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main.c
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281
main.c
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#include<stm32f10x.h>
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//延时用于指示灯闪烁
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void delay(int k)
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{
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while(k--)
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{
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int i=1000;
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while(i--)
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{
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int j=100;
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while(j--);
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}
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}
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}
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//各舵机复位
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void ServoInit()
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{
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TIM3->CCR2=2100;
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delay(20);
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TIM2->CCR4=1000;
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delay(20);
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TIM2->CCR3=2300;
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delay(20);
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TIM2->CCR2=850;
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delay(20);
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TIM2->CCR1=1400;
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delay(50); //各舵机复位
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}
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//初始化TIM2的四个通道为PWM模式1
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void TIM2_Init()
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{
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RCC->APB1ENR|=3; //TIM2,TIM3时钟使能
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RCC->APB2ENR|=1<<2; //GPIOA时钟使能
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GPIOA->CRL=0xB333BBBB; //GPIOA.0-3,7复用推挽输出,GPIOA.4-6通用推挽输出
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TIM2->PSC=71;
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TIM3->PSC=71; //CNT频率1MHz
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TIM2->ARR=20000;
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TIM3->ARR=20000; //PWM周期20ms
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TIM2->CCMR1|=6<<4; //CH1配置PWM1模式
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TIM2->CCMR1|=1<<3; //CH1自动重装载预装载使能
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TIM2->CCER|=1; //CH1比较使能
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TIM2->CCMR1|=6<<12; //CH2配置PWM1模式
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TIM2->CCMR1|=1<<11; //CH2自动重装载预装载使能
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TIM2->CCER|=1<<4; //CH2比较使能
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TIM2->CCMR2|=6<<4; //CH3配置PWM1模式
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TIM2->CCMR2|=1<<3; //CH3自动重装载预装载使能
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TIM2->CCER|=1<<8; //CH3比较使能
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TIM2->CCMR2|=6<<12; //CH4配置PWM1模式
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TIM2->CCMR2|=1<<11; //CH4自动重装载预装载使能
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TIM2->CCER|=1<<12; //CH4比较使能
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TIM3->CCMR1|=6<<12; //CH2配置PWM1模式
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TIM3->CCMR1|=1<<11; //CH2自动重装载预装载使能
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TIM3->CCER|=1<<4; //CH2比较使能
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TIM2->CR1|=1<<7; //TIM2自动重装载预装载使能
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TIM3->CR1|=1<<7; //TIM3自动重装载预装载使能
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TIM2->CR1|=1; //TIM2使能
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TIM3->CR1|=1; //TIM3使能
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// -90 530
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// 0 1400
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// +90 2400
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//大约100对应10度
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ServoInit();
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}
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//颜色识别模块初始化代码
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void Color_Init()
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{
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GPIOA->BSRR=1<<4;
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GPIOA->BSRR=1<<5;
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GPIOA->BSRR=1<<6;
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delay(50);
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GPIOA->BRR=1<<4;
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GPIOA->BRR=1<<5;
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GPIOA->BRR=1<<6;
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delay(20);
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}
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//初始化GPIOC用于工作指示灯
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void GPIOC_Init()
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{
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RCC->APB2ENR|=1<<4; //GPIOC时钟使能
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GPIOC->CRH=0;
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GPIOC->CRH|=3<<20; //配置PC.13口为通用推挽输出
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}
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//抓手释放
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void release()
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{
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TIM3->CCR2=1400;
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delay(10);
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}
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//抓手夹持
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void hold()
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{
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TIM3->CCR2=2100;
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delay(10);
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}
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void moveServo1(int i)
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{
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if(i>2400||i<530) return;
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while(TIM2->CCR1>i)
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{
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TIM2->CCR1-=10;
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delay(1);
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}
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while(TIM2->CCR1<i)
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{
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TIM2->CCR1+=10;
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delay(1);
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}
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}
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void moveServo2(int i)
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{
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if(i>2400||i<530) return;
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while(TIM2->CCR2>i)
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{
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TIM2->CCR2-=10;
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delay(1);
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}
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while(TIM2->CCR2<i)
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{
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TIM2->CCR2+=10;
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delay(1);
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}
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}
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void moveServo3(int i)
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{
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if(i>2400||i<530) return;
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while(TIM2->CCR3>i)
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{
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TIM2->CCR3-=10;
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delay(1);
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}
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while(TIM2->CCR3<i)
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{
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TIM2->CCR3+=10;
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delay(1);
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}
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}
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void moveServo4(int i)
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{
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if(i>2400||i<530) return;
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while(TIM2->CCR4>i)
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{
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TIM2->CCR4-=10;
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delay(1);
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}
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while(TIM2->CCR4<i)
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{
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TIM2->CCR4+=10;
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delay(1);
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}
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}
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void catch30()
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{
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moveServo4(1200);
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moveServo3(2000);
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moveServo1(820);
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release();
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moveServo2(1570);
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hold();
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moveServo2(850);
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moveServo1(2200);
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moveServo4(1300);
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moveServo3(2300);
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moveServo2(1400);
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release();
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delay(20);
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moveServo1(1950);
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delay(10);
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moveServo2(850);
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ServoInit();
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}
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void catch60()
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{
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moveServo4(1000);
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moveServo3(1600);
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moveServo1(1100);
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release();
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moveServo2(1770);
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hold();
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moveServo2(850);
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moveServo1(2270);
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moveServo4(1250);
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moveServo3(2100);
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moveServo2(1450);
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release();
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delay(20);
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moveServo1(2100);
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delay(10);
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moveServo2(850);
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ServoInit();
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}
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void catch135()
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{
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moveServo4(1200);
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moveServo3(2000);
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moveServo1(1900);
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release();
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moveServo2(1570);
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hold();
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moveServo2(850);
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moveServo1(2350);
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moveServo4(900);
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moveServo3(1600);
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moveServo2(1700);
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release();
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delay(20);
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moveServo1(2100);
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delay(10);
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moveServo2(850);
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ServoInit();
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}
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int main()
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{
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TIM2_Init();
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GPIOC_Init();
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Color_Init();
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catch30();
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catch60();
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catch135();
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while(1)
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{
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GPIOC->BSRR=1<<13; //开PC.13
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delay(5);
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GPIOC->BRR=1<<13; //关PC.13
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delay(3);
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}
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/*
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while(1)
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{
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while(TIM2->CCR4<1100)
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{
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TIM2->CCR4+=20;
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TIM2->CCR3+=20;
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TIM2->CCR2+=10;
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delay(1);
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}
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delay(3);
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while(TIM2->CCR4>530)
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{
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TIM2->CCR4-=20;
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TIM2->CCR3-=20;
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TIM2->CCR2-=10;
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delay(1);
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}
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delay(3);
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}
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*/
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}
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443
pwm.uvproj
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443
pwm.uvproj
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<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
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<Project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_proj.xsd">
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<SchemaVersion>1.1</SchemaVersion>
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<Header>### uVision Project, (C) Keil Software</Header>
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<Targets>
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<Target>
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<TargetName>Target 1</TargetName>
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<ToolsetNumber>0x4</ToolsetNumber>
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<ToolsetName>ARM-ADS</ToolsetName>
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<pCCUsed>5060528::V5.06 update 5 (build 528)::ARMCC</pCCUsed>
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<uAC6>0</uAC6>
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<TargetOption>
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<TargetCommonOption>
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<Device>STM32F103C8</Device>
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<Vendor>STMicroelectronics</Vendor>
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<Cpu>IRAM(0x20000000-0x20004FFF) IROM(0x8000000-0x800FFFF) CLOCK(8000000) CPUTYPE("Cortex-M3")</Cpu>
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<FlashUtilSpec></FlashUtilSpec>
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<StartupFile>"STARTUP\ST\STM32F10x\startup_stm32f10x_md.s" ("STM32 Medium Density Line Startup Code")</StartupFile>
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<FlashDriverDll>UL2CM3(-O14 -S0 -C0 -N00("ARM Cortex-M3") -D00(1BA00477) -L00(4) -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F10x_128 -FS08000000 -FL010000)</FlashDriverDll>
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<DeviceId>4235</DeviceId>
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<RegisterFile>stm32f10x.h</RegisterFile>
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<MemoryEnv></MemoryEnv>
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<Cmp></Cmp>
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<Asm></Asm>
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<Linker></Linker>
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<OHString></OHString>
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<InfinionOptionDll></InfinionOptionDll>
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<SLE66CMisc></SLE66CMisc>
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<SLE66AMisc></SLE66AMisc>
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<SLE66LinkerMisc></SLE66LinkerMisc>
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<SFDFile>SFD\ST\STM32F1xx\STM32F103xx.sfrSVD=SFD\ST\STM32F1xx\STM32F103xx.sfr</SFDFile>
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<bCustSvd>0</bCustSvd>
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<UseEnv>0</UseEnv>
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<BinPath></BinPath>
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<IncludePath></IncludePath>
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<LibPath></LibPath>
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<RegisterFilePath>ST\STM32F10x\</RegisterFilePath>
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<DBRegisterFilePath>ST\STM32F10x\</DBRegisterFilePath>
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<TargetStatus>
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<Error>0</Error>
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<ExitCodeStop>0</ExitCodeStop>
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<ButtonStop>0</ButtonStop>
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<NotGenerated>0</NotGenerated>
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<InvalidFlash>1</InvalidFlash>
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</TargetStatus>
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<OutputDirectory>.\Objects\</OutputDirectory>
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<OutputName>pwm</OutputName>
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<CreateExecutable>1</CreateExecutable>
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<CreateLib>0</CreateLib>
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<CreateHexFile>1</CreateHexFile>
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<DebugInformation>1</DebugInformation>
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||||
<BrowseInformation>1</BrowseInformation>
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||||
<ListingPath>.\Listings\</ListingPath>
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||||
<HexFormatSelection>1</HexFormatSelection>
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||||
<Merge32K>0</Merge32K>
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<CreateBatchFile>0</CreateBatchFile>
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<BeforeCompile>
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||||
<RunUserProg1>0</RunUserProg1>
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<RunUserProg2>0</RunUserProg2>
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||||
<UserProg1Name></UserProg1Name>
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||||
<UserProg2Name></UserProg2Name>
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||||
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
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||||
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
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||||
<nStopU1X>0</nStopU1X>
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||||
<nStopU2X>0</nStopU2X>
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</BeforeCompile>
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<BeforeMake>
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<RunUserProg1>0</RunUserProg1>
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||||
<RunUserProg2>0</RunUserProg2>
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||||
<UserProg1Name></UserProg1Name>
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||||
<UserProg2Name></UserProg2Name>
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||||
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
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||||
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
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||||
<nStopB1X>0</nStopB1X>
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||||
<nStopB2X>0</nStopB2X>
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||||
</BeforeMake>
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<AfterMake>
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<RunUserProg1>0</RunUserProg1>
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||||
<RunUserProg2>0</RunUserProg2>
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||||
<UserProg1Name></UserProg1Name>
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||||
<UserProg2Name></UserProg2Name>
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||||
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
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||||
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
|
||||
<nStopA1X>0</nStopA1X>
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||||
<nStopA2X>0</nStopA2X>
|
||||
</AfterMake>
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||||
<SelectedForBatchBuild>0</SelectedForBatchBuild>
|
||||
<SVCSIdString></SVCSIdString>
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||||
</TargetCommonOption>
|
||||
<CommonProperty>
|
||||
<UseCPPCompiler>0</UseCPPCompiler>
|
||||
<RVCTCodeConst>0</RVCTCodeConst>
|
||||
<RVCTZI>0</RVCTZI>
|
||||
<RVCTOtherData>0</RVCTOtherData>
|
||||
<ModuleSelection>0</ModuleSelection>
|
||||
<IncludeInBuild>1</IncludeInBuild>
|
||||
<AlwaysBuild>0</AlwaysBuild>
|
||||
<GenerateAssemblyFile>0</GenerateAssemblyFile>
|
||||
<AssembleAssemblyFile>0</AssembleAssemblyFile>
|
||||
<PublicsOnly>0</PublicsOnly>
|
||||
<StopOnExitCode>3</StopOnExitCode>
|
||||
<CustomArgument></CustomArgument>
|
||||
<IncludeLibraryModules></IncludeLibraryModules>
|
||||
<ComprImg>1</ComprImg>
|
||||
</CommonProperty>
|
||||
<DllOption>
|
||||
<SimDllName>SARMCM3.DLL</SimDllName>
|
||||
<SimDllArguments></SimDllArguments>
|
||||
<SimDlgDll>DARMSTM.DLL</SimDlgDll>
|
||||
<SimDlgDllArguments>-pSTM32F103C8</SimDlgDllArguments>
|
||||
<TargetDllName>SARMCM3.DLL</TargetDllName>
|
||||
<TargetDllArguments></TargetDllArguments>
|
||||
<TargetDlgDll>TARMSTM.DLL</TargetDlgDll>
|
||||
<TargetDlgDllArguments>-pSTM32F103C8</TargetDlgDllArguments>
|
||||
</DllOption>
|
||||
<DebugOption>
|
||||
<OPTHX>
|
||||
<HexSelection>1</HexSelection>
|
||||
<HexRangeLowAddress>0</HexRangeLowAddress>
|
||||
<HexRangeHighAddress>0</HexRangeHighAddress>
|
||||
<HexOffset>0</HexOffset>
|
||||
<Oh166RecLen>16</Oh166RecLen>
|
||||
</OPTHX>
|
||||
<Simulator>
|
||||
<UseSimulator>1</UseSimulator>
|
||||
<LoadApplicationAtStartup>1</LoadApplicationAtStartup>
|
||||
<RunToMain>1</RunToMain>
|
||||
<RestoreBreakpoints>1</RestoreBreakpoints>
|
||||
<RestoreWatchpoints>1</RestoreWatchpoints>
|
||||
<RestoreMemoryDisplay>1</RestoreMemoryDisplay>
|
||||
<RestoreFunctions>1</RestoreFunctions>
|
||||
<RestoreToolbox>1</RestoreToolbox>
|
||||
<LimitSpeedToRealTime>0</LimitSpeedToRealTime>
|
||||
<RestoreSysVw>1</RestoreSysVw>
|
||||
</Simulator>
|
||||
<Target>
|
||||
<UseTarget>0</UseTarget>
|
||||
<LoadApplicationAtStartup>1</LoadApplicationAtStartup>
|
||||
<RunToMain>1</RunToMain>
|
||||
<RestoreBreakpoints>1</RestoreBreakpoints>
|
||||
<RestoreWatchpoints>1</RestoreWatchpoints>
|
||||
<RestoreMemoryDisplay>1</RestoreMemoryDisplay>
|
||||
<RestoreFunctions>0</RestoreFunctions>
|
||||
<RestoreToolbox>1</RestoreToolbox>
|
||||
<RestoreTracepoints>1</RestoreTracepoints>
|
||||
<RestoreSysVw>1</RestoreSysVw>
|
||||
</Target>
|
||||
<RunDebugAfterBuild>0</RunDebugAfterBuild>
|
||||
<TargetSelection>0</TargetSelection>
|
||||
<SimDlls>
|
||||
<CpuDll></CpuDll>
|
||||
<CpuDllArguments></CpuDllArguments>
|
||||
<PeripheralDll></PeripheralDll>
|
||||
<PeripheralDllArguments></PeripheralDllArguments>
|
||||
<InitializationFile></InitializationFile>
|
||||
</SimDlls>
|
||||
<TargetDlls>
|
||||
<CpuDll></CpuDll>
|
||||
<CpuDllArguments></CpuDllArguments>
|
||||
<PeripheralDll></PeripheralDll>
|
||||
<PeripheralDllArguments></PeripheralDllArguments>
|
||||
<InitializationFile></InitializationFile>
|
||||
<Driver>BIN\UL2CM3.DLL</Driver>
|
||||
</TargetDlls>
|
||||
</DebugOption>
|
||||
<Utilities>
|
||||
<Flash1>
|
||||
<UseTargetDll>1</UseTargetDll>
|
||||
<UseExternalTool>0</UseExternalTool>
|
||||
<RunIndependent>0</RunIndependent>
|
||||
<UpdateFlashBeforeDebugging>1</UpdateFlashBeforeDebugging>
|
||||
<Capability>0</Capability>
|
||||
<DriverSelection>-1</DriverSelection>
|
||||
</Flash1>
|
||||
<bUseTDR>1</bUseTDR>
|
||||
<Flash2>BIN\UL2CM3.DLL</Flash2>
|
||||
<Flash3></Flash3>
|
||||
<Flash4></Flash4>
|
||||
<pFcarmOut></pFcarmOut>
|
||||
<pFcarmGrp></pFcarmGrp>
|
||||
<pFcArmRoot></pFcArmRoot>
|
||||
<FcArmLst>0</FcArmLst>
|
||||
</Utilities>
|
||||
<TargetArmAds>
|
||||
<ArmAdsMisc>
|
||||
<GenerateListings>0</GenerateListings>
|
||||
<asHll>1</asHll>
|
||||
<asAsm>1</asAsm>
|
||||
<asMacX>1</asMacX>
|
||||
<asSyms>1</asSyms>
|
||||
<asFals>1</asFals>
|
||||
<asDbgD>1</asDbgD>
|
||||
<asForm>1</asForm>
|
||||
<ldLst>0</ldLst>
|
||||
<ldmm>1</ldmm>
|
||||
<ldXref>1</ldXref>
|
||||
<BigEnd>0</BigEnd>
|
||||
<AdsALst>1</AdsALst>
|
||||
<AdsACrf>1</AdsACrf>
|
||||
<AdsANop>0</AdsANop>
|
||||
<AdsANot>0</AdsANot>
|
||||
<AdsLLst>1</AdsLLst>
|
||||
<AdsLmap>1</AdsLmap>
|
||||
<AdsLcgr>1</AdsLcgr>
|
||||
<AdsLsym>1</AdsLsym>
|
||||
<AdsLszi>1</AdsLszi>
|
||||
<AdsLtoi>1</AdsLtoi>
|
||||
<AdsLsun>1</AdsLsun>
|
||||
<AdsLven>1</AdsLven>
|
||||
<AdsLsxf>1</AdsLsxf>
|
||||
<RvctClst>0</RvctClst>
|
||||
<GenPPlst>0</GenPPlst>
|
||||
<AdsCpuType>"Cortex-M3"</AdsCpuType>
|
||||
<RvctDeviceName></RvctDeviceName>
|
||||
<mOS>0</mOS>
|
||||
<uocRom>0</uocRom>
|
||||
<uocRam>0</uocRam>
|
||||
<hadIROM>1</hadIROM>
|
||||
<hadIRAM>1</hadIRAM>
|
||||
<hadXRAM>0</hadXRAM>
|
||||
<uocXRam>0</uocXRam>
|
||||
<RvdsVP>0</RvdsVP>
|
||||
<hadIRAM2>0</hadIRAM2>
|
||||
<hadIROM2>0</hadIROM2>
|
||||
<StupSel>8</StupSel>
|
||||
<useUlib>0</useUlib>
|
||||
<EndSel>0</EndSel>
|
||||
<uLtcg>0</uLtcg>
|
||||
<nSecure>0</nSecure>
|
||||
<RoSelD>3</RoSelD>
|
||||
<RwSelD>3</RwSelD>
|
||||
<CodeSel>0</CodeSel>
|
||||
<OptFeed>0</OptFeed>
|
||||
<NoZi1>0</NoZi1>
|
||||
<NoZi2>0</NoZi2>
|
||||
<NoZi3>0</NoZi3>
|
||||
<NoZi4>0</NoZi4>
|
||||
<NoZi5>0</NoZi5>
|
||||
<Ro1Chk>0</Ro1Chk>
|
||||
<Ro2Chk>0</Ro2Chk>
|
||||
<Ro3Chk>0</Ro3Chk>
|
||||
<Ir1Chk>1</Ir1Chk>
|
||||
<Ir2Chk>0</Ir2Chk>
|
||||
<Ra1Chk>0</Ra1Chk>
|
||||
<Ra2Chk>0</Ra2Chk>
|
||||
<Ra3Chk>0</Ra3Chk>
|
||||
<Im1Chk>1</Im1Chk>
|
||||
<Im2Chk>0</Im2Chk>
|
||||
<OnChipMemories>
|
||||
<Ocm1>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</Ocm1>
|
||||
<Ocm2>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</Ocm2>
|
||||
<Ocm3>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</Ocm3>
|
||||
<Ocm4>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</Ocm4>
|
||||
<Ocm5>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</Ocm5>
|
||||
<Ocm6>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</Ocm6>
|
||||
<IRAM>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x20000000</StartAddress>
|
||||
<Size>0x5000</Size>
|
||||
</IRAM>
|
||||
<IROM>
|
||||
<Type>1</Type>
|
||||
<StartAddress>0x8000000</StartAddress>
|
||||
<Size>0x10000</Size>
|
||||
</IROM>
|
||||
<XRAM>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</XRAM>
|
||||
<OCR_RVCT1>
|
||||
<Type>1</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</OCR_RVCT1>
|
||||
<OCR_RVCT2>
|
||||
<Type>1</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</OCR_RVCT2>
|
||||
<OCR_RVCT3>
|
||||
<Type>1</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</OCR_RVCT3>
|
||||
<OCR_RVCT4>
|
||||
<Type>1</Type>
|
||||
<StartAddress>0x8000000</StartAddress>
|
||||
<Size>0x10000</Size>
|
||||
</OCR_RVCT4>
|
||||
<OCR_RVCT5>
|
||||
<Type>1</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</OCR_RVCT5>
|
||||
<OCR_RVCT6>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</OCR_RVCT6>
|
||||
<OCR_RVCT7>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</OCR_RVCT7>
|
||||
<OCR_RVCT8>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</OCR_RVCT8>
|
||||
<OCR_RVCT9>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x20000000</StartAddress>
|
||||
<Size>0x5000</Size>
|
||||
</OCR_RVCT9>
|
||||
<OCR_RVCT10>
|
||||
<Type>0</Type>
|
||||
<StartAddress>0x0</StartAddress>
|
||||
<Size>0x0</Size>
|
||||
</OCR_RVCT10>
|
||||
</OnChipMemories>
|
||||
<RvctStartVector></RvctStartVector>
|
||||
</ArmAdsMisc>
|
||||
<Cads>
|
||||
<interw>1</interw>
|
||||
<Optim>1</Optim>
|
||||
<oTime>0</oTime>
|
||||
<SplitLS>0</SplitLS>
|
||||
<OneElfS>1</OneElfS>
|
||||
<Strict>0</Strict>
|
||||
<EnumInt>0</EnumInt>
|
||||
<PlainCh>0</PlainCh>
|
||||
<Ropi>0</Ropi>
|
||||
<Rwpi>0</Rwpi>
|
||||
<wLevel>2</wLevel>
|
||||
<uThumb>0</uThumb>
|
||||
<uSurpInc>0</uSurpInc>
|
||||
<uC99>1</uC99>
|
||||
<useXO>0</useXO>
|
||||
<v6Lang>1</v6Lang>
|
||||
<v6LangP>1</v6LangP>
|
||||
<vShortEn>1</vShortEn>
|
||||
<vShortWch>1</vShortWch>
|
||||
<v6Lto>0</v6Lto>
|
||||
<v6WtE>0</v6WtE>
|
||||
<v6Rtti>0</v6Rtti>
|
||||
<VariousControls>
|
||||
<MiscControls></MiscControls>
|
||||
<Define></Define>
|
||||
<Undefine></Undefine>
|
||||
<IncludePath></IncludePath>
|
||||
</VariousControls>
|
||||
</Cads>
|
||||
<Aads>
|
||||
<interw>1</interw>
|
||||
<Ropi>0</Ropi>
|
||||
<Rwpi>0</Rwpi>
|
||||
<thumb>0</thumb>
|
||||
<SplitLS>0</SplitLS>
|
||||
<SwStkChk>0</SwStkChk>
|
||||
<NoWarn>0</NoWarn>
|
||||
<uSurpInc>0</uSurpInc>
|
||||
<useXO>0</useXO>
|
||||
<uClangAs>0</uClangAs>
|
||||
<VariousControls>
|
||||
<MiscControls></MiscControls>
|
||||
<Define></Define>
|
||||
<Undefine></Undefine>
|
||||
<IncludePath></IncludePath>
|
||||
</VariousControls>
|
||||
</Aads>
|
||||
<LDads>
|
||||
<umfTarg>1</umfTarg>
|
||||
<Ropi>0</Ropi>
|
||||
<Rwpi>0</Rwpi>
|
||||
<noStLib>0</noStLib>
|
||||
<RepFail>1</RepFail>
|
||||
<useFile>0</useFile>
|
||||
<TextAddressRange>0x08000000</TextAddressRange>
|
||||
<DataAddressRange>0x20000000</DataAddressRange>
|
||||
<pXoBase></pXoBase>
|
||||
<ScatterFile></ScatterFile>
|
||||
<IncludeLibs></IncludeLibs>
|
||||
<IncludeLibsPath></IncludeLibsPath>
|
||||
<Misc></Misc>
|
||||
<LinkerInputFile></LinkerInputFile>
|
||||
<DisabledWarnings></DisabledWarnings>
|
||||
</LDads>
|
||||
</TargetArmAds>
|
||||
</TargetOption>
|
||||
<Groups>
|
||||
<Group>
|
||||
<GroupName>Source Group 1</GroupName>
|
||||
<Files>
|
||||
<File>
|
||||
<FileName>startup_stm32f10x_md.s</FileName>
|
||||
<FileType>2</FileType>
|
||||
<FilePath>.\startup_stm32f10x_md.s</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>main.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>.\main.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>system_stm32f10x.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>.\system_stm32f10x.c</FilePath>
|
||||
</File>
|
||||
</Files>
|
||||
</Group>
|
||||
</Groups>
|
||||
</Target>
|
||||
</Targets>
|
||||
|
||||
</Project>
|
307
startup_stm32f10x_md.s
Normal file
307
startup_stm32f10x_md.s
Normal file
@ -0,0 +1,307 @@
|
||||
;******************** (C) COPYRIGHT 2011 STMicroelectronics ********************
|
||||
;* File Name : startup_stm32f10x_md.s
|
||||
;* Author : MCD Application Team
|
||||
;* Version : V3.5.0
|
||||
;* Date : 11-March-2011
|
||||
;* Description : STM32F10x Medium Density Devices vector table for MDK-ARM
|
||||
;* toolchain.
|
||||
;* This module performs:
|
||||
;* - Set the initial SP
|
||||
;* - Set the initial PC == Reset_Handler
|
||||
;* - Set the vector table entries with the exceptions ISR address
|
||||
;* - Configure the clock system
|
||||
;* - Branches to __main in the C library (which eventually
|
||||
;* calls main()).
|
||||
;* After Reset the CortexM3 processor is in Thread mode,
|
||||
;* priority is Privileged, and the Stack is set to Main.
|
||||
;* <<< Use Configuration Wizard in Context Menu >>>
|
||||
;*******************************************************************************
|
||||
; THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
|
||||
; WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
|
||||
; AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,
|
||||
; INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE
|
||||
; CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
|
||||
; INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
|
||||
;*******************************************************************************
|
||||
|
||||
; Amount of memory (in bytes) allocated for Stack
|
||||
; Tailor this value to your application needs
|
||||
; <h> Stack Configuration
|
||||
; <o> Stack Size (in Bytes) <0x0-0xFFFFFFFF:8>
|
||||
; </h>
|
||||
|
||||
Stack_Size EQU 0x00000400
|
||||
|
||||
AREA STACK, NOINIT, READWRITE, ALIGN=3
|
||||
Stack_Mem SPACE Stack_Size
|
||||
__initial_sp
|
||||
|
||||
|
||||
; <h> Heap Configuration
|
||||
; <o> Heap Size (in Bytes) <0x0-0xFFFFFFFF:8>
|
||||
; </h>
|
||||
|
||||
Heap_Size EQU 0x00000200
|
||||
|
||||
AREA HEAP, NOINIT, READWRITE, ALIGN=3
|
||||
__heap_base
|
||||
Heap_Mem SPACE Heap_Size
|
||||
__heap_limit
|
||||
|
||||
PRESERVE8
|
||||
THUMB
|
||||
|
||||
|
||||
; Vector Table Mapped to Address 0 at Reset
|
||||
AREA RESET, DATA, READONLY
|
||||
EXPORT __Vectors
|
||||
EXPORT __Vectors_End
|
||||
EXPORT __Vectors_Size
|
||||
|
||||
__Vectors DCD __initial_sp ; Top of Stack
|
||||
DCD Reset_Handler ; Reset Handler
|
||||
DCD NMI_Handler ; NMI Handler
|
||||
DCD HardFault_Handler ; Hard Fault Handler
|
||||
DCD MemManage_Handler ; MPU Fault Handler
|
||||
DCD BusFault_Handler ; Bus Fault Handler
|
||||
DCD UsageFault_Handler ; Usage Fault Handler
|
||||
DCD 0 ; Reserved
|
||||
DCD 0 ; Reserved
|
||||
DCD 0 ; Reserved
|
||||
DCD 0 ; Reserved
|
||||
DCD SVC_Handler ; SVCall Handler
|
||||
DCD DebugMon_Handler ; Debug Monitor Handler
|
||||
DCD 0 ; Reserved
|
||||
DCD PendSV_Handler ; PendSV Handler
|
||||
DCD SysTick_Handler ; SysTick Handler
|
||||
|
||||
; External Interrupts
|
||||
DCD WWDG_IRQHandler ; Window Watchdog
|
||||
DCD PVD_IRQHandler ; PVD through EXTI Line detect
|
||||
DCD TAMPER_IRQHandler ; Tamper
|
||||
DCD RTC_IRQHandler ; RTC
|
||||
DCD FLASH_IRQHandler ; Flash
|
||||
DCD RCC_IRQHandler ; RCC
|
||||
DCD EXTI0_IRQHandler ; EXTI Line 0
|
||||
DCD EXTI1_IRQHandler ; EXTI Line 1
|
||||
DCD EXTI2_IRQHandler ; EXTI Line 2
|
||||
DCD EXTI3_IRQHandler ; EXTI Line 3
|
||||
DCD EXTI4_IRQHandler ; EXTI Line 4
|
||||
DCD DMA1_Channel1_IRQHandler ; DMA1 Channel 1
|
||||
DCD DMA1_Channel2_IRQHandler ; DMA1 Channel 2
|
||||
DCD DMA1_Channel3_IRQHandler ; DMA1 Channel 3
|
||||
DCD DMA1_Channel4_IRQHandler ; DMA1 Channel 4
|
||||
DCD DMA1_Channel5_IRQHandler ; DMA1 Channel 5
|
||||
DCD DMA1_Channel6_IRQHandler ; DMA1 Channel 6
|
||||
DCD DMA1_Channel7_IRQHandler ; DMA1 Channel 7
|
||||
DCD ADC1_2_IRQHandler ; ADC1_2
|
||||
DCD USB_HP_CAN1_TX_IRQHandler ; USB High Priority or CAN1 TX
|
||||
DCD USB_LP_CAN1_RX0_IRQHandler ; USB Low Priority or CAN1 RX0
|
||||
DCD CAN1_RX1_IRQHandler ; CAN1 RX1
|
||||
DCD CAN1_SCE_IRQHandler ; CAN1 SCE
|
||||
DCD EXTI9_5_IRQHandler ; EXTI Line 9..5
|
||||
DCD TIM1_BRK_IRQHandler ; TIM1 Break
|
||||
DCD TIM1_UP_IRQHandler ; TIM1 Update
|
||||
DCD TIM1_TRG_COM_IRQHandler ; TIM1 Trigger and Commutation
|
||||
DCD TIM1_CC_IRQHandler ; TIM1 Capture Compare
|
||||
DCD TIM2_IRQHandler ; TIM2
|
||||
DCD TIM3_IRQHandler ; TIM3
|
||||
DCD TIM4_IRQHandler ; TIM4
|
||||
DCD I2C1_EV_IRQHandler ; I2C1 Event
|
||||
DCD I2C1_ER_IRQHandler ; I2C1 Error
|
||||
DCD I2C2_EV_IRQHandler ; I2C2 Event
|
||||
DCD I2C2_ER_IRQHandler ; I2C2 Error
|
||||
DCD SPI1_IRQHandler ; SPI1
|
||||
DCD SPI2_IRQHandler ; SPI2
|
||||
DCD USART1_IRQHandler ; USART1
|
||||
DCD USART2_IRQHandler ; USART2
|
||||
DCD USART3_IRQHandler ; USART3
|
||||
DCD EXTI15_10_IRQHandler ; EXTI Line 15..10
|
||||
DCD RTCAlarm_IRQHandler ; RTC Alarm through EXTI Line
|
||||
DCD USBWakeUp_IRQHandler ; USB Wakeup from suspend
|
||||
__Vectors_End
|
||||
|
||||
__Vectors_Size EQU __Vectors_End - __Vectors
|
||||
|
||||
AREA |.text|, CODE, READONLY
|
||||
|
||||
; Reset handler
|
||||
Reset_Handler PROC
|
||||
EXPORT Reset_Handler [WEAK]
|
||||
IMPORT __main
|
||||
IMPORT SystemInit
|
||||
LDR R0, =SystemInit
|
||||
BLX R0
|
||||
LDR R0, =__main
|
||||
BX R0
|
||||
ENDP
|
||||
|
||||
; Dummy Exception Handlers (infinite loops which can be modified)
|
||||
|
||||
NMI_Handler PROC
|
||||
EXPORT NMI_Handler [WEAK]
|
||||
B .
|
||||
ENDP
|
||||
HardFault_Handler\
|
||||
PROC
|
||||
EXPORT HardFault_Handler [WEAK]
|
||||
B .
|
||||
ENDP
|
||||
MemManage_Handler\
|
||||
PROC
|
||||
EXPORT MemManage_Handler [WEAK]
|
||||
B .
|
||||
ENDP
|
||||
BusFault_Handler\
|
||||
PROC
|
||||
EXPORT BusFault_Handler [WEAK]
|
||||
B .
|
||||
ENDP
|
||||
UsageFault_Handler\
|
||||
PROC
|
||||
EXPORT UsageFault_Handler [WEAK]
|
||||
B .
|
||||
ENDP
|
||||
SVC_Handler PROC
|
||||
EXPORT SVC_Handler [WEAK]
|
||||
B .
|
||||
ENDP
|
||||
DebugMon_Handler\
|
||||
PROC
|
||||
EXPORT DebugMon_Handler [WEAK]
|
||||
B .
|
||||
ENDP
|
||||
PendSV_Handler PROC
|
||||
EXPORT PendSV_Handler [WEAK]
|
||||
B .
|
||||
ENDP
|
||||
SysTick_Handler PROC
|
||||
EXPORT SysTick_Handler [WEAK]
|
||||
B .
|
||||
ENDP
|
||||
|
||||
Default_Handler PROC
|
||||
|
||||
EXPORT WWDG_IRQHandler [WEAK]
|
||||
EXPORT PVD_IRQHandler [WEAK]
|
||||
EXPORT TAMPER_IRQHandler [WEAK]
|
||||
EXPORT RTC_IRQHandler [WEAK]
|
||||
EXPORT FLASH_IRQHandler [WEAK]
|
||||
EXPORT RCC_IRQHandler [WEAK]
|
||||
EXPORT EXTI0_IRQHandler [WEAK]
|
||||
EXPORT EXTI1_IRQHandler [WEAK]
|
||||
EXPORT EXTI2_IRQHandler [WEAK]
|
||||
EXPORT EXTI3_IRQHandler [WEAK]
|
||||
EXPORT EXTI4_IRQHandler [WEAK]
|
||||
EXPORT DMA1_Channel1_IRQHandler [WEAK]
|
||||
EXPORT DMA1_Channel2_IRQHandler [WEAK]
|
||||
EXPORT DMA1_Channel3_IRQHandler [WEAK]
|
||||
EXPORT DMA1_Channel4_IRQHandler [WEAK]
|
||||
EXPORT DMA1_Channel5_IRQHandler [WEAK]
|
||||
EXPORT DMA1_Channel6_IRQHandler [WEAK]
|
||||
EXPORT DMA1_Channel7_IRQHandler [WEAK]
|
||||
EXPORT ADC1_2_IRQHandler [WEAK]
|
||||
EXPORT USB_HP_CAN1_TX_IRQHandler [WEAK]
|
||||
EXPORT USB_LP_CAN1_RX0_IRQHandler [WEAK]
|
||||
EXPORT CAN1_RX1_IRQHandler [WEAK]
|
||||
EXPORT CAN1_SCE_IRQHandler [WEAK]
|
||||
EXPORT EXTI9_5_IRQHandler [WEAK]
|
||||
EXPORT TIM1_BRK_IRQHandler [WEAK]
|
||||
EXPORT TIM1_UP_IRQHandler [WEAK]
|
||||
EXPORT TIM1_TRG_COM_IRQHandler [WEAK]
|
||||
EXPORT TIM1_CC_IRQHandler [WEAK]
|
||||
EXPORT TIM2_IRQHandler [WEAK]
|
||||
EXPORT TIM3_IRQHandler [WEAK]
|
||||
EXPORT TIM4_IRQHandler [WEAK]
|
||||
EXPORT I2C1_EV_IRQHandler [WEAK]
|
||||
EXPORT I2C1_ER_IRQHandler [WEAK]
|
||||
EXPORT I2C2_EV_IRQHandler [WEAK]
|
||||
EXPORT I2C2_ER_IRQHandler [WEAK]
|
||||
EXPORT SPI1_IRQHandler [WEAK]
|
||||
EXPORT SPI2_IRQHandler [WEAK]
|
||||
EXPORT USART1_IRQHandler [WEAK]
|
||||
EXPORT USART2_IRQHandler [WEAK]
|
||||
EXPORT USART3_IRQHandler [WEAK]
|
||||
EXPORT EXTI15_10_IRQHandler [WEAK]
|
||||
EXPORT RTCAlarm_IRQHandler [WEAK]
|
||||
EXPORT USBWakeUp_IRQHandler [WEAK]
|
||||
|
||||
WWDG_IRQHandler
|
||||
PVD_IRQHandler
|
||||
TAMPER_IRQHandler
|
||||
RTC_IRQHandler
|
||||
FLASH_IRQHandler
|
||||
RCC_IRQHandler
|
||||
EXTI0_IRQHandler
|
||||
EXTI1_IRQHandler
|
||||
EXTI2_IRQHandler
|
||||
EXTI3_IRQHandler
|
||||
EXTI4_IRQHandler
|
||||
DMA1_Channel1_IRQHandler
|
||||
DMA1_Channel2_IRQHandler
|
||||
DMA1_Channel3_IRQHandler
|
||||
DMA1_Channel4_IRQHandler
|
||||
DMA1_Channel5_IRQHandler
|
||||
DMA1_Channel6_IRQHandler
|
||||
DMA1_Channel7_IRQHandler
|
||||
ADC1_2_IRQHandler
|
||||
USB_HP_CAN1_TX_IRQHandler
|
||||
USB_LP_CAN1_RX0_IRQHandler
|
||||
CAN1_RX1_IRQHandler
|
||||
CAN1_SCE_IRQHandler
|
||||
EXTI9_5_IRQHandler
|
||||
TIM1_BRK_IRQHandler
|
||||
TIM1_UP_IRQHandler
|
||||
TIM1_TRG_COM_IRQHandler
|
||||
TIM1_CC_IRQHandler
|
||||
TIM2_IRQHandler
|
||||
TIM3_IRQHandler
|
||||
TIM4_IRQHandler
|
||||
I2C1_EV_IRQHandler
|
||||
I2C1_ER_IRQHandler
|
||||
I2C2_EV_IRQHandler
|
||||
I2C2_ER_IRQHandler
|
||||
SPI1_IRQHandler
|
||||
SPI2_IRQHandler
|
||||
USART1_IRQHandler
|
||||
USART2_IRQHandler
|
||||
USART3_IRQHandler
|
||||
EXTI15_10_IRQHandler
|
||||
RTCAlarm_IRQHandler
|
||||
USBWakeUp_IRQHandler
|
||||
|
||||
B .
|
||||
|
||||
ENDP
|
||||
|
||||
ALIGN
|
||||
|
||||
;*******************************************************************************
|
||||
; User Stack and Heap initialization
|
||||
;*******************************************************************************
|
||||
IF :DEF:__MICROLIB
|
||||
|
||||
EXPORT __initial_sp
|
||||
EXPORT __heap_base
|
||||
EXPORT __heap_limit
|
||||
|
||||
ELSE
|
||||
|
||||
IMPORT __use_two_region_memory
|
||||
EXPORT __user_initial_stackheap
|
||||
|
||||
__user_initial_stackheap
|
||||
|
||||
LDR R0, = Heap_Mem
|
||||
LDR R1, =(Stack_Mem + Stack_Size)
|
||||
LDR R2, = (Heap_Mem + Heap_Size)
|
||||
LDR R3, = Stack_Mem
|
||||
BX LR
|
||||
|
||||
ALIGN
|
||||
|
||||
ENDIF
|
||||
|
||||
END
|
||||
|
||||
;******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE*****
|
1094
system_stm32f10x.c
Normal file
1094
system_stm32f10x.c
Normal file
File diff suppressed because it is too large
Load Diff
Loading…
Reference in New Issue
Block a user