ..\obj\scara.o: ..\FWLIB\inc\stm32f4xx_sdio.h
26 | ..\obj\scara.o: ..\FWLIB\inc\stm32f4xx_spi.h
27 | ..\obj\scara.o: ..\FWLIB\inc\stm32f4xx_syscfg.h
28 | ..\obj\scara.o: ..\FWLIB\inc\stm32f4xx_tim.h
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30 | ..\obj\scara.o: ..\FWLIB\inc\stm32f4xx_wwdg.h
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32 | ..\obj\scara.o: ..\FWLIB\inc\stm32f4xx_cryp.h
33 | ..\obj\scara.o: ..\FWLIB\inc\stm32f4xx_hash.h
34 | ..\obj\scara.o: ..\FWLIB\inc\stm32f4xx_rng.h
35 | ..\obj\scara.o: ..\FWLIB\inc\stm32f4xx_can.h
36 | ..\obj\scara.o: ..\FWLIB\inc\stm32f4xx_dac.h
37 | ..\obj\scara.o: ..\FWLIB\inc\stm32f4xx_dcmi.h
38 | ..\obj\scara.o: ..\FWLIB\inc\stm32f4xx_fsmc.h
39 | ..\obj\scara.o: ..\HARDWARE\KEY\key.h
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41 | ..\obj\scara.o: ..\HARDWARE\MOTOR\motor.h
42 | ..\obj\scara.o: ..\HARDWARE\PWM\pwm.h
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44 | ..\obj\scara.o: ..\HARDWARE\LED\led.h
45 | ..\obj\scara.o: ..\HARDWARE\XBOX\xbox.h
46 | ..\obj\scara.o: ..\HARDWARE\OPENMV\openmv.h
47 | ..\obj\scara.o: ..\HARDWARE\BALANCE\balance.h
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25 | ..\obj\stm32f4xx_adc.o: ..\FWLIB\inc\stm32f4xx_spi.h
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5 | ..\obj\stm32f4xx_cryp_aes.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stdint.h
6 | ..\obj\stm32f4xx_cryp_aes.o: ..\CORE\core_cmInstr.h
7 | ..\obj\stm32f4xx_cryp_aes.o: ..\CORE\core_cmFunc.h
8 | ..\obj\stm32f4xx_cryp_aes.o: ..\CORE\core_cm4_simd.h
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12 | ..\obj\stm32f4xx_cryp_aes.o: ..\USER\stm32f4xx.h
13 | ..\obj\stm32f4xx_cryp_aes.o: ..\FWLIB\inc\stm32f4xx_crc.h
14 | ..\obj\stm32f4xx_cryp_aes.o: ..\FWLIB\inc\stm32f4xx_dbgmcu.h
15 | ..\obj\stm32f4xx_cryp_aes.o: ..\FWLIB\inc\stm32f4xx_dma.h
16 | ..\obj\stm32f4xx_cryp_aes.o: ..\FWLIB\inc\stm32f4xx_exti.h
17 | ..\obj\stm32f4xx_cryp_aes.o: ..\FWLIB\inc\stm32f4xx_flash.h
18 | ..\obj\stm32f4xx_cryp_aes.o: ..\FWLIB\inc\stm32f4xx_gpio.h
19 | ..\obj\stm32f4xx_cryp_aes.o: ..\FWLIB\inc\stm32f4xx_i2c.h
20 | ..\obj\stm32f4xx_cryp_aes.o: ..\FWLIB\inc\stm32f4xx_iwdg.h
21 | ..\obj\stm32f4xx_cryp_aes.o: ..\FWLIB\inc\stm32f4xx_pwr.h
22 | ..\obj\stm32f4xx_cryp_aes.o: ..\FWLIB\inc\stm32f4xx_rcc.h
23 | ..\obj\stm32f4xx_cryp_aes.o: ..\FWLIB\inc\stm32f4xx_rtc.h
24 | ..\obj\stm32f4xx_cryp_aes.o: ..\FWLIB\inc\stm32f4xx_sdio.h
25 | ..\obj\stm32f4xx_cryp_aes.o: ..\FWLIB\inc\stm32f4xx_spi.h
26 | ..\obj\stm32f4xx_cryp_aes.o: ..\FWLIB\inc\stm32f4xx_syscfg.h
27 | ..\obj\stm32f4xx_cryp_aes.o: ..\FWLIB\inc\stm32f4xx_tim.h
28 | ..\obj\stm32f4xx_cryp_aes.o: ..\FWLIB\inc\stm32f4xx_usart.h
29 | ..\obj\stm32f4xx_cryp_aes.o: ..\FWLIB\inc\stm32f4xx_wwdg.h
30 | ..\obj\stm32f4xx_cryp_aes.o: ..\FWLIB\inc\misc.h
31 | ..\obj\stm32f4xx_cryp_aes.o: ..\FWLIB\inc\stm32f4xx_cryp.h
32 | ..\obj\stm32f4xx_cryp_aes.o: ..\FWLIB\inc\stm32f4xx_hash.h
33 | ..\obj\stm32f4xx_cryp_aes.o: ..\FWLIB\inc\stm32f4xx_rng.h
34 | ..\obj\stm32f4xx_cryp_aes.o: ..\FWLIB\inc\stm32f4xx_can.h
35 | ..\obj\stm32f4xx_cryp_aes.o: ..\FWLIB\inc\stm32f4xx_dac.h
36 | ..\obj\stm32f4xx_cryp_aes.o: ..\FWLIB\inc\stm32f4xx_dcmi.h
37 | ..\obj\stm32f4xx_cryp_aes.o: ..\FWLIB\inc\stm32f4xx_fsmc.h
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1 | ..\obj\stm32f4xx_dcmi.o: ..\FWLIB\src\stm32f4xx_dcmi.c
2 | ..\obj\stm32f4xx_dcmi.o: ..\FWLIB\inc\stm32f4xx_dcmi.h
3 | ..\obj\stm32f4xx_dcmi.o: ..\USER\stm32f4xx.h
4 | ..\obj\stm32f4xx_dcmi.o: ..\CORE\core_cm4.h
5 | ..\obj\stm32f4xx_dcmi.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stdint.h
6 | ..\obj\stm32f4xx_dcmi.o: ..\CORE\core_cmInstr.h
7 | ..\obj\stm32f4xx_dcmi.o: ..\CORE\core_cmFunc.h
8 | ..\obj\stm32f4xx_dcmi.o: ..\CORE\core_cm4_simd.h
9 | ..\obj\stm32f4xx_dcmi.o: ..\USER\system_stm32f4xx.h
10 | ..\obj\stm32f4xx_dcmi.o: ..\USER\stm32f4xx_conf.h
11 | ..\obj\stm32f4xx_dcmi.o: ..\FWLIB\inc\stm32f4xx_adc.h
12 | ..\obj\stm32f4xx_dcmi.o: ..\USER\stm32f4xx.h
13 | ..\obj\stm32f4xx_dcmi.o: ..\FWLIB\inc\stm32f4xx_crc.h
14 | ..\obj\stm32f4xx_dcmi.o: ..\FWLIB\inc\stm32f4xx_dbgmcu.h
15 | ..\obj\stm32f4xx_dcmi.o: ..\FWLIB\inc\stm32f4xx_dma.h
16 | ..\obj\stm32f4xx_dcmi.o: ..\FWLIB\inc\stm32f4xx_exti.h
17 | ..\obj\stm32f4xx_dcmi.o: ..\FWLIB\inc\stm32f4xx_flash.h
18 | ..\obj\stm32f4xx_dcmi.o: ..\FWLIB\inc\stm32f4xx_gpio.h
19 | ..\obj\stm32f4xx_dcmi.o: ..\FWLIB\inc\stm32f4xx_i2c.h
20 | ..\obj\stm32f4xx_dcmi.o: ..\FWLIB\inc\stm32f4xx_iwdg.h
21 | ..\obj\stm32f4xx_dcmi.o: ..\FWLIB\inc\stm32f4xx_pwr.h
22 | ..\obj\stm32f4xx_dcmi.o: ..\FWLIB\inc\stm32f4xx_rcc.h
23 | ..\obj\stm32f4xx_dcmi.o: ..\FWLIB\inc\stm32f4xx_rtc.h
24 | ..\obj\stm32f4xx_dcmi.o: ..\FWLIB\inc\stm32f4xx_sdio.h
25 | ..\obj\stm32f4xx_dcmi.o: ..\FWLIB\inc\stm32f4xx_spi.h
26 | ..\obj\stm32f4xx_dcmi.o: ..\FWLIB\inc\stm32f4xx_syscfg.h
27 | ..\obj\stm32f4xx_dcmi.o: ..\FWLIB\inc\stm32f4xx_tim.h
28 | ..\obj\stm32f4xx_dcmi.o: ..\FWLIB\inc\stm32f4xx_usart.h
29 | ..\obj\stm32f4xx_dcmi.o: ..\FWLIB\inc\stm32f4xx_wwdg.h
30 | ..\obj\stm32f4xx_dcmi.o: ..\FWLIB\inc\misc.h
31 | ..\obj\stm32f4xx_dcmi.o: ..\FWLIB\inc\stm32f4xx_cryp.h
32 | ..\obj\stm32f4xx_dcmi.o: ..\FWLIB\inc\stm32f4xx_hash.h
33 | ..\obj\stm32f4xx_dcmi.o: ..\FWLIB\inc\stm32f4xx_rng.h
34 | ..\obj\stm32f4xx_dcmi.o: ..\FWLIB\inc\stm32f4xx_can.h
35 | ..\obj\stm32f4xx_dcmi.o: ..\FWLIB\inc\stm32f4xx_dac.h
36 | ..\obj\stm32f4xx_dcmi.o: ..\FWLIB\inc\stm32f4xx_dcmi.h
37 | ..\obj\stm32f4xx_dcmi.o: ..\FWLIB\inc\stm32f4xx_fsmc.h
38 |
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1 | ..\obj\stm32f4xx_dma.o: ..\FWLIB\src\stm32f4xx_dma.c
2 | ..\obj\stm32f4xx_dma.o: ..\FWLIB\inc\stm32f4xx_dma.h
3 | ..\obj\stm32f4xx_dma.o: ..\USER\stm32f4xx.h
4 | ..\obj\stm32f4xx_dma.o: ..\CORE\core_cm4.h
5 | ..\obj\stm32f4xx_dma.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stdint.h
6 | ..\obj\stm32f4xx_dma.o: ..\CORE\core_cmInstr.h
7 | ..\obj\stm32f4xx_dma.o: ..\CORE\core_cmFunc.h
8 | ..\obj\stm32f4xx_dma.o: ..\CORE\core_cm4_simd.h
9 | ..\obj\stm32f4xx_dma.o: ..\USER\system_stm32f4xx.h
10 | ..\obj\stm32f4xx_dma.o: ..\USER\stm32f4xx_conf.h
11 | ..\obj\stm32f4xx_dma.o: ..\FWLIB\inc\stm32f4xx_adc.h
12 | ..\obj\stm32f4xx_dma.o: ..\USER\stm32f4xx.h
13 | ..\obj\stm32f4xx_dma.o: ..\FWLIB\inc\stm32f4xx_crc.h
14 | ..\obj\stm32f4xx_dma.o: ..\FWLIB\inc\stm32f4xx_dbgmcu.h
15 | ..\obj\stm32f4xx_dma.o: ..\FWLIB\inc\stm32f4xx_dma.h
16 | ..\obj\stm32f4xx_dma.o: ..\FWLIB\inc\stm32f4xx_exti.h
17 | ..\obj\stm32f4xx_dma.o: ..\FWLIB\inc\stm32f4xx_flash.h
18 | ..\obj\stm32f4xx_dma.o: ..\FWLIB\inc\stm32f4xx_gpio.h
19 | ..\obj\stm32f4xx_dma.o: ..\FWLIB\inc\stm32f4xx_i2c.h
20 | ..\obj\stm32f4xx_dma.o: ..\FWLIB\inc\stm32f4xx_iwdg.h
21 | ..\obj\stm32f4xx_dma.o: ..\FWLIB\inc\stm32f4xx_pwr.h
22 | ..\obj\stm32f4xx_dma.o: ..\FWLIB\inc\stm32f4xx_rcc.h
23 | ..\obj\stm32f4xx_dma.o: ..\FWLIB\inc\stm32f4xx_rtc.h
24 | ..\obj\stm32f4xx_dma.o: ..\FWLIB\inc\stm32f4xx_sdio.h
25 | ..\obj\stm32f4xx_dma.o: ..\FWLIB\inc\stm32f4xx_spi.h
26 | ..\obj\stm32f4xx_dma.o: ..\FWLIB\inc\stm32f4xx_syscfg.h
27 | ..\obj\stm32f4xx_dma.o: ..\FWLIB\inc\stm32f4xx_tim.h
28 | ..\obj\stm32f4xx_dma.o: ..\FWLIB\inc\stm32f4xx_usart.h
29 | ..\obj\stm32f4xx_dma.o: ..\FWLIB\inc\stm32f4xx_wwdg.h
30 | ..\obj\stm32f4xx_dma.o: ..\FWLIB\inc\misc.h
31 | ..\obj\stm32f4xx_dma.o: ..\FWLIB\inc\stm32f4xx_cryp.h
32 | ..\obj\stm32f4xx_dma.o: ..\FWLIB\inc\stm32f4xx_hash.h
33 | ..\obj\stm32f4xx_dma.o: ..\FWLIB\inc\stm32f4xx_rng.h
34 | ..\obj\stm32f4xx_dma.o: ..\FWLIB\inc\stm32f4xx_can.h
35 | ..\obj\stm32f4xx_dma.o: ..\FWLIB\inc\stm32f4xx_dac.h
36 | ..\obj\stm32f4xx_dma.o: ..\FWLIB\inc\stm32f4xx_dcmi.h
37 | ..\obj\stm32f4xx_dma.o: ..\FWLIB\inc\stm32f4xx_fsmc.h
38 |
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1 | ..\obj\stm32f4xx_dma2d.o: ..\FWLIB\src\stm32f4xx_dma2d.c
2 | ..\obj\stm32f4xx_dma2d.o: ..\FWLIB\inc\stm32f4xx_dma2d.h
3 | ..\obj\stm32f4xx_dma2d.o: ..\USER\stm32f4xx.h
4 | ..\obj\stm32f4xx_dma2d.o: ..\CORE\core_cm4.h
5 | ..\obj\stm32f4xx_dma2d.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stdint.h
6 | ..\obj\stm32f4xx_dma2d.o: ..\CORE\core_cmInstr.h
7 | ..\obj\stm32f4xx_dma2d.o: ..\CORE\core_cmFunc.h
8 | ..\obj\stm32f4xx_dma2d.o: ..\CORE\core_cm4_simd.h
9 | ..\obj\stm32f4xx_dma2d.o: ..\USER\system_stm32f4xx.h
10 | ..\obj\stm32f4xx_dma2d.o: ..\USER\stm32f4xx_conf.h
11 | ..\obj\stm32f4xx_dma2d.o: ..\FWLIB\inc\stm32f4xx_adc.h
12 | ..\obj\stm32f4xx_dma2d.o: ..\USER\stm32f4xx.h
13 | ..\obj\stm32f4xx_dma2d.o: ..\FWLIB\inc\stm32f4xx_crc.h
14 | ..\obj\stm32f4xx_dma2d.o: ..\FWLIB\inc\stm32f4xx_dbgmcu.h
15 | ..\obj\stm32f4xx_dma2d.o: ..\FWLIB\inc\stm32f4xx_dma.h
16 | ..\obj\stm32f4xx_dma2d.o: ..\FWLIB\inc\stm32f4xx_exti.h
17 | ..\obj\stm32f4xx_dma2d.o: ..\FWLIB\inc\stm32f4xx_flash.h
18 | ..\obj\stm32f4xx_dma2d.o: ..\FWLIB\inc\stm32f4xx_gpio.h
19 | ..\obj\stm32f4xx_dma2d.o: ..\FWLIB\inc\stm32f4xx_i2c.h
20 | ..\obj\stm32f4xx_dma2d.o: ..\FWLIB\inc\stm32f4xx_iwdg.h
21 | ..\obj\stm32f4xx_dma2d.o: ..\FWLIB\inc\stm32f4xx_pwr.h
22 | ..\obj\stm32f4xx_dma2d.o: ..\FWLIB\inc\stm32f4xx_rcc.h
23 | ..\obj\stm32f4xx_dma2d.o: ..\FWLIB\inc\stm32f4xx_rtc.h
24 | ..\obj\stm32f4xx_dma2d.o: ..\FWLIB\inc\stm32f4xx_sdio.h
25 | ..\obj\stm32f4xx_dma2d.o: ..\FWLIB\inc\stm32f4xx_spi.h
26 | ..\obj\stm32f4xx_dma2d.o: ..\FWLIB\inc\stm32f4xx_syscfg.h
27 | ..\obj\stm32f4xx_dma2d.o: ..\FWLIB\inc\stm32f4xx_tim.h
28 | ..\obj\stm32f4xx_dma2d.o: ..\FWLIB\inc\stm32f4xx_usart.h
29 | ..\obj\stm32f4xx_dma2d.o: ..\FWLIB\inc\stm32f4xx_wwdg.h
30 | ..\obj\stm32f4xx_dma2d.o: ..\FWLIB\inc\misc.h
31 | ..\obj\stm32f4xx_dma2d.o: ..\FWLIB\inc\stm32f4xx_cryp.h
32 | ..\obj\stm32f4xx_dma2d.o: ..\FWLIB\inc\stm32f4xx_hash.h
33 | ..\obj\stm32f4xx_dma2d.o: ..\FWLIB\inc\stm32f4xx_rng.h
34 | ..\obj\stm32f4xx_dma2d.o: ..\FWLIB\inc\stm32f4xx_can.h
35 | ..\obj\stm32f4xx_dma2d.o: ..\FWLIB\inc\stm32f4xx_dac.h
36 | ..\obj\stm32f4xx_dma2d.o: ..\FWLIB\inc\stm32f4xx_dcmi.h
37 | ..\obj\stm32f4xx_dma2d.o: ..\FWLIB\inc\stm32f4xx_fsmc.h
38 |
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1 | ..\obj\stm32f4xx_exti.o: ..\FWLIB\src\stm32f4xx_exti.c
2 | ..\obj\stm32f4xx_exti.o: ..\FWLIB\inc\stm32f4xx_exti.h
3 | ..\obj\stm32f4xx_exti.o: ..\USER\stm32f4xx.h
4 | ..\obj\stm32f4xx_exti.o: ..\CORE\core_cm4.h
5 | ..\obj\stm32f4xx_exti.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stdint.h
6 | ..\obj\stm32f4xx_exti.o: ..\CORE\core_cmInstr.h
7 | ..\obj\stm32f4xx_exti.o: ..\CORE\core_cmFunc.h
8 | ..\obj\stm32f4xx_exti.o: ..\CORE\core_cm4_simd.h
9 | ..\obj\stm32f4xx_exti.o: ..\USER\system_stm32f4xx.h
10 | ..\obj\stm32f4xx_exti.o: ..\USER\stm32f4xx_conf.h
11 | ..\obj\stm32f4xx_exti.o: ..\FWLIB\inc\stm32f4xx_adc.h
12 | ..\obj\stm32f4xx_exti.o: ..\USER\stm32f4xx.h
13 | ..\obj\stm32f4xx_exti.o: ..\FWLIB\inc\stm32f4xx_crc.h
14 | ..\obj\stm32f4xx_exti.o: ..\FWLIB\inc\stm32f4xx_dbgmcu.h
15 | ..\obj\stm32f4xx_exti.o: ..\FWLIB\inc\stm32f4xx_dma.h
16 | ..\obj\stm32f4xx_exti.o: ..\FWLIB\inc\stm32f4xx_exti.h
17 | ..\obj\stm32f4xx_exti.o: ..\FWLIB\inc\stm32f4xx_flash.h
18 | ..\obj\stm32f4xx_exti.o: ..\FWLIB\inc\stm32f4xx_gpio.h
19 | ..\obj\stm32f4xx_exti.o: ..\FWLIB\inc\stm32f4xx_i2c.h
20 | ..\obj\stm32f4xx_exti.o: ..\FWLIB\inc\stm32f4xx_iwdg.h
21 | ..\obj\stm32f4xx_exti.o: ..\FWLIB\inc\stm32f4xx_pwr.h
22 | ..\obj\stm32f4xx_exti.o: ..\FWLIB\inc\stm32f4xx_rcc.h
23 | ..\obj\stm32f4xx_exti.o: ..\FWLIB\inc\stm32f4xx_rtc.h
24 | ..\obj\stm32f4xx_exti.o: ..\FWLIB\inc\stm32f4xx_sdio.h
25 | ..\obj\stm32f4xx_exti.o: ..\FWLIB\inc\stm32f4xx_spi.h
26 | ..\obj\stm32f4xx_exti.o: ..\FWLIB\inc\stm32f4xx_syscfg.h
27 | ..\obj\stm32f4xx_exti.o: ..\FWLIB\inc\stm32f4xx_tim.h
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31 | ..\obj\stm32f4xx_exti.o: ..\FWLIB\inc\stm32f4xx_cryp.h
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33 | ..\obj\stm32f4xx_exti.o: ..\FWLIB\inc\stm32f4xx_rng.h
34 | ..\obj\stm32f4xx_exti.o: ..\FWLIB\inc\stm32f4xx_can.h
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37 | ..\obj\stm32f4xx_exti.o: ..\FWLIB\inc\stm32f4xx_fsmc.h
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6 | ..\obj\stm32f4xx_flash.o: ..\CORE\core_cmInstr.h
7 | ..\obj\stm32f4xx_flash.o: ..\CORE\core_cmFunc.h
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19 | ..\obj\stm32f4xx_flash.o: ..\FWLIB\inc\stm32f4xx_i2c.h
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37 | ..\obj\stm32f4xx_flash.o: ..\FWLIB\inc\stm32f4xx_fsmc.h
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1 | ..\obj\stm32f4xx_flash_ramfunc.o: ..\FWLIB\src\stm32f4xx_flash_ramfunc.c
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3 | ..\obj\stm32f4xx_flash_ramfunc.o: ..\USER\stm32f4xx.h
4 | ..\obj\stm32f4xx_flash_ramfunc.o: ..\CORE\core_cm4.h
5 | ..\obj\stm32f4xx_flash_ramfunc.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stdint.h
6 | ..\obj\stm32f4xx_flash_ramfunc.o: ..\CORE\core_cmInstr.h
7 | ..\obj\stm32f4xx_flash_ramfunc.o: ..\CORE\core_cmFunc.h
8 | ..\obj\stm32f4xx_flash_ramfunc.o: ..\CORE\core_cm4_simd.h
9 | ..\obj\stm32f4xx_flash_ramfunc.o: ..\USER\system_stm32f4xx.h
10 | ..\obj\stm32f4xx_flash_ramfunc.o: ..\USER\stm32f4xx_conf.h
11 | ..\obj\stm32f4xx_flash_ramfunc.o: ..\FWLIB\inc\stm32f4xx_adc.h
12 | ..\obj\stm32f4xx_flash_ramfunc.o: ..\USER\stm32f4xx.h
13 | ..\obj\stm32f4xx_flash_ramfunc.o: ..\FWLIB\inc\stm32f4xx_crc.h
14 | ..\obj\stm32f4xx_flash_ramfunc.o: ..\FWLIB\inc\stm32f4xx_dbgmcu.h
15 | ..\obj\stm32f4xx_flash_ramfunc.o: ..\FWLIB\inc\stm32f4xx_dma.h
16 | ..\obj\stm32f4xx_flash_ramfunc.o: ..\FWLIB\inc\stm32f4xx_exti.h
17 | ..\obj\stm32f4xx_flash_ramfunc.o: ..\FWLIB\inc\stm32f4xx_flash.h
18 | ..\obj\stm32f4xx_flash_ramfunc.o: ..\FWLIB\inc\stm32f4xx_gpio.h
19 | ..\obj\stm32f4xx_flash_ramfunc.o: ..\FWLIB\inc\stm32f4xx_i2c.h
20 | ..\obj\stm32f4xx_flash_ramfunc.o: ..\FWLIB\inc\stm32f4xx_iwdg.h
21 | ..\obj\stm32f4xx_flash_ramfunc.o: ..\FWLIB\inc\stm32f4xx_pwr.h
22 | ..\obj\stm32f4xx_flash_ramfunc.o: ..\FWLIB\inc\stm32f4xx_rcc.h
23 | ..\obj\stm32f4xx_flash_ramfunc.o: ..\FWLIB\inc\stm32f4xx_rtc.h
24 | ..\obj\stm32f4xx_flash_ramfunc.o: ..\FWLIB\inc\stm32f4xx_sdio.h
25 | ..\obj\stm32f4xx_flash_ramfunc.o: ..\FWLIB\inc\stm32f4xx_spi.h
26 | ..\obj\stm32f4xx_flash_ramfunc.o: ..\FWLIB\inc\stm32f4xx_syscfg.h
27 | ..\obj\stm32f4xx_flash_ramfunc.o: ..\FWLIB\inc\stm32f4xx_tim.h
28 | ..\obj\stm32f4xx_flash_ramfunc.o: ..\FWLIB\inc\stm32f4xx_usart.h
29 | ..\obj\stm32f4xx_flash_ramfunc.o: ..\FWLIB\inc\stm32f4xx_wwdg.h
30 | ..\obj\stm32f4xx_flash_ramfunc.o: ..\FWLIB\inc\misc.h
31 | ..\obj\stm32f4xx_flash_ramfunc.o: ..\FWLIB\inc\stm32f4xx_cryp.h
32 | ..\obj\stm32f4xx_flash_ramfunc.o: ..\FWLIB\inc\stm32f4xx_hash.h
33 | ..\obj\stm32f4xx_flash_ramfunc.o: ..\FWLIB\inc\stm32f4xx_rng.h
34 | ..\obj\stm32f4xx_flash_ramfunc.o: ..\FWLIB\inc\stm32f4xx_can.h
35 | ..\obj\stm32f4xx_flash_ramfunc.o: ..\FWLIB\inc\stm32f4xx_dac.h
36 | ..\obj\stm32f4xx_flash_ramfunc.o: ..\FWLIB\inc\stm32f4xx_dcmi.h
37 | ..\obj\stm32f4xx_flash_ramfunc.o: ..\FWLIB\inc\stm32f4xx_fsmc.h
38 |
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1 | ..\obj\stm32f4xx_fsmc.o: ..\FWLIB\src\stm32f4xx_fsmc.c
2 | ..\obj\stm32f4xx_fsmc.o: ..\FWLIB\inc\stm32f4xx_fsmc.h
3 | ..\obj\stm32f4xx_fsmc.o: ..\USER\stm32f4xx.h
4 | ..\obj\stm32f4xx_fsmc.o: ..\CORE\core_cm4.h
5 | ..\obj\stm32f4xx_fsmc.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stdint.h
6 | ..\obj\stm32f4xx_fsmc.o: ..\CORE\core_cmInstr.h
7 | ..\obj\stm32f4xx_fsmc.o: ..\CORE\core_cmFunc.h
8 | ..\obj\stm32f4xx_fsmc.o: ..\CORE\core_cm4_simd.h
9 | ..\obj\stm32f4xx_fsmc.o: ..\USER\system_stm32f4xx.h
10 | ..\obj\stm32f4xx_fsmc.o: ..\USER\stm32f4xx_conf.h
11 | ..\obj\stm32f4xx_fsmc.o: ..\FWLIB\inc\stm32f4xx_adc.h
12 | ..\obj\stm32f4xx_fsmc.o: ..\USER\stm32f4xx.h
13 | ..\obj\stm32f4xx_fsmc.o: ..\FWLIB\inc\stm32f4xx_crc.h
14 | ..\obj\stm32f4xx_fsmc.o: ..\FWLIB\inc\stm32f4xx_dbgmcu.h
15 | ..\obj\stm32f4xx_fsmc.o: ..\FWLIB\inc\stm32f4xx_dma.h
16 | ..\obj\stm32f4xx_fsmc.o: ..\FWLIB\inc\stm32f4xx_exti.h
17 | ..\obj\stm32f4xx_fsmc.o: ..\FWLIB\inc\stm32f4xx_flash.h
18 | ..\obj\stm32f4xx_fsmc.o: ..\FWLIB\inc\stm32f4xx_gpio.h
19 | ..\obj\stm32f4xx_fsmc.o: ..\FWLIB\inc\stm32f4xx_i2c.h
20 | ..\obj\stm32f4xx_fsmc.o: ..\FWLIB\inc\stm32f4xx_iwdg.h
21 | ..\obj\stm32f4xx_fsmc.o: ..\FWLIB\inc\stm32f4xx_pwr.h
22 | ..\obj\stm32f4xx_fsmc.o: ..\FWLIB\inc\stm32f4xx_rcc.h
23 | ..\obj\stm32f4xx_fsmc.o: ..\FWLIB\inc\stm32f4xx_rtc.h
24 | ..\obj\stm32f4xx_fsmc.o: ..\FWLIB\inc\stm32f4xx_sdio.h
25 | ..\obj\stm32f4xx_fsmc.o: ..\FWLIB\inc\stm32f4xx_spi.h
26 | ..\obj\stm32f4xx_fsmc.o: ..\FWLIB\inc\stm32f4xx_syscfg.h
27 | ..\obj\stm32f4xx_fsmc.o: ..\FWLIB\inc\stm32f4xx_tim.h
28 | ..\obj\stm32f4xx_fsmc.o: ..\FWLIB\inc\stm32f4xx_usart.h
29 | ..\obj\stm32f4xx_fsmc.o: ..\FWLIB\inc\stm32f4xx_wwdg.h
30 | ..\obj\stm32f4xx_fsmc.o: ..\FWLIB\inc\misc.h
31 | ..\obj\stm32f4xx_fsmc.o: ..\FWLIB\inc\stm32f4xx_cryp.h
32 | ..\obj\stm32f4xx_fsmc.o: ..\FWLIB\inc\stm32f4xx_hash.h
33 | ..\obj\stm32f4xx_fsmc.o: ..\FWLIB\inc\stm32f4xx_rng.h
34 | ..\obj\stm32f4xx_fsmc.o: ..\FWLIB\inc\stm32f4xx_can.h
35 | ..\obj\stm32f4xx_fsmc.o: ..\FWLIB\inc\stm32f4xx_dac.h
36 | ..\obj\stm32f4xx_fsmc.o: ..\FWLIB\inc\stm32f4xx_dcmi.h
37 | ..\obj\stm32f4xx_fsmc.o: ..\FWLIB\inc\stm32f4xx_fsmc.h
38 |
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1 | ..\obj\stm32f4xx_gpio.o: ..\FWLIB\src\stm32f4xx_gpio.c
2 | ..\obj\stm32f4xx_gpio.o: ..\FWLIB\inc\stm32f4xx_gpio.h
3 | ..\obj\stm32f4xx_gpio.o: ..\USER\stm32f4xx.h
4 | ..\obj\stm32f4xx_gpio.o: ..\CORE\core_cm4.h
5 | ..\obj\stm32f4xx_gpio.o: D:\Keil_v5\ARM\ARMCC\Bin\..\include\stdint.h
6 | ..\obj\stm32f4xx_gpio.o: ..\CORE\core_cmInstr.h
7 | ..\obj\stm32f4xx_gpio.o: ..\CORE\core_cmFunc.h
8 | ..\obj\stm32f4xx_gpio.o: ..\CORE\core_cm4_simd.h
9 | ..\obj\stm32f4xx_gpio.o: ..\USER\system_stm32f4xx.h
10 | ..\obj\stm32f4xx_gpio.o: ..\USER\stm32f4xx_conf.h
11 | ..\obj\stm32f4xx_gpio.o: ..\FWLIB\inc\stm32f4xx_adc.h
12 | ..\obj\stm32f4xx_gpio.o: ..\USER\stm32f4xx.h
13 | ..\obj\stm32f4xx_gpio.o: ..\FWLIB\inc\stm32f4xx_crc.h
14 | ..\obj\stm32f4xx_gpio.o: ..\FWLIB\inc\stm32f4xx_dbgmcu.h
15 | ..\obj\stm32f4xx_gpio.o: ..\FWLIB\inc\stm32f4xx_dma.h
16 | ..\obj\stm32f4xx_gpio.o: ..\FWLIB\inc\stm32f4xx_exti.h
17 | ..\obj\stm32f4xx_gpio.o: ..\FWLIB\inc\stm32f4xx_flash.h
18 | ..\obj\stm32f4xx_gpio.o: ..\FWLIB\inc\stm32f4xx_gpio.h
19 | ..\obj\stm32f4xx_gpio.o: ..\FWLIB\inc\stm32f4xx_i2c.h
20 | ..\obj\stm32f4xx_gpio.o: ..\FWLIB\inc\stm32f4xx_iwdg.h
21 | ..\obj\stm32f4xx_gpio.o: ..\FWLIB\inc\stm32f4xx_pwr.h
22 | ..\obj\stm32f4xx_gpio.o: ..\FWLIB\inc\stm32f4xx_rcc.h
23 | ..\obj\stm32f4xx_gpio.o: ..\FWLIB\inc\stm32f4xx_rtc.h
24 | ..\obj\stm32f4xx_gpio.o: ..\FWLIB\inc\stm32f4xx_sdio.h
25 | ..\obj\stm32f4xx_gpio.o: ..\FWLIB\inc\stm32f4xx_spi.h
26 | ..\obj\stm32f4xx_gpio.o: ..\FWLIB\inc\stm32f4xx_syscfg.h
27 | ..\obj\stm32f4xx_gpio.o: ..\FWLIB\inc\stm32f4xx_tim.h
28 | ..\obj\stm32f4xx_gpio.o: ..\FWLIB\inc\stm32f4xx_usart.h
29 | ..\obj\stm32f4xx_gpio.o: ..\FWLIB\inc\stm32f4xx_wwdg.h
30 | ..\obj\stm32f4xx_gpio.o: ..\FWLIB\inc\misc.h
31 | ..\obj\stm32f4xx_gpio.o: ..\FWLIB\inc\stm32f4xx_cryp.h
32 | ..\obj\stm32f4xx_gpio.o: ..\FWLIB\inc\stm32f4xx_hash.h
33 | ..\obj\stm32f4xx_gpio.o: ..\FWLIB\inc\stm32f4xx_rng.h
34 | ..\obj\stm32f4xx_gpio.o: ..\FWLIB\inc\stm32f4xx_can.h
35 | ..\obj\stm32f4xx_gpio.o: ..\FWLIB\inc\stm32f4xx_dac.h
36 | ..\obj\stm32f4xx_gpio.o: ..\FWLIB\inc\stm32f4xx_dcmi.h
37 | ..\obj\stm32f4xx_gpio.o: ..\FWLIB\inc\stm32f4xx_fsmc.h
38 |
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1 | ..\obj\stm32f4xx_hash.o: ..\FWLIB\src\stm32f4xx_hash.c
2 | ..\obj\stm32f4xx_hash.o: ..\FWLIB\inc\stm32f4xx_hash.h
3 | ..\obj\stm32f4xx_hash.o: ..\USER\stm32f4xx.h
4 | ..\obj\stm32f4xx_hash.o: ..\CORE\core_cm4.h
5 | ..\obj\stm32f4xx_hash.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stdint.h
6 | ..\obj\stm32f4xx_hash.o: ..\CORE\core_cmInstr.h
7 | ..\obj\stm32f4xx_hash.o: ..\CORE\core_cmFunc.h
8 | ..\obj\stm32f4xx_hash.o: ..\CORE\core_cm4_simd.h
9 | ..\obj\stm32f4xx_hash.o: ..\USER\system_stm32f4xx.h
10 | ..\obj\stm32f4xx_hash.o: ..\USER\stm32f4xx_conf.h
11 | ..\obj\stm32f4xx_hash.o: ..\FWLIB\inc\stm32f4xx_adc.h
12 | ..\obj\stm32f4xx_hash.o: ..\USER\stm32f4xx.h
13 | ..\obj\stm32f4xx_hash.o: ..\FWLIB\inc\stm32f4xx_crc.h
14 | ..\obj\stm32f4xx_hash.o: ..\FWLIB\inc\stm32f4xx_dbgmcu.h
15 | ..\obj\stm32f4xx_hash.o: ..\FWLIB\inc\stm32f4xx_dma.h
16 | ..\obj\stm32f4xx_hash.o: ..\FWLIB\inc\stm32f4xx_exti.h
17 | ..\obj\stm32f4xx_hash.o: ..\FWLIB\inc\stm32f4xx_flash.h
18 | ..\obj\stm32f4xx_hash.o: ..\FWLIB\inc\stm32f4xx_gpio.h
19 | ..\obj\stm32f4xx_hash.o: ..\FWLIB\inc\stm32f4xx_i2c.h
20 | ..\obj\stm32f4xx_hash.o: ..\FWLIB\inc\stm32f4xx_iwdg.h
21 | ..\obj\stm32f4xx_hash.o: ..\FWLIB\inc\stm32f4xx_pwr.h
22 | ..\obj\stm32f4xx_hash.o: ..\FWLIB\inc\stm32f4xx_rcc.h
23 | ..\obj\stm32f4xx_hash.o: ..\FWLIB\inc\stm32f4xx_rtc.h
24 | ..\obj\stm32f4xx_hash.o: ..\FWLIB\inc\stm32f4xx_sdio.h
25 | ..\obj\stm32f4xx_hash.o: ..\FWLIB\inc\stm32f4xx_spi.h
26 | ..\obj\stm32f4xx_hash.o: ..\FWLIB\inc\stm32f4xx_syscfg.h
27 | ..\obj\stm32f4xx_hash.o: ..\FWLIB\inc\stm32f4xx_tim.h
28 | ..\obj\stm32f4xx_hash.o: ..\FWLIB\inc\stm32f4xx_usart.h
29 | ..\obj\stm32f4xx_hash.o: ..\FWLIB\inc\stm32f4xx_wwdg.h
30 | ..\obj\stm32f4xx_hash.o: ..\FWLIB\inc\misc.h
31 | ..\obj\stm32f4xx_hash.o: ..\FWLIB\inc\stm32f4xx_cryp.h
32 | ..\obj\stm32f4xx_hash.o: ..\FWLIB\inc\stm32f4xx_hash.h
33 | ..\obj\stm32f4xx_hash.o: ..\FWLIB\inc\stm32f4xx_rng.h
34 | ..\obj\stm32f4xx_hash.o: ..\FWLIB\inc\stm32f4xx_can.h
35 | ..\obj\stm32f4xx_hash.o: ..\FWLIB\inc\stm32f4xx_dac.h
36 | ..\obj\stm32f4xx_hash.o: ..\FWLIB\inc\stm32f4xx_dcmi.h
37 | ..\obj\stm32f4xx_hash.o: ..\FWLIB\inc\stm32f4xx_fsmc.h
38 |
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1 | ..\obj\stm32f4xx_hash_md5.o: ..\FWLIB\src\stm32f4xx_hash_md5.c
2 | ..\obj\stm32f4xx_hash_md5.o: ..\FWLIB\inc\stm32f4xx_hash.h
3 | ..\obj\stm32f4xx_hash_md5.o: ..\USER\stm32f4xx.h
4 | ..\obj\stm32f4xx_hash_md5.o: ..\CORE\core_cm4.h
5 | ..\obj\stm32f4xx_hash_md5.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stdint.h
6 | ..\obj\stm32f4xx_hash_md5.o: ..\CORE\core_cmInstr.h
7 | ..\obj\stm32f4xx_hash_md5.o: ..\CORE\core_cmFunc.h
8 | ..\obj\stm32f4xx_hash_md5.o: ..\CORE\core_cm4_simd.h
9 | ..\obj\stm32f4xx_hash_md5.o: ..\USER\system_stm32f4xx.h
10 | ..\obj\stm32f4xx_hash_md5.o: ..\USER\stm32f4xx_conf.h
11 | ..\obj\stm32f4xx_hash_md5.o: ..\FWLIB\inc\stm32f4xx_adc.h
12 | ..\obj\stm32f4xx_hash_md5.o: ..\USER\stm32f4xx.h
13 | ..\obj\stm32f4xx_hash_md5.o: ..\FWLIB\inc\stm32f4xx_crc.h
14 | ..\obj\stm32f4xx_hash_md5.o: ..\FWLIB\inc\stm32f4xx_dbgmcu.h
15 | ..\obj\stm32f4xx_hash_md5.o: ..\FWLIB\inc\stm32f4xx_dma.h
16 | ..\obj\stm32f4xx_hash_md5.o: ..\FWLIB\inc\stm32f4xx_exti.h
17 | ..\obj\stm32f4xx_hash_md5.o: ..\FWLIB\inc\stm32f4xx_flash.h
18 | ..\obj\stm32f4xx_hash_md5.o: ..\FWLIB\inc\stm32f4xx_gpio.h
19 | ..\obj\stm32f4xx_hash_md5.o: ..\FWLIB\inc\stm32f4xx_i2c.h
20 | ..\obj\stm32f4xx_hash_md5.o: ..\FWLIB\inc\stm32f4xx_iwdg.h
21 | ..\obj\stm32f4xx_hash_md5.o: ..\FWLIB\inc\stm32f4xx_pwr.h
22 | ..\obj\stm32f4xx_hash_md5.o: ..\FWLIB\inc\stm32f4xx_rcc.h
23 | ..\obj\stm32f4xx_hash_md5.o: ..\FWLIB\inc\stm32f4xx_rtc.h
24 | ..\obj\stm32f4xx_hash_md5.o: ..\FWLIB\inc\stm32f4xx_sdio.h
25 | ..\obj\stm32f4xx_hash_md5.o: ..\FWLIB\inc\stm32f4xx_spi.h
26 | ..\obj\stm32f4xx_hash_md5.o: ..\FWLIB\inc\stm32f4xx_syscfg.h
27 | ..\obj\stm32f4xx_hash_md5.o: ..\FWLIB\inc\stm32f4xx_tim.h
28 | ..\obj\stm32f4xx_hash_md5.o: ..\FWLIB\inc\stm32f4xx_usart.h
29 | ..\obj\stm32f4xx_hash_md5.o: ..\FWLIB\inc\stm32f4xx_wwdg.h
30 | ..\obj\stm32f4xx_hash_md5.o: ..\FWLIB\inc\misc.h
31 | ..\obj\stm32f4xx_hash_md5.o: ..\FWLIB\inc\stm32f4xx_cryp.h
32 | ..\obj\stm32f4xx_hash_md5.o: ..\FWLIB\inc\stm32f4xx_hash.h
33 | ..\obj\stm32f4xx_hash_md5.o: ..\FWLIB\inc\stm32f4xx_rng.h
34 | ..\obj\stm32f4xx_hash_md5.o: ..\FWLIB\inc\stm32f4xx_can.h
35 | ..\obj\stm32f4xx_hash_md5.o: ..\FWLIB\inc\stm32f4xx_dac.h
36 | ..\obj\stm32f4xx_hash_md5.o: ..\FWLIB\inc\stm32f4xx_dcmi.h
37 | ..\obj\stm32f4xx_hash_md5.o: ..\FWLIB\inc\stm32f4xx_fsmc.h
38 |
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12 | ..\obj\stm32f4xx_sdio.o: ..\USER\stm32f4xx.h
13 | ..\obj\stm32f4xx_sdio.o: ..\FWLIB\inc\stm32f4xx_crc.h
14 | ..\obj\stm32f4xx_sdio.o: ..\FWLIB\inc\stm32f4xx_dbgmcu.h
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18 | ..\obj\stm32f4xx_sdio.o: ..\FWLIB\inc\stm32f4xx_gpio.h
19 | ..\obj\stm32f4xx_sdio.o: ..\FWLIB\inc\stm32f4xx_i2c.h
20 | ..\obj\stm32f4xx_sdio.o: ..\FWLIB\inc\stm32f4xx_iwdg.h
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22 | ..\obj\stm32f4xx_sdio.o: ..\FWLIB\inc\stm32f4xx_rcc.h
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25 | ..\obj\stm32f4xx_sdio.o: ..\FWLIB\inc\stm32f4xx_spi.h
26 | ..\obj\stm32f4xx_sdio.o: ..\FWLIB\inc\stm32f4xx_syscfg.h
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33 | ..\obj\stm32f4xx_sdio.o: ..\FWLIB\inc\stm32f4xx_rng.h
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14 | ..\obj\stm32f4xx_wwdg.o: ..\FWLIB\inc\stm32f4xx_dbgmcu.h
15 | ..\obj\stm32f4xx_wwdg.o: ..\FWLIB\inc\stm32f4xx_dma.h
16 | ..\obj\stm32f4xx_wwdg.o: ..\FWLIB\inc\stm32f4xx_exti.h
17 | ..\obj\stm32f4xx_wwdg.o: ..\FWLIB\inc\stm32f4xx_flash.h
18 | ..\obj\stm32f4xx_wwdg.o: ..\FWLIB\inc\stm32f4xx_gpio.h
19 | ..\obj\stm32f4xx_wwdg.o: ..\FWLIB\inc\stm32f4xx_i2c.h
20 | ..\obj\stm32f4xx_wwdg.o: ..\FWLIB\inc\stm32f4xx_iwdg.h
21 | ..\obj\stm32f4xx_wwdg.o: ..\FWLIB\inc\stm32f4xx_pwr.h
22 | ..\obj\stm32f4xx_wwdg.o: ..\FWLIB\inc\stm32f4xx_rcc.h
23 | ..\obj\stm32f4xx_wwdg.o: ..\FWLIB\inc\stm32f4xx_rtc.h
24 | ..\obj\stm32f4xx_wwdg.o: ..\FWLIB\inc\stm32f4xx_sdio.h
25 | ..\obj\stm32f4xx_wwdg.o: ..\FWLIB\inc\stm32f4xx_spi.h
26 | ..\obj\stm32f4xx_wwdg.o: ..\FWLIB\inc\stm32f4xx_syscfg.h
27 | ..\obj\stm32f4xx_wwdg.o: ..\FWLIB\inc\stm32f4xx_tim.h
28 | ..\obj\stm32f4xx_wwdg.o: ..\FWLIB\inc\stm32f4xx_usart.h
29 | ..\obj\stm32f4xx_wwdg.o: ..\FWLIB\inc\stm32f4xx_wwdg.h
30 | ..\obj\stm32f4xx_wwdg.o: ..\FWLIB\inc\misc.h
31 | ..\obj\stm32f4xx_wwdg.o: ..\FWLIB\inc\stm32f4xx_cryp.h
32 | ..\obj\stm32f4xx_wwdg.o: ..\FWLIB\inc\stm32f4xx_hash.h
33 | ..\obj\stm32f4xx_wwdg.o: ..\FWLIB\inc\stm32f4xx_rng.h
34 | ..\obj\stm32f4xx_wwdg.o: ..\FWLIB\inc\stm32f4xx_can.h
35 | ..\obj\stm32f4xx_wwdg.o: ..\FWLIB\inc\stm32f4xx_dac.h
36 | ..\obj\stm32f4xx_wwdg.o: ..\FWLIB\inc\stm32f4xx_dcmi.h
37 | ..\obj\stm32f4xx_wwdg.o: ..\FWLIB\inc\stm32f4xx_fsmc.h
38 |
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1 | ..\obj\sys.o: ..\SYSTEM\sys\sys.c
2 | ..\obj\sys.o: ..\SYSTEM\sys\sys.h
3 | ..\obj\sys.o: ..\USER\stm32f4xx.h
4 | ..\obj\sys.o: ..\CORE\core_cm4.h
5 | ..\obj\sys.o: D:\Keil_v5\ARM\ARMCC\Bin\..\include\stdint.h
6 | ..\obj\sys.o: ..\CORE\core_cmInstr.h
7 | ..\obj\sys.o: ..\CORE\core_cmFunc.h
8 | ..\obj\sys.o: ..\CORE\core_cm4_simd.h
9 | ..\obj\sys.o: ..\USER\system_stm32f4xx.h
10 | ..\obj\sys.o: ..\USER\stm32f4xx_conf.h
11 | ..\obj\sys.o: ..\FWLIB\inc\stm32f4xx_adc.h
12 | ..\obj\sys.o: ..\USER\stm32f4xx.h
13 | ..\obj\sys.o: ..\FWLIB\inc\stm32f4xx_crc.h
14 | ..\obj\sys.o: ..\FWLIB\inc\stm32f4xx_dbgmcu.h
15 | ..\obj\sys.o: ..\FWLIB\inc\stm32f4xx_dma.h
16 | ..\obj\sys.o: ..\FWLIB\inc\stm32f4xx_exti.h
17 | ..\obj\sys.o: ..\FWLIB\inc\stm32f4xx_flash.h
18 | ..\obj\sys.o: ..\FWLIB\inc\stm32f4xx_gpio.h
19 | ..\obj\sys.o: ..\FWLIB\inc\stm32f4xx_i2c.h
20 | ..\obj\sys.o: ..\FWLIB\inc\stm32f4xx_iwdg.h
21 | ..\obj\sys.o: ..\FWLIB\inc\stm32f4xx_pwr.h
22 | ..\obj\sys.o: ..\FWLIB\inc\stm32f4xx_rcc.h
23 | ..\obj\sys.o: ..\FWLIB\inc\stm32f4xx_rtc.h
24 | ..\obj\sys.o: ..\FWLIB\inc\stm32f4xx_sdio.h
25 | ..\obj\sys.o: ..\FWLIB\inc\stm32f4xx_spi.h
26 | ..\obj\sys.o: ..\FWLIB\inc\stm32f4xx_syscfg.h
27 | ..\obj\sys.o: ..\FWLIB\inc\stm32f4xx_tim.h
28 | ..\obj\sys.o: ..\FWLIB\inc\stm32f4xx_usart.h
29 | ..\obj\sys.o: ..\FWLIB\inc\stm32f4xx_wwdg.h
30 | ..\obj\sys.o: ..\FWLIB\inc\misc.h
31 | ..\obj\sys.o: ..\FWLIB\inc\stm32f4xx_cryp.h
32 | ..\obj\sys.o: ..\FWLIB\inc\stm32f4xx_hash.h
33 | ..\obj\sys.o: ..\FWLIB\inc\stm32f4xx_rng.h
34 | ..\obj\sys.o: ..\FWLIB\inc\stm32f4xx_can.h
35 | ..\obj\sys.o: ..\FWLIB\inc\stm32f4xx_dac.h
36 | ..\obj\sys.o: ..\FWLIB\inc\stm32f4xx_dcmi.h
37 | ..\obj\sys.o: ..\FWLIB\inc\stm32f4xx_fsmc.h
38 |
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1 | ..\obj\system_stm32f4xx.o: system_stm32f4xx.c
2 | ..\obj\system_stm32f4xx.o: stm32f4xx.h
3 | ..\obj\system_stm32f4xx.o: ..\CORE\core_cm4.h
4 | ..\obj\system_stm32f4xx.o: D:\Keil_v5\ARM\ARMCC\Bin\..\include\stdint.h
5 | ..\obj\system_stm32f4xx.o: ..\CORE\core_cmInstr.h
6 | ..\obj\system_stm32f4xx.o: ..\CORE\core_cmFunc.h
7 | ..\obj\system_stm32f4xx.o: ..\CORE\core_cm4_simd.h
8 | ..\obj\system_stm32f4xx.o: system_stm32f4xx.h
9 | ..\obj\system_stm32f4xx.o: stm32f4xx_conf.h
10 | ..\obj\system_stm32f4xx.o: ..\FWLIB\inc\stm32f4xx_adc.h
11 | ..\obj\system_stm32f4xx.o: ..\USER\stm32f4xx.h
12 | ..\obj\system_stm32f4xx.o: ..\FWLIB\inc\stm32f4xx_crc.h
13 | ..\obj\system_stm32f4xx.o: ..\FWLIB\inc\stm32f4xx_dbgmcu.h
14 | ..\obj\system_stm32f4xx.o: ..\FWLIB\inc\stm32f4xx_dma.h
15 | ..\obj\system_stm32f4xx.o: ..\FWLIB\inc\stm32f4xx_exti.h
16 | ..\obj\system_stm32f4xx.o: ..\FWLIB\inc\stm32f4xx_flash.h
17 | ..\obj\system_stm32f4xx.o: ..\FWLIB\inc\stm32f4xx_gpio.h
18 | ..\obj\system_stm32f4xx.o: ..\FWLIB\inc\stm32f4xx_i2c.h
19 | ..\obj\system_stm32f4xx.o: ..\FWLIB\inc\stm32f4xx_iwdg.h
20 | ..\obj\system_stm32f4xx.o: ..\FWLIB\inc\stm32f4xx_pwr.h
21 | ..\obj\system_stm32f4xx.o: ..\FWLIB\inc\stm32f4xx_rcc.h
22 | ..\obj\system_stm32f4xx.o: ..\FWLIB\inc\stm32f4xx_rtc.h
23 | ..\obj\system_stm32f4xx.o: ..\FWLIB\inc\stm32f4xx_sdio.h
24 | ..\obj\system_stm32f4xx.o: ..\FWLIB\inc\stm32f4xx_spi.h
25 | ..\obj\system_stm32f4xx.o: ..\FWLIB\inc\stm32f4xx_syscfg.h
26 | ..\obj\system_stm32f4xx.o: ..\FWLIB\inc\stm32f4xx_tim.h
27 | ..\obj\system_stm32f4xx.o: ..\FWLIB\inc\stm32f4xx_usart.h
28 | ..\obj\system_stm32f4xx.o: ..\FWLIB\inc\stm32f4xx_wwdg.h
29 | ..\obj\system_stm32f4xx.o: ..\FWLIB\inc\misc.h
30 | ..\obj\system_stm32f4xx.o: ..\FWLIB\inc\stm32f4xx_cryp.h
31 | ..\obj\system_stm32f4xx.o: ..\FWLIB\inc\stm32f4xx_hash.h
32 | ..\obj\system_stm32f4xx.o: ..\FWLIB\inc\stm32f4xx_rng.h
33 | ..\obj\system_stm32f4xx.o: ..\FWLIB\inc\stm32f4xx_can.h
34 | ..\obj\system_stm32f4xx.o: ..\FWLIB\inc\stm32f4xx_dac.h
35 | ..\obj\system_stm32f4xx.o: ..\FWLIB\inc\stm32f4xx_dcmi.h
36 | ..\obj\system_stm32f4xx.o: ..\FWLIB\inc\stm32f4xx_fsmc.h
37 |
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1 | ..\obj\usart.o: ..\SYSTEM\usart\usart.c
2 | ..\obj\usart.o: ..\SYSTEM\sys\sys.h
3 | ..\obj\usart.o: ..\USER\stm32f4xx.h
4 | ..\obj\usart.o: ..\CORE\core_cm4.h
5 | ..\obj\usart.o: D:\Keil_v5\ARM\ARMCC\Bin\..\include\stdint.h
6 | ..\obj\usart.o: ..\CORE\core_cmInstr.h
7 | ..\obj\usart.o: ..\CORE\core_cmFunc.h
8 | ..\obj\usart.o: ..\CORE\core_cm4_simd.h
9 | ..\obj\usart.o: ..\USER\system_stm32f4xx.h
10 | ..\obj\usart.o: ..\USER\stm32f4xx_conf.h
11 | ..\obj\usart.o: ..\FWLIB\inc\stm32f4xx_adc.h
12 | ..\obj\usart.o: ..\USER\stm32f4xx.h
13 | ..\obj\usart.o: ..\FWLIB\inc\stm32f4xx_crc.h
14 | ..\obj\usart.o: ..\FWLIB\inc\stm32f4xx_dbgmcu.h
15 | ..\obj\usart.o: ..\FWLIB\inc\stm32f4xx_dma.h
16 | ..\obj\usart.o: ..\FWLIB\inc\stm32f4xx_exti.h
17 | ..\obj\usart.o: ..\FWLIB\inc\stm32f4xx_flash.h
18 | ..\obj\usart.o: ..\FWLIB\inc\stm32f4xx_gpio.h
19 | ..\obj\usart.o: ..\FWLIB\inc\stm32f4xx_i2c.h
20 | ..\obj\usart.o: ..\FWLIB\inc\stm32f4xx_iwdg.h
21 | ..\obj\usart.o: ..\FWLIB\inc\stm32f4xx_pwr.h
22 | ..\obj\usart.o: ..\FWLIB\inc\stm32f4xx_rcc.h
23 | ..\obj\usart.o: ..\FWLIB\inc\stm32f4xx_rtc.h
24 | ..\obj\usart.o: ..\FWLIB\inc\stm32f4xx_sdio.h
25 | ..\obj\usart.o: ..\FWLIB\inc\stm32f4xx_spi.h
26 | ..\obj\usart.o: ..\FWLIB\inc\stm32f4xx_syscfg.h
27 | ..\obj\usart.o: ..\FWLIB\inc\stm32f4xx_tim.h
28 | ..\obj\usart.o: ..\FWLIB\inc\stm32f4xx_usart.h
29 | ..\obj\usart.o: ..\FWLIB\inc\stm32f4xx_wwdg.h
30 | ..\obj\usart.o: ..\FWLIB\inc\misc.h
31 | ..\obj\usart.o: ..\FWLIB\inc\stm32f4xx_cryp.h
32 | ..\obj\usart.o: ..\FWLIB\inc\stm32f4xx_hash.h
33 | ..\obj\usart.o: ..\FWLIB\inc\stm32f4xx_rng.h
34 | ..\obj\usart.o: ..\FWLIB\inc\stm32f4xx_can.h
35 | ..\obj\usart.o: ..\FWLIB\inc\stm32f4xx_dac.h
36 | ..\obj\usart.o: ..\FWLIB\inc\stm32f4xx_dcmi.h
37 | ..\obj\usart.o: ..\FWLIB\inc\stm32f4xx_fsmc.h
38 | ..\obj\usart.o: ..\SYSTEM\usart\usart.h
39 | ..\obj\usart.o: D:\Keil_v5\ARM\ARMCC\Bin\..\include\stdio.h
40 | ..\obj\usart.o: ..\HARDWARE\LED\led.h
41 | ..\obj\usart.o: ..\HARDWARE\XBOX\xbox.h
42 | ..\obj\usart.o: ..\HARDWARE\OPENMV\openmv.h
43 | ..\obj\usart.o: ..\HARDWARE\SCARA\SCARA.h
44 |
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1 | ..\obj\xbox.o: ..\HARDWARE\XBOX\xbox.c
2 | ..\obj\xbox.o: ..\HARDWARE\XBOX\xbox.h
3 | ..\obj\xbox.o: ..\HARDWARE\LED\led.h
4 |
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/Code/SCARA运动学/USER/EventRecorderStub.scvd:
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1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
10 |
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/Code/SCARA运动学/USER/JLinkSettings.ini:
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1 | [BREAKPOINTS]
2 | ShowInfoWin = 1
3 | EnableFlashBP = 2
4 | BPDuringExecution = 0
5 | [CFI]
6 | CFISize = 0x00
7 | CFIAddr = 0x00
8 | [CPU]
9 | OverrideMemMap = 0
10 | AllowSimulation = 1
11 | ScriptFile=""
12 | [FLASH]
13 | CacheExcludeSize = 0x00
14 | CacheExcludeAddr = 0x00
15 | MinNumBytesFlashDL = 0
16 | SkipProgOnCRCMatch = 1
17 | VerifyDownload = 1
18 | AllowCaching = 1
19 | EnableFlashDL = 2
20 | Override = 0
21 | Device="UNSPECIFIED"
22 | [GENERAL]
23 | WorkRAMSize = 0x00
24 | WorkRAMAddr = 0x00
25 | RAMUsageLimit = 0x00
26 | [SWO]
27 | SWOLogFile=""
28 | [MEM]
29 | RdOverrideOrMask = 0x00
30 | RdOverrideAndMask = 0xFFFFFFFF
31 | RdOverrideAddr = 0xFFFFFFFF
32 | WrOverrideOrMask = 0x00
33 | WrOverrideAndMask = 0xFFFFFFFF
34 | WrOverrideAddr = 0xFFFFFFFF
35 |
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/Code/SCARA运动学/USER/stm32f4xx_conf.h:
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1 | /**
2 | ******************************************************************************
3 | * @file Project/STM32F4xx_StdPeriph_Templates/stm32f4xx_conf.h
4 | * @author MCD Application Team
5 | * @version V1.4.0
6 | * @date 04-August-2014
7 | * @brief Library configuration file.
8 | ******************************************************************************
9 | * @attention
10 | *
11 | * © COPYRIGHT 2014 STMicroelectronics
12 | *
13 | * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
14 | * You may not use this file except in compliance with the License.
15 | * You may obtain a copy of the License at:
16 | *
17 | * http://www.st.com/software_license_agreement_liberty_v2
18 | *
19 | * Unless required by applicable law or agreed to in writing, software
20 | * distributed under the License is distributed on an "AS IS" BASIS,
21 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
22 | * See the License for the specific language governing permissions and
23 | * limitations under the License.
24 | *
25 | ******************************************************************************
26 | */
27 |
28 | /* Define to prevent recursive inclusion -------------------------------------*/
29 | #ifndef __STM32F4xx_CONF_H
30 | #define __STM32F4xx_CONF_H
31 |
32 | /* Includes ------------------------------------------------------------------*/
33 | /* Uncomment the line below to enable peripheral header file inclusion */
34 | #include "stm32f4xx_adc.h"
35 | #include "stm32f4xx_crc.h"
36 | #include "stm32f4xx_dbgmcu.h"
37 | #include "stm32f4xx_dma.h"
38 | #include "stm32f4xx_exti.h"
39 | #include "stm32f4xx_flash.h"
40 | #include "stm32f4xx_gpio.h"
41 | #include "stm32f4xx_i2c.h"
42 | #include "stm32f4xx_iwdg.h"
43 | #include "stm32f4xx_pwr.h"
44 | #include "stm32f4xx_rcc.h"
45 | #include "stm32f4xx_rtc.h"
46 | #include "stm32f4xx_sdio.h"
47 | #include "stm32f4xx_spi.h"
48 | #include "stm32f4xx_syscfg.h"
49 | #include "stm32f4xx_tim.h"
50 | #include "stm32f4xx_usart.h"
51 | #include "stm32f4xx_wwdg.h"
52 | #include "misc.h" /* High level functions for NVIC and SysTick (add-on to CMSIS functions) */
53 |
54 | #if defined (STM32F429_439xx)
55 | #include "stm32f4xx_cryp.h"
56 | #include "stm32f4xx_hash.h"
57 | #include "stm32f4xx_rng.h"
58 | #include "stm32f4xx_can.h"
59 | #include "stm32f4xx_dac.h"
60 | #include "stm32f4xx_dcmi.h"
61 | #include "stm32f4xx_dma2d.h"
62 | #include "stm32f4xx_fmc.h"
63 | #include "stm32f4xx_ltdc.h"
64 | #include "stm32f4xx_sai.h"
65 | #endif /* STM32F429_439xx */
66 |
67 | #if defined (STM32F427_437xx)
68 | #include "stm32f4xx_cryp.h"
69 | #include "stm32f4xx_hash.h"
70 | #include "stm32f4xx_rng.h"
71 | #include "stm32f4xx_can.h"
72 | #include "stm32f4xx_dac.h"
73 | #include "stm32f4xx_dcmi.h"
74 | #include "stm32f4xx_dma2d.h"
75 | #include "stm32f4xx_fmc.h"
76 | #include "stm32f4xx_sai.h"
77 | #endif /* STM32F427_437xx */
78 |
79 | #if defined (STM32F40_41xxx)
80 | #include "stm32f4xx_cryp.h"
81 | #include "stm32f4xx_hash.h"
82 | #include "stm32f4xx_rng.h"
83 | #include "stm32f4xx_can.h"
84 | #include "stm32f4xx_dac.h"
85 | #include "stm32f4xx_dcmi.h"
86 | #include "stm32f4xx_fsmc.h"
87 | #endif /* STM32F40_41xxx */
88 |
89 | #if defined (STM32F411xE)
90 | #include "stm32f4xx_flash_ramfunc.h"
91 | #endif /* STM32F411xE */
92 | /* Exported types ------------------------------------------------------------*/
93 | /* Exported constants --------------------------------------------------------*/
94 |
95 | /* If an external clock source is used, then the value of the following define
96 | should be set to the value of the external clock source, else, if no external
97 | clock is used, keep this define commented */
98 | /*#define I2S_EXTERNAL_CLOCK_VAL 12288000 */ /* Value of the external clock in Hz */
99 |
100 |
101 | /* Uncomment the line below to expanse the "assert_param" macro in the
102 | Standard Peripheral Library drivers code */
103 | /* #define USE_FULL_ASSERT 1 */
104 |
105 | /* Exported macro ------------------------------------------------------------*/
106 | #ifdef USE_FULL_ASSERT
107 |
108 | /**
109 | * @brief The assert_param macro is used for function's parameters check.
110 | * @param expr: If expr is false, it calls assert_failed function
111 | * which reports the name of the source file and the source
112 | * line number of the call that failed.
113 | * If expr is true, it returns no value.
114 | * @retval None
115 | */
116 | #define assert_param(expr) ((expr) ? (void)0 : assert_failed((uint8_t *)__FILE__, __LINE__))
117 | /* Exported functions ------------------------------------------------------- */
118 | void assert_failed(uint8_t* file, uint32_t line);
119 | #else
120 | #define assert_param(expr) ((void)0)
121 | #endif /* USE_FULL_ASSERT */
122 |
123 | #endif /* __STM32F4xx_CONF_H */
124 |
125 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
126 |
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/Code/SCARA运动学/USER/stm32f4xx_it.h:
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1 | /**
2 | ******************************************************************************
3 | * @file Project/STM32F4xx_StdPeriph_Templates/stm32f4xx_it.h
4 | * @author MCD Application Team
5 | * @version V1.4.0
6 | * @date 04-August-2014
7 | * @brief This file contains the headers of the interrupt handlers.
8 | ******************************************************************************
9 | * @attention
10 | *
11 | * © COPYRIGHT 2014 STMicroelectronics
12 | *
13 | * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
14 | * You may not use this file except in compliance with the License.
15 | * You may obtain a copy of the License at:
16 | *
17 | * http://www.st.com/software_license_agreement_liberty_v2
18 | *
19 | * Unless required by applicable law or agreed to in writing, software
20 | * distributed under the License is distributed on an "AS IS" BASIS,
21 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
22 | * See the License for the specific language governing permissions and
23 | * limitations under the License.
24 | *
25 | ******************************************************************************
26 | */
27 |
28 | /* Define to prevent recursive inclusion -------------------------------------*/
29 | #ifndef __STM32F4xx_IT_H
30 | #define __STM32F4xx_IT_H
31 |
32 | #ifdef __cplusplus
33 | extern "C" {
34 | #endif
35 |
36 | /* Includes ------------------------------------------------------------------*/
37 | #include "stm32f4xx.h"
38 |
39 | /* Exported types ------------------------------------------------------------*/
40 | /* Exported constants --------------------------------------------------------*/
41 | /* Exported macro ------------------------------------------------------------*/
42 | /* Exported functions ------------------------------------------------------- */
43 |
44 | void NMI_Handler(void);
45 | void HardFault_Handler(void);
46 | void MemManage_Handler(void);
47 | void BusFault_Handler(void);
48 | void UsageFault_Handler(void);
49 | void SVC_Handler(void);
50 | void DebugMon_Handler(void);
51 | void PendSV_Handler(void);
52 | void SysTick_Handler(void);
53 |
54 | #ifdef __cplusplus
55 | }
56 | #endif
57 |
58 | #endif /* __STM32F4xx_IT_H */
59 |
60 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
61 |
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/Code/SCARA运动学/USER/system_stm32f4xx.h:
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1 | /**
2 | ******************************************************************************
3 | * @file system_stm32f4xx.h
4 | * @author MCD Application Team
5 | * @version V1.4.0
6 | * @date 04-August-2014
7 | * @brief CMSIS Cortex-M4 Device System Source File for STM32F4xx devices.
8 | ******************************************************************************
9 | * @attention
10 | *
11 | * © COPYRIGHT 2014 STMicroelectronics
12 | *
13 | * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
14 | * You may not use this file except in compliance with the License.
15 | * You may obtain a copy of the License at:
16 | *
17 | * http://www.st.com/software_license_agreement_liberty_v2
18 | *
19 | * Unless required by applicable law or agreed to in writing, software
20 | * distributed under the License is distributed on an "AS IS" BASIS,
21 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
22 | * See the License for the specific language governing permissions and
23 | * limitations under the License.
24 | *
25 | ******************************************************************************
26 | */
27 |
28 | /** @addtogroup CMSIS
29 | * @{
30 | */
31 |
32 | /** @addtogroup stm32f4xx_system
33 | * @{
34 | */
35 |
36 | /**
37 | * @brief Define to prevent recursive inclusion
38 | */
39 | #ifndef __SYSTEM_STM32F4XX_H
40 | #define __SYSTEM_STM32F4XX_H
41 |
42 | #ifdef __cplusplus
43 | extern "C" {
44 | #endif
45 |
46 | /** @addtogroup STM32F4xx_System_Includes
47 | * @{
48 | */
49 |
50 | /**
51 | * @}
52 | */
53 |
54 |
55 | /** @addtogroup STM32F4xx_System_Exported_types
56 | * @{
57 | */
58 |
59 | extern uint32_t SystemCoreClock; /*!< System Clock Frequency (Core Clock) */
60 |
61 |
62 | /**
63 | * @}
64 | */
65 |
66 | /** @addtogroup STM32F4xx_System_Exported_Constants
67 | * @{
68 | */
69 |
70 | /**
71 | * @}
72 | */
73 |
74 | /** @addtogroup STM32F4xx_System_Exported_Macros
75 | * @{
76 | */
77 |
78 | /**
79 | * @}
80 | */
81 |
82 | /** @addtogroup STM32F4xx_System_Exported_Functions
83 | * @{
84 | */
85 |
86 | extern void SystemInit(void);
87 | extern void SystemCoreClockUpdate(void);
88 | /**
89 | * @}
90 | */
91 |
92 | #ifdef __cplusplus
93 | }
94 | #endif
95 |
96 | #endif /*__SYSTEM_STM32F4XX_H */
97 |
98 | /**
99 | * @}
100 | */
101 |
102 | /**
103 | * @}
104 | */
105 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
106 |
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/MATLAB_simulation/CSDN/matlab GUI中移动点的位置，放缩图像，移动图像位置（调试曲线）/newX.txt:
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1 | 1,11,35
2 |
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/MATLAB_simulation/CSDN/matlab GUI中移动点的位置，放缩图像，移动图像位置（调试曲线）/newY.txt:
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1 | 3,4,5
2 |
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/MATLAB_simulation/CSDN/matlab GUI中移动点的位置，放缩图像，移动图像位置（调试曲线）/xData.txt:
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1 | 1 6 11 17 22 27 32 37 43 48 53 58 64 69 74 79 84 90 95 100
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/MATLAB_simulation/CSDN/matlab GUI中移动点的位置，放缩图像，移动图像位置（调试曲线）/yData.txt:
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1 | 11 16 21 27 32 37 42 47 53 58 63 68 74 79 84 89 94 100 105 110
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/MATLAB_simulation/forward.m:
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1 | %1 输入已知数据
2 | clc
3 | clear
4 | close all
5 |
6 | % 四个杆子的长度
7 | l1=250;
8 | l2=300;
9 | l3=300;
10 | l4=250;
11 |
12 | % 两个电机之间的距离
13 | l5=250;
14 | hd=pi/180;
15 |
16 | % 两个电机转动的角度
17 | u1=120*hd;
18 | u4=60*hd;
19 |
20 | omega1=500;
21 | omega4=500;
22 | alpha1=0;
23 | alpha4=0;
24 |
25 |
26 | % for n1=90:115
27 | % n1=135-(n1-90);
28 | % u1 = ((n1-1)*pi)/180;
29 | % u4 = ((180-(n1-1))*pi)/180;
30 | % [xc,yc,u2,u3,omega,alpha]=five(u1,u4,omega1,omega4,l1,l2,l3,l4,l5,alpha1,alpha4)
31 | %
32 | % theta2(n1) = u2;
33 | % theta3(n1) = u3;
34 | %
35 | % omega2(n1)=omega(1);
36 | % omega3(n1)=omega(2);
37 | %
38 | % alpha2(n1)=alpha(1);
39 | % alpha3(n1)=alpha(2);
40 | %
41 | % xcd(n1) = xc;
42 | % ycd(n1) = yc;
43 | % end
44 | %
45 | % figure(1)
46 | % j=0;
47 | % for n1=90:1:115
48 | % n1=135-(n1-90);
49 | % j=j+1;
50 | % clf;
51 | % x(1)=0;
52 | % y(1)=0;
53 | % x(2)=l1*cos(((n1-1)*pi)/180);
54 | % y(2)=l1*sin(((n1-1)*pi)/180);
55 | % x(3)=xcd(n1);
56 | % y(3)=ycd(n1);
57 | % x(4)=l4*cos(((180-(n1-1))*pi)/180)+l5;
58 | % y(4)=l4*sin(((180-(n1-1))*pi)/180);
59 | % x(5)=l5;
60 | % y(5)=0;
61 | % plot(x,y,'k');
62 | % grid on;
63 | % hold on;
64 | % plot(x(1),y(1),'or');
65 | % plot(x(2),y(2),'or');
66 | % plot(x(3),y(3),'or');
67 | % plot(x(4),y(4),'or');
68 | % plot(x(5),y(5),'or');
69 | % axis([-200 600 -200 600]);
70 | % title('并联SCARA');
71 | % xlabel('mm');
72 | % ylabel('mm');
73 | % m(j)=getframe;
74 | % end
75 |
76 |
77 | [xc,yc,u2,u3,omega,alpha]=forwardF(u1,u4,omega1,omega4,l1,l2,l3,l4,l5,alpha1,alpha4)
78 |
79 | theta2(1) = u2;
80 | theta3(1) = u3;
81 |
82 | omega2(1)=omega(1);
83 | omega3(1)=omega(2);
84 |
85 | alpha2(1)=alpha(1);
86 | alpha3(1)=alpha(2);
87 |
88 | xcd(1) = xc;
89 | ycd(1) = yc;
90 |
91 | figure(1)
92 |
93 | x(1)=0;
94 | y(1)=0;
95 | x(2)=l1*cos(u1);
96 | y(2)=l1*sin(u1);
97 | x(3)=xcd(1);
98 | y(3)=ycd(1);
99 | x(4)=l4*cos(u4)+l5;
100 | y(4)=l4*sin(u4);
101 | x(5)=l5;
102 | y(5)=0;
103 | plot(x,y,'k');
104 | grid on;
105 | hold on;
106 | plot(x(1),y(1),'or');
107 | plot(x(2),y(2),'or');
108 | plot(x(3),y(3),'or');
109 | plot(x(4),y(4),'or');
110 | plot(x(5),y(5),'or');
111 | axis([-200 600 -200 600]);
112 | title('并联SCARA');
113 | xlabel('mm');
114 | ylabel('mm');
115 | m(1)=getframe;
116 |
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/MATLAB_simulation/forwardF.m:
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1 | function [xc,yc,u2,u3,omega,alpha]=five(u1,u4,omega1,omega4,l1,l2,l3,l4,l5,alpha1,alpha4)
2 | % 位置分析
3 | xb = l1*cos(u1);
4 | yb = l1*sin(u1);
5 | xd = l5 + l4*cos(u4);
6 | yd = l4*sin(u4);
7 | lbd = sqrt((xd-xb).^2 + (yd-yb).^2);
8 | A0 = 2*l2*(xd-xb);
9 | B0 = 2*l2*(yd-yb);
10 | C0 = l2.^2 + lbd.^2 - l3.^2;
11 | u2 = 2*atan((B0 + sqrt(A0.^2 + B0.^2 - C0.^2))/(A0 + C0));
12 | xc = xb + l2*cos(u2);
13 | yc = yb + l2*sin(u2);
14 | u3 = atan((yc-yd)/(xc-xd))+pi;
15 |
16 |
17 |
18 |
19 | %速度分析
20 | A = [l2*sin(u2),-l3*sin(u3);
21 | l2*cos(u2),-l3*cos(u3)];
22 |
23 | B = [-l1*omega1*sin(u1) + l4*omega4*sin(u4);-l1*omega1*cos(u1) + l4*omega4*cos(u4)];
24 |
25 | omega = A\B;
26 | omega2 = omega(1);
27 | omega3 = omega(2);
28 |
29 | %加速度分析
30 | Aa = [l2*sin(u2),-l3*sin(u3);
31 | l2*cos(u2),-l3*cos(u3)];
32 |
33 | Ba = [l3*cos(u3)*omega3.^2-l2*cos(u2)*omega2.^2+l4*cos(u4)*omega4.^2+l4*sin(u4)*alpha4-l1*cos(u1)*omega1.^2-l1*sin(u1)*alpha1;-l3*sin(u3)*omega3.^2+l2*sin(u2)*omega2.^2-l4*sin(u4)*omega4.^2+l4*cos(u4)*alpha4+l1*sin(u1)*omega1.^2-l1*cos(u1)*alpha1];
34 |
35 | alpha = Aa\Ba;
36 | end
37 |
38 |
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/MATLAB_simulation/inverse.m:
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1 | %1 输入已知数据
2 | clc
3 | clear
4 | close all
5 |
6 | % 四个杆子的长度
7 | l1=250;
8 | l2=300;
9 | l3=300;
10 | l4=250;
11 | l5=250;
12 |
13 | % 两个电机之间的距离
14 | l5=250;
15 | hd=pi/180;
16 |
17 | % 末端目标位置
18 | x=125;
19 | y=382.338;
20 |
21 | % 两个电机角速度以及角加速度
22 | omega1=500;
23 | omega4=500;
24 | alpha1=0;
25 | alpha4=0;
26 |
27 | [u1,u4]=inverseF(x,y,l1,l2,l3,l4,l5)
28 |
29 |
30 | [xc,yc,u2,u3,omega,alpha]=forwardF(u1,u4,omega1,omega4,l1,l2,l3,l4,l5,alpha1,alpha4)
31 |
32 | theta2(1) = u2;
33 | theta3(1) = u3;
34 |
35 | omega2(1)=omega(1);
36 | omega3(1)=omega(2);
37 |
38 | alpha2(1)=alpha(1);
39 | alpha3(1)=alpha(2);
40 |
41 | xcd(1) = xc;
42 | ycd(1) = yc;
43 |
44 | figure(2)
45 |
46 | x(1)=0;
47 | y(1)=0;
48 | x(2)=l1*cos(u1);
49 | y(2)=l1*sin(u1);
50 | x(3)=xcd(1);
51 | y(3)=ycd(1);
52 | x(4)=l4*cos(u4)+l5;
53 | y(4)=l4*sin(u4);
54 | x(5)=l5;
55 | y(5)=0;
56 | plot(x,y,'k');
57 | grid on;
58 | hold on;
59 | plot(x(1),y(1),'ro');
60 | plot(x(2),y(2),'ro');
61 | plot(x(3),y(3),'ro');
62 | plot(x(4),y(4),'ro');
63 | plot(x(5),y(5),'ro');
64 | axis([-200 600 -200 600]);
65 | title('并联SCARA');
66 | xlabel('mm');
67 | ylabel('mm');
68 | m(1)=getframe;
69 |
70 |
71 |
72 |
73 |
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/MATLAB_simulation/inverseF.m:
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1 | function [thta1,thta2] = inverseF(x,y,l1,l2,l3,l4,l5)
2 | Xc = x; %Xc∈（35,80）
3 | Yc = y; %Yc∈（75,115）
4 | cosfoai_12 = (Xc.^2 + Yc.^2 - l1.^2 - l2.^2)/(2 * l1 * l2);
5 | %foai_12∈（pi，2pi）
6 | foai_12 = 2*pi - acos(cosfoai_12);
7 | cosfoai_01 = (l2*Yc*sin(foai_12)+Xc*(l2*cos(foai_12)+l1))/((l2*cos(foai_12)+l1).^2+l2.^2*(sin(foai_12)).^2);
8 | %foai_01∈（20,180）
9 | foai_01 = acos(cosfoai_01);
10 | cosfoai_34 = ((Xc-l5).^2+Yc.^2-l3.^2-l4.^2)/(2*l3*l4);
11 | %foai_34∈（pi,2pi）
12 | foai_34 = 2*pi - acos(cosfoai_34);
13 | A = l5 - Xc;
14 | B = l3 * sin(foai_34);
15 | C = l4 + l3*cos(foai_34);
16 | %foai_t = asin(C/sqrt(B.^2+C.^2));
17 | foai_t = acos(B/sqrt(B.^2+C.^2));
18 | %foai_40∈（0,pi）
19 | foai_40 = foai_t - asin(A/sqrt(B.^2+C.^2));
20 | thta1 = foai_01/pi*180;
21 | thta2 = 180 - foai_40/pi*180;
22 | thta1 = thta1/180*pi;
23 | thta2 = thta2/180*pi;
24 | end
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/MATLAB_simulation/scara.m:
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1 | function scara()
2 | %% 搭框架
3 | Fig = figure('Position',[600,200,1000,750],'menu','none',...
4 | 'Color','white','NumberTitle','off','Name','SCARA');
5 |
6 | % 回调
7 | set(Fig,'WindowButtonDownFcn',@ButtonDown);
8 | set(Fig,'WindowButtonUpFcn',@ButtonUp);
9 | set(Fig,'WindowButtonMotionFcn',@ButtonMotion);
10 | set(Fig,'WindowScrollWheelFcn',@ScrollWheel);
11 |
12 | % 面板
13 | Pnl1 = uipanel(Fig,'Position',[0.05,0.05,0.7,0.9]);
14 | Pnl2 = uipanel(Fig,'Position',[0.75,0.05,0.2,0.9]);
15 |
16 | % 绘图窗
17 | Axes = axes(Pnl1,'Position',[0.1,0.1,0.8,0.8]);
18 | axis([-1,1,-1,1]),grid on,hold on
19 |
20 | % 记录鼠标位置
21 | p1 = [];
22 | p2 = [];
23 |
24 | function ButtonDown(~,~)
25 | cp = get(gca,'currentpoint');
26 | p1 = [cp(1,1),cp(1,2)];
27 | tmp = plot(p1(1),p1(2),'r.','Parent',Axes);
28 | end
29 | end
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/MATLAB_simulation/test02.m:
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1 | clc
2 | clear
3 | close all
4 | L0=50;L1=50;L2=50;L3=50;L4=50;
5 | x1=8;
6 | y1=0;
7 | x2=0;
8 | y2=0;
9 | x5=L0;
10 | y5=0;
11 |
12 | k=0;
13 | d1=120*pi/180; %弧度
14 | d2=120*pi/180;%两者正方向似乎相反
15 |
16 | for i=1:1:60
17 | % x2=L1*cos(d1+0.0175*i);
18 | % y2=L1*sin(d1+0.0175*i);
19 |
20 | x2=L1*cos(d1-0.0175*i);
21 | y2=L1*sin(d1-0.0175*i);
22 |
23 | % x4=L0-L4*cos(d2-0.0175*i);
24 | % y4=L4*sin(d2-0.0175*i);%角度变化与前者相反，或是没有设置正方向
25 |
26 | x4=L0-L4*cos(d2+0.0175*i);
27 | y4=L4*sin(d2+0.0175*i);%角度与前者相反，或是没有设置正方向
28 |
29 | L42=sqrt((x4-x2)^2+(y4-y2)^2);
30 | d11=acos((L42^2+L2^2-L3^2)/(2*L2*L42)); %d1上方角度,少了个括号
31 | %d11=Td11*pi/180;%转成弧度制
32 | x3=L2*cos(d11)+x2;
33 | y3=L2*sin(d11)+y2;
34 |
35 |
36 | x=[0,x2,x3,x4,x5];
37 | y=[0,y2,y3,y4,y5];
38 | plot(x,y,'r*');
39 | line(x,y)
40 | axis equal
41 | pause(0.1)
42 | plot(x,y,'g*');
43 | line(x,y,'Color','white')
44 | axis equal
45 | % line(x,y,'Color','w','LineStyle','--')
46 | hold on
47 | end
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/MATLAB_simulation/test5.m:
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1 | %逆解，实际上是给定末端坐标，已知长度，和机架复现其他杆
2 | clc
3 | clear
4 | close all
5 | L0=80;L1=50;L2=50;L3=50;L4=50;
6 | x1=0;
7 | y1=0;%机架左
8 | % x3=68;
9 | % y3=68;%末端坐标
10 | x5=L0;
11 | y5=0;%机架右
12 |
13 | % k=0;
14 | for x3=1:60
15 | y3=sqrt(50^2-x3^2);
16 | x=x3;
17 | y=y3;
18 | [thta1,thta2] = inverseF(x,y,L1,L2,L3,L4,L0);
19 | L13=sqrt((x3-x1)^2+(y3-y1)^2);
20 | L35=sqrt((x5-x3)^2+(y3-y5)^2);%内三角形两条边
21 |
22 | a1=acos((L13^2+L0^2-L35^2)/(2*L13*L0));
23 | a2=acos((L35^2+L0^2-L13^2)/(2*L35*L0));%内三角形的两个底角
24 |
25 | b1=acos((L1^2+L13^2-L2^2)/(2*L1*L13));
26 | b2=acos((L35^2+L4^2-L3^2)/(2*L35*L4));%两个外三角形角
27 |
28 | c1=pi-b1-a1;
29 | c2=pi-b2-a2;
30 |
31 | x2=x1-L1*cos(c1);
32 | y2=y1+L1*sin(c1);
33 |
34 | x4=x5+L4*cos(c2);
35 | y4=y5+L4*sin(c2);
36 |
37 | x=[0,x2,x3,x4,x5];
38 | y=[0,y2,y3,y4,y5];
39 |
40 | plot(x,y,'r*');
41 | axis([-100 100 -100 100])
42 | axis equal
43 | line(x,y)
44 |
45 | pause(0.1)
46 | plot(x,y,'g*');
47 | line(x,y,'Color','white')
48 | axis([-100 100 -100 100])
49 | axis equal
50 | hold on
51 | end
52 |
53 |
54 | % for i=1:1:60
55 | % % x2=L1*cos(d1+0.0175*i);
56 | % % y2=L1*sin(d1+0.0175*i);
57 | %
58 | % x2=L1*cos(d1-0.0175*i);
59 | % y2=L1*sin(d1-0.0175*i);
60 | %
61 | % % x4=L0-L4*cos(d2-0.0175*i);
62 | % % y4=L4*sin(d2-0.0175*i);%角度变化与前者相反，或是没有设置正方向
63 | %
64 | % x4=L0-L4*cos(d2+0.0175*i);
65 | % y4=L4*sin(d2+0.0175*i);%角度与前者相反，或是没有设置正方向
66 | %
67 | % L42=sqrt((x4-x2)^2+(y4-y2)^2);
68 | % d11=acos((L42^2+L2^2-L3^2)/(2*L2*L42)); %d1上方角度,少了个括号
69 | % %d11=Td11*pi/180;%转成弧度制
70 | % x3=L2*cos(d11)+x2;
71 | % y3=L2*sin(d11)+y2;
72 | %
73 | % x=[0,x2,x3,x4,x5];
74 | % y=[0,y2,y3,y4,y5];
75 | % plot(x,y,'r*');
76 | % line(x,y)
77 | % axis equal
78 | % pause(0.1)
79 | % plot(x,y,'g*');
80 | % line(x,y,'Color','white')
81 | % axis equal
82 | % % line(x,y,'Color','w','LineStyle','--')
83 | % hold on
84 | % end
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/MATLAB_simulation/untitled6.fig:
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/MATLAB_simulation/untitled6.m:
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1 | function varargout = untitled6(varargin)
2 | % UNTITLED6 MATLAB code for untitled6.fig
3 | % UNTITLED6, by itself, creates a new UNTITLED6 or raises the existing
4 | % singleton*.
5 | %
6 | % H = UNTITLED6 returns the handle to a new UNTITLED6 or the handle to
7 | % the existing singleton*.
8 | %
9 | % UNTITLED6('CALLBACK',hObject,eventData,handles,...) calls the local
10 | % function named CALLBACK in UNTITLED6.M with the given input arguments.
11 | %
12 | % UNTITLED6('Property','Value',...) creates a new UNTITLED6 or raises the
13 | % existing singleton*. Starting from the left, property value pairs are
14 | % applied to the GUI before untitled6_OpeningFcn gets called. An
15 | % unrecognized property name or invalid value makes property application
16 | % stop. All inputs are passed to untitled6_OpeningFcn via varargin.
17 | %
18 | % *See GUI Options on GUIDE's Tools menu. Choose "GUI allows only one
19 | % instance to run (singleton)".
20 | %
21 | % See also: GUIDE, GUIDATA, GUIHANDLES
22 |
23 | % Edit the above text to modify the response to help untitled6
24 |
25 | % Last Modified by GUIDE v2.5 25-Jan-2023 13:48:20
26 |
27 | % Begin initialization code - DO NOT EDIT
28 | gui_Singleton = 1;
29 | gui_State = struct('gui_Name', mfilename, ...
30 | 'gui_Singleton', gui_Singleton, ...
31 | 'gui_OpeningFcn', @untitled6_OpeningFcn, ...
32 | 'gui_OutputFcn', @untitled6_OutputFcn, ...
33 | 'gui_LayoutFcn', [] , ...
34 | 'gui_Callback', []);
35 | if nargin && ischar(varargin{1})
36 | gui_State.gui_Callback = str2func(varargin{1});
37 | end
38 |
39 | if nargout
40 | [varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:});
41 | else
42 | gui_mainfcn(gui_State, varargin{:});
43 | end
44 | % End initialization code - DO NOT EDIT
45 |
46 |
47 | % --- Executes just before untitled6 is made visible.
48 | function untitled6_OpeningFcn(hObject, eventdata, handles, varargin)
49 | % This function has no output args, see OutputFcn.
50 | % hObject handle to figure
51 | % eventdata reserved - to be defined in a future version of MATLAB
52 | % handles structure with handles and user data (see GUIDATA)
53 | % varargin command line arguments to untitled6 (see VARARGIN)
54 |
55 | % Choose default command line output for untitled6
56 | handles.output = hObject;
57 |
58 | % Update handles structure
59 | guidata(hObject, handles);
60 |
61 | % UIWAIT makes untitled6 wait for user response (see UIRESUME)
62 | % uiwait(handles.figure1);
63 |
64 |
65 | % --- Outputs from this function are returned to the command line.
66 | function varargout = untitled6_OutputFcn(hObject, eventdata, handles)
67 | % varargout cell array for returning output args (see VARARGOUT);
68 | % hObject handle to figure
69 | % eventdata reserved - to be defined in a future version of MATLAB
70 | % handles structure with handles and user data (see GUIDATA)
71 |
72 | % Get default command line output from handles structure
73 | varargout{1} = handles.output;
74 |
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/MATLAB_simulation/untitled7.fig:
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/MATLAB_simulation/untitled7.m:
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1 | function varargout = untitled7(varargin)
2 | % UNTITLED7 MATLAB code for untitled7.fig
3 | % UNTITLED7, by itself, creates a new UNTITLED7 or raises the existing
4 | % singleton*.
5 | %
6 | % H = UNTITLED7 returns the handle to a new UNTITLED7 or the handle to
7 | % the existing singleton*.
8 | %
9 | % UNTITLED7('CALLBACK',hObject,eventData,handles,...) calls the local
10 | % function named CALLBACK in UNTITLED7.M with the given input arguments.
11 | %
12 | % UNTITLED7('Property','Value',...) creates a new UNTITLED7 or raises the
13 | % existing singleton*. Starting from the left, property value pairs are
14 | % applied to the GUI before untitled7_OpeningFcn gets called. An
15 | % unrecognized property name or invalid value makes property application
16 | % stop. All inputs are passed to untitled7_OpeningFcn via varargin.
17 | %
18 | % *See GUI Options on GUIDE's Tools menu. Choose "GUI allows only one
19 | % instance to run (singleton)".
20 | %
21 | % See also: GUIDE, GUIDATA, GUIHANDLES
22 |
23 | % Edit the above text to modify the response to help untitled7
24 |
25 | % Last Modified by GUIDE v2.5 25-Jan-2023 13:48:47
26 |
27 | % Begin initialization code - DO NOT EDIT
28 | gui_Singleton = 1;
29 | gui_State = struct('gui_Name', mfilename, ...
30 | 'gui_Singleton', gui_Singleton, ...
31 | 'gui_OpeningFcn', @untitled7_OpeningFcn, ...
32 | 'gui_OutputFcn', @untitled7_OutputFcn, ...
33 | 'gui_LayoutFcn', [] , ...
34 | 'gui_Callback', []);
35 | if nargin && ischar(varargin{1})
36 | gui_State.gui_Callback = str2func(varargin{1});
37 | end
38 |
39 | if nargout
40 | [varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:});
41 | else
42 | gui_mainfcn(gui_State, varargin{:});
43 | end
44 | % End initialization code - DO NOT EDIT
45 |
46 |
47 | % --- Executes just before untitled7 is made visible.
48 | function untitled7_OpeningFcn(hObject, eventdata, handles, varargin)
49 | % This function has no output args, see OutputFcn.
50 | % hObject handle to figure
51 | % eventdata reserved - to be defined in a future version of MATLAB
52 | % handles structure with handles and user data (see GUIDATA)
53 | % varargin command line arguments to untitled7 (see VARARGIN)
54 |
55 | % Choose default command line output for untitled7
56 | handles.output = hObject;
57 |
58 | % Update handles structure
59 | guidata(hObject, handles);
60 |
61 | % UIWAIT makes untitled7 wait for user response (see UIRESUME)
62 | % uiwait(handles.figure1);
63 |
64 |
65 | % --- Outputs from this function are returned to the command line.
66 | function varargout = untitled7_OutputFcn(hObject, eventdata, handles)
67 | % varargout cell array for returning output args (see VARARGOUT);
68 | % hObject handle to figure
69 | % eventdata reserved - to be defined in a future version of MATLAB
70 | % handles structure with handles and user data (see GUIDATA)
71 |
72 | % Get default command line output from handles structure
73 | varargout{1} = handles.output;
74 |
75 |
76 | % --- Executes on slider movement.
77 | function slider1_Callback(hObject, eventdata, handles)
78 | % hObject handle to slider1 (see GCBO)
79 | % eventdata reserved - to be defined in a future version of MATLAB
80 | % handles structure with handles and user data (see GUIDATA)
81 |
82 | % Hints: get(hObject,'Value') returns position of slider
83 | % get(hObject,'Min') and get(hObject,'Max') to determine range of slider
84 | x1=get(handles.slider1,'value')
85 | x=linspace(0,x1,50)%50个点
86 | y=sqrt(1-(x-1).^2);%圆函数 注意是点乘
87 | plot(handles.axes1,x,y,'ro')
88 | axis(handles.axes1,[0 2 -1 1]);
89 | grid on
90 |
91 |
92 | % --- Executes during object creation, after setting all properties.
93 | function slider1_CreateFcn(hObject, eventdata, handles)
94 | % hObject handle to slider1 (see GCBO)
95 | % eventdata reserved - to be defined in a future version of MATLAB
96 | % handles empty - handles not created until after all CreateFcns called
97 |
98 | % Hint: slider controls usually have a light gray background.
99 | if isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
100 | set(hObject,'BackgroundColor',[.9 .9 .9]);
101 | end
102 |
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/README.md:
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1 | 【SCARA_Parallel】
2 | =
3 | 
4 | 
5 |
6 | 毕设设计的一款并联SCARA机械臂，闭环步进电机，谐波减速，碳纤维杆件，3D打印关节，运动控制，直线插补
7 | =
8 | 后面会慢慢更新MATLAB运动学仿真、基于STM32F407的运动控制代码、插补代码以及一些思路分享等等
9 |
10 | 更新说明
11 | =
12 | 2023.9.11 更新3D模型 ---所有的零件、电机、减速器、杆件、机加工轴、3D打印关节、装配体文件等等
13 |
14 | 1、硬件选型与结构设计
15 | =
16 | 1.1、电机的选择
17 | =
18 | 电机因为成本考虑问题和项目工作量问题，没有选择使用伺服电机或者无刷电机作为驱动关节，而是选用的
19 |
20 | 闭环步进电机电机的型号是杰美康的57J1880，在闲鱼上淘的,加驱动器一套大概150元，驱动器的型号是2HSS57，
21 |
22 | 也是杰美康的闭环驱动器，里面自带了电机控制算法，有电流环位置环等等，控制起来和普通的步进电机驱动器
23 |
24 | 一样，发脉冲就好了。
25 |
26 | 后面有时间也许会考虑做一个无刷电机作为关机的版本，FOC控制，可以加入动力学的控制
27 |
28 | 
29 |
30 | 1.2、减速器
31 | =
32 | 减速器选用的谐波减速，在闲鱼上淘的leaderdrive绿的谐波的LSCG系列减速器，17-50，减速比50，450元一个，减速器与电机出轴的
33 |
34 | 尺寸不一样，当时这里自己画了一个连轴器，相当于把电机轴加粗然后插进减速器的孔里面，用键销固定，再上顶丝，电机端
35 |
36 | 本来就是D型轴，直接卡住就好了，发的模型里面都可以找到零件和装配方法。
37 | 
38 |
39 | 1.3、 关节旋转轴
40 | =
41 | 这里当时是最苦恼的部分，因为不是机械方面专业的，所以自己完全不知道怎么去设计这部分旋转的关节，后面直接找到了这种
42 |
43 | 带法兰座的轴承，这样设计起来就容易很多了。
44 | 
45 |
46 | 1.4、 杆件的选择
47 | =
48 | 当时也走了不少弯路，中间有一次甚至直接整个结构都用光固化打印的材料去搭，结果刚度完全不够，搭上去
49 |
50 | 整个结构就一点一点的塌下去了，后面还是换回了碳纤维管的方案。下面是用过的杆件，整整一箱
51 |
52 | 
53 |
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