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jiacai_wang 2018-04-23 22:51:24 +08:00 committed by GitHub
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main.c Normal file
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#include<stm32f10x.h>
//延时用于指示灯闪烁
void delay(int k)
{
while(k--)
{
int i=1000;
while(i--)
{
int j=100;
while(j--);
}
}
}
//各舵机复位
void ServoInit()
{
TIM3->CCR2=2100;
delay(20);
TIM2->CCR4=1000;
delay(20);
TIM2->CCR3=2300;
delay(20);
TIM2->CCR2=850;
delay(20);
TIM2->CCR1=1400;
delay(50); //各舵机复位
}
//初始化TIM2的四个通道为PWM模式1
void TIM2_Init()
{
RCC->APB1ENR|=3; //TIM2，TIM3时钟使能
RCC->APB2ENR|=1<<2; //GPIOA时钟使能
GPIOA->CRL=0xB333BBBB; //GPIOA.0-3,7复用推挽输出，GPIOA.4-6通用推挽输出
TIM2->PSC=71;
TIM3->PSC=71; //CNT频率1MHz
TIM2->ARR=20000;
TIM3->ARR=20000; //PWM周期20ms
TIM2->CCMR1|=6<<4; //CH1配置PWM1模式
TIM2->CCMR1|=1<<3; //CH1自动重装载预装载使能
TIM2->CCER|=1; //CH1比较使能
TIM2->CCMR1|=6<<12; //CH2配置PWM1模式
TIM2->CCMR1|=1<<11; //CH2自动重装载预装载使能
TIM2->CCER|=1<<4; //CH2比较使能
TIM2->CCMR2|=6<<4; //CH3配置PWM1模式
TIM2->CCMR2|=1<<3; //CH3自动重装载预装载使能
TIM2->CCER|=1<<8; //CH3比较使能
TIM2->CCMR2|=6<<12; //CH4配置PWM1模式
TIM2->CCMR2|=1<<11; //CH4自动重装载预装载使能
TIM2->CCER|=1<<12; //CH4比较使能
TIM3->CCMR1|=6<<12; //CH2配置PWM1模式
TIM3->CCMR1|=1<<11; //CH2自动重装载预装载使能
TIM3->CCER|=1<<4; //CH2比较使能
TIM2->CR1|=1<<7; //TIM2自动重装载预装载使能
TIM3->CR1|=1<<7; //TIM3自动重装载预装载使能
TIM2->CR1|=1; //TIM2使能
TIM3->CR1|=1; //TIM3使能
// -90 530
// 0 1400
// +90 2400
//大约100对应10度
ServoInit();
}
//颜色识别模块初始化代码
void Color_Init()
{
GPIOA->BSRR=1<<4;
GPIOA->BSRR=1<<5;
GPIOA->BSRR=1<<6;
delay(50);
GPIOA->BRR=1<<4;
GPIOA->BRR=1<<5;
GPIOA->BRR=1<<6;
delay(20);
}
//初始化GPIOC用于工作指示灯
void GPIOC_Init()
{
RCC->APB2ENR|=1<<4; //GPIOC时钟使能
GPIOC->CRH=0;
GPIOC->CRH|=3<<20; //配置PC.13口为通用推挽输出
}
//抓手释放
void release()
{
TIM3->CCR2=1400;
delay(10);
}
//抓手夹持
void hold()
{
TIM3->CCR2=2100;
delay(10);
}
void moveServo1(int i)
{
if(i>2400||i<530) return;
while(TIM2->CCR1>i)
{
TIM2->CCR1-=10;
delay(1);
}
while(TIM2->CCR1<i)
{
TIM2->CCR1+=10;
delay(1);
}
}
void moveServo2(int i)
{
if(i>2400||i<530) return;
while(TIM2->CCR2>i)
{
TIM2->CCR2-=10;
delay(1);
}
while(TIM2->CCR2<i)
{
TIM2->CCR2+=10;
delay(1);
}
}
void moveServo3(int i)
{
if(i>2400||i<530) return;
while(TIM2->CCR3>i)
{
TIM2->CCR3-=10;
delay(1);
}
while(TIM2->CCR3<i)
{
TIM2->CCR3+=10;
delay(1);
}
}
void moveServo4(int i)
{
if(i>2400||i<530) return;
while(TIM2->CCR4>i)
{
TIM2->CCR4-=10;
delay(1);
}
while(TIM2->CCR4<i)
{
TIM2->CCR4+=10;
delay(1);
}
}
void catch30()
{
moveServo4(1200);
moveServo3(2000);
moveServo1(820);
release();
moveServo2(1570);
hold();
moveServo2(850);
moveServo1(2200);
moveServo4(1300);
moveServo3(2300);
moveServo2(1400);
release();
delay(20);
moveServo1(1950);
delay(10);
moveServo2(850);
ServoInit();
}
void catch60()
{
moveServo4(1000);
moveServo3(1600);
moveServo1(1100);
release();
moveServo2(1770);
hold();
moveServo2(850);
moveServo1(2270);
moveServo4(1250);
moveServo3(2100);
moveServo2(1450);
release();
delay(20);
moveServo1(2100);
delay(10);
moveServo2(850);
ServoInit();
}
void catch135()
{
moveServo4(1200);
moveServo3(2000);
moveServo1(1900);
release();
moveServo2(1570);
hold();
moveServo2(850);
moveServo1(2350);
moveServo4(900);
moveServo3(1600);
moveServo2(1700);
release();
delay(20);
moveServo1(2100);
delay(10);
moveServo2(850);
ServoInit();
}
int main()
{
TIM2_Init();
GPIOC_Init();
Color_Init();
catch30();
catch60();
catch135();
while(1)
{
GPIOC->BSRR=1<<13; //开PC.13
delay(5);
GPIOC->BRR=1<<13; //关PC.13
delay(3);
}
/*
while(1)
{
while(TIM2->CCR4<1100)
{
TIM2->CCR4+=20;
TIM2->CCR3+=20;
TIM2->CCR2+=10;
delay(1);
}
delay(3);
while(TIM2->CCR4>530)
{
TIM2->CCR4-=20;
TIM2->CCR3-=20;
TIM2->CCR2-=10;
delay(1);
}
delay(3);
}
*/
}

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pwm.uvproj Normal file
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<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
<Project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_proj.xsd">
<SchemaVersion>1.1</SchemaVersion>
<Header>### uVision Project, (C) Keil Software</Header>
<Targets>
<Target>
<TargetName>Target 1</TargetName>
<ToolsetNumber>0x4</ToolsetNumber>
<ToolsetName>ARM-ADS</ToolsetName>
<pCCUsed>5060528::V5.06 update 5 (build 528)::ARMCC</pCCUsed>
<uAC6>0</uAC6>
<TargetOption>
<TargetCommonOption>
<Device>STM32F103C8</Device>
<Vendor>STMicroelectronics</Vendor>
<Cpu>IRAM(0x20000000-0x20004FFF) IROM(0x8000000-0x800FFFF) CLOCK(8000000) CPUTYPE("Cortex-M3")</Cpu>
<FlashUtilSpec></FlashUtilSpec>
<StartupFile>"STARTUP\ST\STM32F10x\startup_stm32f10x_md.s" ("STM32 Medium Density Line Startup Code")</StartupFile>
<FlashDriverDll>UL2CM3(-O14 -S0 -C0 -N00("ARM Cortex-M3") -D00(1BA00477) -L00(4) -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F10x_128 -FS08000000 -FL010000)</FlashDriverDll>
<DeviceId>4235</DeviceId>
<RegisterFile>stm32f10x.h</RegisterFile>
<MemoryEnv></MemoryEnv>
<Cmp></Cmp>
<Asm></Asm>
<Linker></Linker>
<OHString></OHString>
<InfinionOptionDll></InfinionOptionDll>
<SLE66CMisc></SLE66CMisc>
<SLE66AMisc></SLE66AMisc>
<SLE66LinkerMisc></SLE66LinkerMisc>
<SFDFile>SFD\ST\STM32F1xx\STM32F103xx.sfrSVD=SFD\ST\STM32F1xx\STM32F103xx.sfr</SFDFile>
<bCustSvd>0</bCustSvd>
<UseEnv>0</UseEnv>
<BinPath></BinPath>
<IncludePath></IncludePath>
<LibPath></LibPath>
<RegisterFilePath>ST\STM32F10x\</RegisterFilePath>
<DBRegisterFilePath>ST\STM32F10x\</DBRegisterFilePath>
<TargetStatus>
<Error>0</Error>
<ExitCodeStop>0</ExitCodeStop>
<ButtonStop>0</ButtonStop>
<NotGenerated>0</NotGenerated>
<InvalidFlash>1</InvalidFlash>
</TargetStatus>
<OutputDirectory>.\Objects\</OutputDirectory>
<OutputName>pwm</OutputName>
<CreateExecutable>1</CreateExecutable>
<CreateLib>0</CreateLib>
<CreateHexFile>1</CreateHexFile>
<DebugInformation>1</DebugInformation>
<BrowseInformation>1</BrowseInformation>
<ListingPath>.\Listings\</ListingPath>
<HexFormatSelection>1</HexFormatSelection>
<Merge32K>0</Merge32K>
<CreateBatchFile>0</CreateBatchFile>
<BeforeCompile>
<RunUserProg1>0</RunUserProg1>
<RunUserProg2>0</RunUserProg2>
<UserProg1Name></UserProg1Name>
<UserProg2Name></UserProg2Name>
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
<nStopU1X>0</nStopU1X>
<nStopU2X>0</nStopU2X>
</BeforeCompile>
<BeforeMake>
<RunUserProg1>0</RunUserProg1>
<RunUserProg2>0</RunUserProg2>
<UserProg1Name></UserProg1Name>
<UserProg2Name></UserProg2Name>
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
<nStopB1X>0</nStopB1X>
<nStopB2X>0</nStopB2X>
</BeforeMake>
<AfterMake>
<RunUserProg1>0</RunUserProg1>
<RunUserProg2>0</RunUserProg2>
<UserProg1Name></UserProg1Name>
<UserProg2Name></UserProg2Name>
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
<UserProg2Dos16Mode>0</UserProg2Dos16Mode>
<nStopA1X>0</nStopA1X>
<nStopA2X>0</nStopA2X>
</AfterMake>
<SelectedForBatchBuild>0</SelectedForBatchBuild>
<SVCSIdString></SVCSIdString>
</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>

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startup_stm32f10x_md.s Normal file
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;******************** (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*****

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