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andrea
2026-05-18 22:38:08 +02:00
parent 4d139b6fcf
commit 8a84ea847e
25 changed files with 33293 additions and 31582 deletions
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*** SESSION mag 04, 2026 23:04:27.645 ------------------------------------------
*** SESSION mag 05, 2026 22:49:18.92 -------------------------------------------
*** SESSION mag 14, 2026 17:57:36.107 ------------------------------------------
*** SESSION mag 15, 2026 18:08:46.927 ------------------------------------------
*** SESSION mag 15, 2026 19:11:28.596 ------------------------------------------

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@@ -1,4 +1,4 @@
19:42:02 **** Incremental Build of configuration Debug for project AUTOM10 ****
19:11:41 **** Incremental Build of configuration Debug for project AUTOM10 ****
make -j12 all
arm-none-eabi-size AUTOM10.elf
text data bss dec hex filename
@@ -6,5 +6,5 @@ arm-none-eabi-size AUTOM10.elf
Finished building: default.size.stdout
19:42:02 Build Finished. 0 errors, 0 warnings. (took 187ms)
19:11:42 Build Finished. 0 errors, 0 warnings. (took 655ms)

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19:41:57 **** Incremental Build of configuration Debug for project AUTOM10 ****
19:03:59 **** Incremental Build of configuration Debug for project AUTOM10 ****
make -j12 all
arm-none-eabi-gcc "../Core/Src/pwm.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -I../USB_DEVICE/App -I../USB_DEVICE/Target -I../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/pwm.d" -MT"Core/Src/pwm.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/pwm.o"
arm-none-eabi-gcc "../Core/Src/eeprom.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -I../USB_DEVICE/App -I../USB_DEVICE/Target -I../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/eeprom.d" -MT"Core/Src/eeprom.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/eeprom.o"
arm-none-eabi-gcc -o "AUTOM10.elf" @"objects.list" -mcpu=cortex-m3 -T"C:\progetti\AUTOM\workspace\AUTOM10\STM32F103C8TX_FLASH.ld" --specs=nosys.specs -Wl,-Map="AUTOM10.map" -Wl,--gc-sections -static --specs=nano.specs -mfloat-abi=soft -mthumb -Wl,--start-group -lc -lm -Wl,--end-group
Finished building target: AUTOM10.elf
@@ -12,7 +12,14 @@ Finished building: default.size.stdout
Finished building: AUTOM10.list
19:42:02 **** Incremental Build of configuration Debug for project AUTOM10 ****
19:04:33 **** Incremental Build of configuration Debug for project AUTOM10 ****
make -j12 all
arm-none-eabi-size AUTOM10.elf
text data bss dec hex filename
60652 476 7360 68488 10b88 AUTOM10.elf
Finished building: default.size.stdout
19:11:41 **** Incremental Build of configuration Debug for project AUTOM10 ****
make -j12 all
arm-none-eabi-size AUTOM10.elf
text data bss dec hex filename

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/*
* mot.c
*
* Created on: May 2, 2026
* Author: user
*/
#include <stdio.h>
#include <string.h>
#include "main.h"
#include "mot.h"
#include "pwm.h"
extern uint16_t apM1start;
extern uint16_t apM1stop;
extern uint16_t apM2start;
extern uint16_t apM2stop;
extern uint16_t apM3start;
extern uint16_t apM3stop;
extern uint16_t apM4start;
extern uint16_t apM4stop;
extern uint16_t chM1start;
extern uint16_t chM1stop;
extern uint16_t chM2start;
extern uint16_t chM2stop;
extern uint16_t chM3start;
extern uint16_t chM3stop;
extern uint16_t chM4start;
extern uint16_t chM4stop;
extern volatile uint16_t rtCiclo;
extern uint16_t m1pwmap;
extern uint16_t m1pwmch;
extern uint16_t m2pwmap;
extern uint16_t m2pwmch;
extern uint16_t m3pwmap;
extern uint16_t m3pwmch;
extern uint16_t m4pwmap;
extern uint16_t m4pwmch;
extern uint16_t mrampstart[4];
extern uint16_t tramp;
extern UART_HandleTypeDef huart1;
motMov_st m1ap(void){
static motMov_st m1st=motWaiting;
static motMov_st memm1st=motStop;
char s[100];
if(memm1st!=m1st){
memm1st=m1st;
sprintf(s,"\nm1ap=%d",m1st);
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
}
if(rtCiclo<apM1start)m1st=motWaiting;
switch(m1st){
case motWaiting:
SetMotPerc(M1,FW,0);
SetMotPerc(M1,BW,0);
if(rtCiclo>=apM1start){
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
m1st=motStartRamp;
}
break;
case motStartRamp:
if(ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
m1st=motWaitingTime;
}
break;
case motWaitingTime:
if(rtCiclo>=apM1stop){
(void)ramp(M1,FW,m1pwmap,0,tramp,RAMPINIT);
m1st=motStopRamp;
}
break;
case motStopRamp:
if(ramp(M1,FW,m1pwmap,0,tramp,RAMPRUN)==DONE){
m1st=motStop;
}
break;
case motStop:
default:
SetMotPerc(M1,FW,0);
SetMotPerc(M1,BW,0);
break;
}
return m1st;
}
motMov_st m2ap(void){
static motMov_st m2st;
static motMov_st memm2st=motStop;
char s[100];
if(memm2st!=m2st){
memm2st=m2st;
sprintf(s,"\nm2ap=%d",m2st);
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
}
if(rtCiclo<apM2start)m2st=motWaiting;
switch(m2st){
case motWaiting:
SetMotPerc(M2,FW,0);
SetMotPerc(M2,BW,0);
if(rtCiclo>=apM2start){
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
m2st=motStartRamp;
}
break;
case motStartRamp:
if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
m2st=motWaitingTime;
}
break;
case motWaitingTime:
if(rtCiclo>=apM2stop){
(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
m2st=motStopRamp;
}
break;
case motStopRamp:
if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
m2st=motStop;
}
break;
case motStop:
default:
SetMotPerc(M2,FW,0);
SetMotPerc(M2,BW,0);
break;
}
return m2st;
}
motMov_st m3ap(void){
static motMov_st m3st;
static motMov_st memm3st=motStop;
char s[100];
if(memm3st!=m3st){
memm3st=m3st;
sprintf(s,"\nm3ap=%d",m3st);
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
}
if(rtCiclo<apM3start)m3st=motWaiting;
switch(m3st){
case motWaiting:
SetMotPerc(M3,FW,0);
SetMotPerc(M3,BW,0);
if(rtCiclo>=apM3start){
(void)ramp(M3,FW,mrampstart[M3-1],m2pwmap,tramp,RAMPINIT);
m3st=motStartRamp;
}
break;
case motStartRamp:
if(ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
m3st=motWaitingTime;
}
break;
case motWaitingTime:
if(rtCiclo>=apM3stop){
(void)ramp(M3,FW,m3pwmap,0,tramp,RAMPINIT);
m3st=motStopRamp;
}
break;
case motStopRamp:
if(ramp(M3,FW,m3pwmap,0,tramp,RAMPRUN)==DONE){
m3st=motStop;
}
break;
case motStop:
default:
SetMotPerc(M3,FW,0);
SetMotPerc(M3,BW,0);
break;
}
return m3st;
}
motMov_st m4ap(void){
static motMov_st m4st;
static motMov_st memm4st=motStop;
char s[100];
if(memm4st!=m4st){
memm4st=m4st;
sprintf(s,"\nm4ap=%d",m4st);
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
}
if(rtCiclo<apM4start)m4st=motWaiting;
switch(m4st){
case motWaiting:
SetMotPerc(M4,FW,0);
SetMotPerc(M4,BW,0);
if(rtCiclo>=apM4start){
(void)ramp(M4,BW,mrampstart[M4-1],m2pwmap,tramp,RAMPINIT);
m4st=motStartRamp;
}
break;
case motStartRamp:
if(ramp(M4,BW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
m4st=motWaitingTime;
}
break;
case motWaitingTime:
if(rtCiclo>=apM4stop){
(void)ramp(M4,BW,m4pwmap,0,tramp,RAMPINIT);
m4st=motStopRamp;
}
break;
case motStopRamp:
if(ramp(M4,BW,m4pwmap,0,tramp,RAMPRUN)==DONE){
m4st=motStop;
}
break;
case motStop:
default:
SetMotPerc(M4,FW,0);
SetMotPerc(M4,BW,0);
break;
}
return m4st;
}
motMov_st m1ch(void){
static motMov_st m1st;
static motMov_st memm1st=motStop;
char s[100];
if(memm1st!=m1st){
memm1st=m1st;
sprintf(s,"\nm1ch=%d",m1st);
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
}
if(rtCiclo<chM1start)m1st=motWaiting;
switch(m1st){
case motWaiting:
SetMotPerc(M1,FW,0);
SetMotPerc(M1,BW,0);
if(rtCiclo>=chM1start){
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
m1st=motStartRamp;
}
break;
case motStartRamp:
if(ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
m1st=motWaitingTime;
}
break;
case motWaitingTime:
if(rtCiclo>=chM1stop){
(void)ramp(M1,BW,m1pwmch,0,tramp,RAMPINIT);
m1st=motStopRamp;
}
break;
case motStopRamp:
if(ramp(M1,BW,m1pwmch,0,tramp,RAMPRUN)==DONE){
m1st=motStop;
}
break;
case motStop:
default:
SetMotPerc(M1,FW,0);
SetMotPerc(M1,BW,0);
break;
}
return m1st;
}
motMov_st m2ch(void){
static motMov_st m2st;
static motMov_st memm2st=motStop;
char s[100];
if(memm2st!=m2st){
memm2st=m2st;
sprintf(s,"\nm2ch=%d",m2st);
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
}
if(rtCiclo<chM2start)m2st=motWaiting;
switch(m2st){
case motWaiting:
SetMotPerc(M2,FW,0);
SetMotPerc(M2,BW,0);
if(rtCiclo>=chM2start){
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
m2st=motStartRamp;
}
break;
case motStartRamp:
if(ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE){
m2st=motWaitingTime;
}
break;
case motWaitingTime:
if(rtCiclo>=chM2stop){
(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
m2st=motStopRamp;
}
break;
case motStopRamp:
if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
m2st=motStop;
}
break;
case motStop:
default:
SetMotPerc(M2,FW,0);
SetMotPerc(M2,BW,0);
break;
}
return m2st;
}
motMov_st m3ch(void){
static motMov_st m3st;
static motMov_st memm3st=motStop;
char s[100];
if(memm3st!=m3st){
memm3st=m3st;
sprintf(s,"\nm3ch=%d",m3st);
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
}
if(rtCiclo<chM3start)m3st=motWaiting;
switch(m3st){
case motWaiting:
SetMotPerc(M3,FW,0);
SetMotPerc(M3,BW,0);
if(rtCiclo>=chM3start){
(void)ramp(M3,BW,mrampstart[M3-1],m2pwmch,tramp,RAMPINIT);
m3st=motStartRamp;
}
break;
case motStartRamp:
if(ramp(M3,BW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
m3st=motWaitingTime;
}
break;
case motWaitingTime:
if(rtCiclo>=chM3stop){
(void)ramp(M3,BW,m3pwmch,0,tramp,RAMPINIT);
m3st=motStopRamp;
}
break;
case motStopRamp:
if(ramp(M3,BW,m3pwmch,0,tramp,RAMPRUN)==DONE){
m3st=motStop;
}
break;
case motStop:
default:
SetMotPerc(M3,FW,0);
SetMotPerc(M3,BW,0);
break;
}
return m3st;
}
motMov_st m4ch(void){
static motMov_st m4st;
static motMov_st memm4st=motStop;
char s[100];
if(memm4st!=m4st){
memm4st=m4st;
sprintf(s,"\nm4ch=%d",m4st);
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
}
if(rtCiclo<chM4start)m4st=motWaiting;
switch(m4st){
case motWaiting:
SetMotPerc(M4,FW,0);
SetMotPerc(M4,BW,0);
if(rtCiclo>=chM4start){
(void)ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPINIT);
m4st=motStartRamp;
}
break;
case motStartRamp:
if(ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
m4st=motWaitingTime;
}
break;
case motWaitingTime:
if(rtCiclo>=chM4stop){
(void)ramp(M4,FW,m4pwmch,0,tramp,RAMPINIT);
m4st=motStopRamp;
}
break;
case motStopRamp:
if(ramp(M4,FW,m4pwmch,0,tramp,RAMPRUN)==DONE){
m4st=motStop;
}
break;
case motStop:
default:
SetMotPerc(M4,FW,0);
SetMotPerc(M4,BW,0);
break;
}
return m4st;
}

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/*
* mot.c
*
* Created on: May 2, 2026
* Author: user
*/
#include <stdio.h>
#include <string.h>
#include "main.h"
#include "mot.h"
#include "pwm.h"
extern uint16_t apM1start;
extern uint16_t apM1stop;
extern uint16_t apM2start;
extern uint16_t apM2stop;
extern uint16_t apM3start;
extern uint16_t apM3stop;
extern uint16_t apM4start;
extern uint16_t apM4stop;
extern uint16_t chM1start;
extern uint16_t chM1stop;
extern uint16_t chM2start;
extern uint16_t chM2stop;
extern uint16_t chM3start;
extern uint16_t chM3stop;
extern uint16_t chM4start;
extern uint16_t chM4stop;
extern volatile uint16_t rtCiclo;
extern uint16_t m1pwmap;
extern uint16_t m1pwmch;
extern uint16_t m2pwmap;
extern uint16_t m2pwmch;
extern uint16_t m3pwmap;
extern uint16_t m3pwmch;
extern uint16_t m4pwmap;
extern uint16_t m4pwmch;
extern uint16_t mrampstart[4];
extern uint16_t tramp;
extern UART_HandleTypeDef huart1;
motMov_st m1ap(void){
static motMov_st m1st=motWaiting;
static motMov_st memm1st=motStop;
char s[100];
if(memm1st!=m1st){
memm1st=m1st;
sprintf(s,"\nm1ap=%d",m1st);
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
}
if(rtCiclo<apM1start)m1st=motWaiting;
switch(m1st){
case motWaiting:
SetMotPerc(M1,FW,0);
SetMotPerc(M1,BW,0);
if(rtCiclo>=apM1start){
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
m1st=motStartRamp;
}
break;
case motStartRamp:
if(ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
m1st=motWaitingTime;
}
break;
case motWaitingTime:
if(rtCiclo>=apM1stop){
(void)ramp(M1,BW,m1pwmap,0,tramp,RAMPINIT);
m1st=motStopRamp;
}
break;
case motStopRamp:
if(ramp(M1,BW,m1pwmap,0,tramp,RAMPRUN)==DONE){
m1st=motStop;
}
break;
case motStop:
default:
SetMotPerc(M1,FW,0);
SetMotPerc(M1,BW,0);
break;
}
return m1st;
}
motMov_st m2ap(void){
static motMov_st m2st;
static motMov_st memm2st=motStop;
char s[100];
if(memm2st!=m2st){
memm2st=m2st;
sprintf(s,"\nm2ap=%d",m2st);
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
}
if(rtCiclo<apM2start)m2st=motWaiting;
switch(m2st){
case motWaiting:
SetMotPerc(M2,FW,0);
SetMotPerc(M2,BW,0);
if(rtCiclo>=apM2start){
(void)ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPINIT);
m2st=motStartRamp;
}
break;
case motStartRamp:
if(ramp(M2,BW,mrampstart[M2-1],m2pwmap,tramp,RAMPRUN)==DONE){
m2st=motWaitingTime;
}
break;
case motWaitingTime:
if(rtCiclo>=apM2stop){
(void)ramp(M2,BW,m2pwmap,0,tramp,RAMPINIT);
m2st=motStopRamp;
}
break;
case motStopRamp:
if(ramp(M2,BW,m2pwmap,0,tramp,RAMPRUN)==DONE){
m2st=motStop;
}
break;
case motStop:
default:
SetMotPerc(M2,FW,0);
SetMotPerc(M2,BW,0);
break;
}
return m2st;
}
motMov_st m3ap(void){
static motMov_st m3st;
static motMov_st memm3st=motStop;
char s[100];
if(memm3st!=m3st){
memm3st=m3st;
sprintf(s,"\nm3ap=%d",m3st);
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
}
if(rtCiclo<apM3start)m3st=motWaiting;
switch(m3st){
case motWaiting:
SetMotPerc(M3,FW,0);
SetMotPerc(M3,BW,0);
if(rtCiclo>=apM3start){
(void)ramp(M3,BW,mrampstart[M3-1],m2pwmap,tramp,RAMPINIT);
m3st=motStartRamp;
}
break;
case motStartRamp:
if(ramp(M3,BW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
m3st=motWaitingTime;
}
break;
case motWaitingTime:
if(rtCiclo>=apM3stop){
(void)ramp(M3,BW,m3pwmap,0,tramp,RAMPINIT);
m3st=motStopRamp;
}
break;
case motStopRamp:
if(ramp(M3,BW,m3pwmap,0,tramp,RAMPRUN)==DONE){
m3st=motStop;
}
break;
case motStop:
default:
SetMotPerc(M3,FW,0);
SetMotPerc(M3,BW,0);
break;
}
return m3st;
}
motMov_st m4ap(void){
static motMov_st m4st;
static motMov_st memm4st=motStop;
char s[100];
if(memm4st!=m4st){
memm4st=m4st;
sprintf(s,"\nm4ap=%d",m4st);
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
}
if(rtCiclo<apM4start)m4st=motWaiting;
switch(m4st){
case motWaiting:
SetMotPerc(M4,FW,0);
SetMotPerc(M4,BW,0);
if(rtCiclo>=apM4start){
(void)ramp(M4,BW,mrampstart[M4-1],m2pwmap,tramp,RAMPINIT);
m4st=motStartRamp;
}
break;
case motStartRamp:
if(ramp(M4,BW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
m4st=motWaitingTime;
}
break;
case motWaitingTime:
if(rtCiclo>=apM4stop){
(void)ramp(M4,BW,m4pwmap,0,tramp,RAMPINIT);
m4st=motStopRamp;
}
break;
case motStopRamp:
if(ramp(M4,BW,m4pwmap,0,tramp,RAMPRUN)==DONE){
m4st=motStop;
}
break;
case motStop:
default:
SetMotPerc(M4,FW,0);
SetMotPerc(M4,BW,0);
break;
}
return m4st;
}
motMov_st m1ch(void){
static motMov_st m1st;
static motMov_st memm1st=motStop;
char s[100];
if(memm1st!=m1st){
memm1st=m1st;
sprintf(s,"\nm1ch=%d",m1st);
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
}
if(rtCiclo<chM1start)m1st=motWaiting;
switch(m1st){
case motWaiting:
SetMotPerc(M1,FW,0);
SetMotPerc(M1,BW,0);
if(rtCiclo>=chM1start){
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
m1st=motStartRamp;
}
break;
case motStartRamp:
if(ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
m1st=motWaitingTime;
}
break;
case motWaitingTime:
if(rtCiclo>=chM1stop){
(void)ramp(M1,FW,m1pwmch,0,tramp,RAMPINIT);
m1st=motStopRamp;
}
break;
case motStopRamp:
if(ramp(M1,FW,m1pwmch,0,tramp,RAMPRUN)==DONE){
m1st=motStop;
}
break;
case motStop:
default:
SetMotPerc(M1,FW,0);
SetMotPerc(M1,BW,0);
break;
}
return m1st;
}
motMov_st m2ch(void){
static motMov_st m2st;
static motMov_st memm2st=motStop;
char s[100];
if(memm2st!=m2st){
memm2st=m2st;
sprintf(s,"\nm2ch=%d",m2st);
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
}
if(rtCiclo<chM2start)m2st=motWaiting;
switch(m2st){
case motWaiting:
SetMotPerc(M2,FW,0);
SetMotPerc(M2,BW,0);
if(rtCiclo>=chM2start){
(void)ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPINIT);
m2st=motStartRamp;
}
break;
case motStartRamp:
if(ramp(M2,FW,mrampstart[M2-1],m2pwmch,tramp,RAMPRUN)==DONE){
m2st=motWaitingTime;
}
break;
case motWaitingTime:
if(rtCiclo>=chM2stop){
(void)ramp(M2,FW,m2pwmch,0,tramp,RAMPINIT);
m2st=motStopRamp;
}
break;
case motStopRamp:
if(ramp(M2,FW,m2pwmch,0,tramp,RAMPRUN)==DONE){
m2st=motStop;
}
break;
case motStop:
default:
SetMotPerc(M2,FW,0);
SetMotPerc(M2,BW,0);
break;
}
return m2st;
}
motMov_st m3ch(void){
static motMov_st m3st;
static motMov_st memm3st=motStop;
char s[100];
if(memm3st!=m3st){
memm3st=m3st;
sprintf(s,"\nm3ch=%d",m3st);
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
}
if(rtCiclo<chM3start)m3st=motWaiting;
switch(m3st){
case motWaiting:
SetMotPerc(M3,FW,0);
SetMotPerc(M3,BW,0);
if(rtCiclo>=chM3start){
(void)ramp(M3,FW,mrampstart[M3-1],m2pwmch,tramp,RAMPINIT);
m3st=motStartRamp;
}
break;
case motStartRamp:
if(ramp(M3,FW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
m3st=motWaitingTime;
}
break;
case motWaitingTime:
if(rtCiclo>=chM3stop){
(void)ramp(M3,FW,m3pwmch,0,tramp,RAMPINIT);
m3st=motStopRamp;
}
break;
case motStopRamp:
if(ramp(M3,FW,m3pwmch,0,tramp,RAMPRUN)==DONE){
m3st=motStop;
}
break;
case motStop:
default:
SetMotPerc(M3,FW,0);
SetMotPerc(M3,BW,0);
break;
}
return m3st;
}
motMov_st m4ch(void){
static motMov_st m4st;
static motMov_st memm4st=motStop;
char s[100];
if(memm4st!=m4st){
memm4st=m4st;
sprintf(s,"\nm4ch=%d",m4st);
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
}
if(rtCiclo<chM4start)m4st=motWaiting;
switch(m4st){
case motWaiting:
SetMotPerc(M4,FW,0);
SetMotPerc(M4,BW,0);
if(rtCiclo>=chM4start){
(void)ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPINIT);
m4st=motStartRamp;
}
break;
case motStartRamp:
if(ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
m4st=motWaitingTime;
}
break;
case motWaitingTime:
if(rtCiclo>=chM4stop){
(void)ramp(M4,FW,m4pwmch,0,tramp,RAMPINIT);
m4st=motStopRamp;
}
break;
case motStopRamp:
if(ramp(M4,FW,m4pwmch,0,tramp,RAMPRUN)==DONE){
m4st=motStop;
}
break;
case motStop:
default:
SetMotPerc(M4,FW,0);
SetMotPerc(M4,BW,0);
break;
}
return m4st;
}

493
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#include <stdio.h>
#include <string.h>
#include "eeprom.h"
#include "pwm.h"
extern UART_HandleTypeDef huart1;
/*
* Record format (4 bytes):
* [0] VirtAddress (uint16_t)
* [2] Data (uint16_t)
*
* Page layout:
* [0] PageStatus (uint16_t)
* [2..] Records...
*/
extern uint16_t m1pwmap;
extern uint16_t m1pwmch;
extern uint16_t m2pwmap;
extern uint16_t m2pwmch;
extern uint16_t m3pwmap;
extern uint16_t m3pwmch;
extern uint16_t m4pwmap;
extern uint16_t m4pwmch;
extern uint16_t m1TimeoutMan;
extern uint16_t m2TimeoutMan;
extern uint16_t m3TimeoutMan;
extern uint16_t m4TimeoutMan;
extern uint16_t twap;
extern uint16_t tramp;
extern uint16_t t1ch;
extern uint16_t t2ch;
extern uint16_t t3ch;
extern uint16_t t4ch;
extern uint16_t twch;
extern uint16_t tramp1;
extern uint16_t trampman;
extern uint16_t m1pwmMan;
extern uint16_t m2pwmMan;
extern uint16_t m3pwmMan;
extern uint16_t m4pwmMan;
extern uint16_t mrampstart[];
extern uint16_t apM1start;
extern uint16_t apM1stop;
extern uint16_t apM2start;
extern uint16_t apM2stop;
extern uint16_t apM3start;
extern uint16_t apM3stop;
extern uint16_t apM4start;
extern uint16_t apM4stop;
extern uint16_t chM1start;
extern uint16_t chM1stop;
extern uint16_t chM2start;
extern uint16_t chM2stop;
extern uint16_t chM3start;
extern uint16_t chM3stop;
extern uint16_t chM4start;
extern uint16_t chM4stop;
const uint16_t deftab[EE_NUM_VIRTUAL_ADDR]={
40, //m1pwmap
60, //m1pwmch
70, //m2pwmap
70, //m2pwmch
35, //m3pwmap
40, //m3pwmch
40, //m4pwmap
40, //m4pwmch
20, //m1rampstart
20, //m2rampstart
20, //m3rampstart
20, //m4rampstart
230,//m1timeoutman
100,//m2timeoutman
130,//m3timeoutman
300,//m4timeoutman
1, //twap
27, //t1ch
10, //t2ch
30, //t3ch
1, //t4ch
1, //twch
0,
0,
0,
100, //tramp1
60, //m1pwmMan
70, //m2pwmMan
40, //m3pwmMan
40, //m4pwmMan
50, //trampman
10, //tramp
310, //apM1start;
450, //apM1stop;
30, //apM2start;
310, //apM2stop;
340, //apM3start;
420, //apM3stop;
30, //apM4start;
430, //apM4stop;
10, //chM1start;
320, //chM1stop;
140, //chM2start;
440, //chM2stop;
20, //chM3start;
280, //chM3stop;
40, //chM4start;
440, //chM4stop;
1,
27,
10,
30,
1,
1,
0,
0,
0,
100,
60,
70,
40,
40,
50,
10,
};
typedef struct
{
uint16_t VirtAddress;
uint16_t Data;
} EE_Record_t;
/* Active page base address (runtime selected in EE_Init) */
static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
/* 32 sequential virtual addresses */
const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
{
0x0001, 0x0002, 0x0003, 0x0004,
0x0005, 0x0006, 0x0007, 0x0008,
0x0009, 0x000A, 0x000B, 0x000C,
0x000D, 0x000E, 0x000F, 0x0010,
0x0011, 0x0012, 0x0013, 0x0014,
0x0015, 0x0016, 0x0017, 0x0018,
0x0019, 0x001A, 0x001B, 0x001C,
0x001D, 0x001E, 0x001F, 0x0020,
0x0021, 0x0022, 0x0023, 0x0024,
0x0025, 0x0026, 0x0027, 0x0028,
0x0029, 0x002A, 0x002B, 0x002C,
0x002D, 0x002E, 0x002F, 0x0030,
0x0031, 0x0032, 0x0033, 0x0034,
0x0035, 0x0036, 0x0037, 0x0038,
0x0039, 0x003A, 0x003B, 0x003C,
0x003D, 0x003E, 0x003F, 0x0040
};
/* ========================================================================= */
/* --- Internal helpers ---------------------------------------------------- */
static uint16_t EE_GetPageStatus(uint32_t pageBase)
{
return *(__IO uint16_t *)pageBase;
}
static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
{
HAL_StatusTypeDef status;
HAL_FLASH_Unlock();
status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
HAL_FLASH_Lock();
return status;
}
static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
{
HAL_StatusTypeDef status;
FLASH_EraseInitTypeDef EraseInit;
uint32_t PageError = 0;
HAL_FLASH_Unlock();
EraseInit.TypeErase = FLASH_TYPEERASE_PAGES;
EraseInit.PageAddress = PageAddress;
EraseInit.NbPages = 1;
status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
HAL_FLASH_Lock();
return status;
}
/* Find first free record address in given page (returns 0 if full) */
static uint32_t EE_FindFreeAddress(uint32_t pageBase)
{
uint32_t addr = pageBase + 2U; /* Skip status word */
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
{
uint16_t vaddr = *(__IO uint16_t *)addr;
if (vaddr == 0xFFFFU)
{
/* Empty slot */
return addr;
}
addr += sizeof(EE_Record_t);
}
return 0U; /* No space */
}
/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
/* Find latest value of VirtAddress in a specific page (scan forward) */
static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
{
uint32_t addr = pageBase + 2U; // skip status halfword
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
EE_Status result = EE_NOT_FOUND;
uint16_t lastVal = 0;
if (Data == NULL)
return EE_ERROR;
while (addr <= (pageEnd - sizeof(EE_Record_t)))
{
uint16_t vaddr = *(__IO uint16_t *)addr;
if (vaddr == 0xFFFFU)
{
// First empty slot => no more records in this page
break;
}
uint16_t value = *(__IO uint16_t *)(addr + 2U);
if (vaddr == VirtAddress)
{
lastVal = value; // keep most recent
result = EE_OK;
}
addr += sizeof(EE_Record_t); // move 4 bytes forward
}
if (result == EE_OK)
*Data = lastVal;
return result;
}
/* Format both pages: erase and set PAGE0 as VALID */
static EE_Status EE_Format(void)
{
if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
return EE_STATUS_ERROR;
if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
return EE_STATUS_ERROR;
if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
return EE_STATUS_ERROR;
/* PAGE1 will remain erased (status = 0xFFFF) */
EE_ActivePageBase = EE_PAGE0_BASE;
return EE_STATUS_OK;
}
/* Get the base of the other page */
static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
{
return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
}
/* Page transfer (garbage collection + new write) */
static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
{
uint32_t oldBase = EE_ActivePageBase;
uint32_t newBase = EE_GetOtherPageBase(oldBase);
uint32_t addr;
uint16_t value;
EE_Status st;
/* Erase new page */
if (EE_FlashErasePage(newBase) != HAL_OK)
return EE_STATUS_ERROR;
/* Mark new page as RECEIVE */
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
return EE_STATUS_ERROR;
/* Start writing records just after status */
addr = newBase + 2U;
/* For each known virtual variable */
for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
{
uint16_t vaddr = EE_VirtAddrs[i];
if (vaddr == VirtAddress)
{
/* Use the new data passed into PageTransfer */
value = Data;
}
else
{
/* Read latest value from old active page */
st = EE_FindInPage(oldBase, vaddr, &value);
if (st != EE_STATUS_OK)
{
/* Variable never written -> skip */
continue;
}
}
/* Write record to new page */
if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
return EE_STATUS_ERROR;
if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
return EE_STATUS_ERROR;
addr += sizeof(EE_Record_t);
if (addr >= (newBase + EE_PAGE_SIZE))
return EE_STATUS_NO_SPACE;
}
/* Erase old page */
if (EE_FlashErasePage(oldBase) != HAL_OK)
return EE_STATUS_ERROR;
/* Mark new page as VALID */
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
return EE_STATUS_ERROR;
/* Update active page */
EE_ActivePageBase = newBase;
return EE_STATUS_OK;
}
/* --- Public API ----------------------------------------------------------- */
/*
* Initialize the EEPROM emulation.
* - Checks page statuses and chooses the active page.
* - If inconsistent or blank, formats pages.
* PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
*/
uint16_t EE_Init(void)
{
uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
{
/* Fresh device -> format */
return (uint16_t)EE_Format();
}
else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
{
EE_ActivePageBase = EE_PAGE0_BASE;
return EE_OK;
}
else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
{
EE_ActivePageBase = EE_PAGE1_BASE;
return EE_OK;
}
else
{
/* Any weird or inconsistent state -> reformat */
return (uint16_t)EE_Format();
}
}
/*
* Read a 16-bit variable by its virtual address.
* PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
*/
uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
{
EE_Status st;
if (Data == NULL)
return EE_ERROR;
st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
return (uint16_t)st;
}
/*
* Write (append) a 16-bit variable.
* - Writes a new record in the active page.
* - If the page is full, triggers a page transfer (GC).
* PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
*/
uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
{
uint32_t freeAddr;
EE_Status st;
/* Find free space in active page */
freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
if (freeAddr != 0U)
{
/* Write new record */
if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
return EE_ERROR;
if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
return EE_ERROR;
return EE_OK;
}
/* No space -> page transfer */
st = EE_PageTransfer(VirtAddress, Data);
return (uint16_t)st;
}
void loadEE(void){
char s [200];
EEW_Read(M1PWMAP, &m1pwmap);
EEW_Read(M1PWMCH, &m1pwmch);
EEW_Read(M2PWMAP, &m2pwmap);
EEW_Read(M2PWMCH, &m2pwmch);
EEW_Read(M3PWMAP, &m3pwmap);
EEW_Read(M3PWMCH, &m3pwmch);
EEW_Read(M4PWMAP, &m4pwmap);
EEW_Read(M4PWMCH, &m4pwmch);
EEW_Read(M1RAMPSTART, &mrampstart[M1-1]);
EEW_Read(M2RAMPSTART, &mrampstart[M2-1]);
EEW_Read(M3RAMPSTART, &mrampstart[M3-1]);
EEW_Read(M4RAMPSTART, &mrampstart[M4-1]);
EEW_Read(M1TIMEOUTMAN, &m1TimeoutMan);
EEW_Read(M2TIMEOUTMAN, &m2TimeoutMan);
EEW_Read(M3TIMEOUTMAN, &m3TimeoutMan);
EEW_Read(M4TIMEOUTMAN, &m4TimeoutMan);
EEW_Read(TRAMP1, &tramp1);
EEW_Read(M1PWMMAN, &m1pwmMan);
EEW_Read(M2PWMMAN, &m2pwmMan);
EEW_Read(M3PWMMAN, &m3pwmMan);
EEW_Read(M4PWMMAN, &m4pwmMan);
EEW_Read(TRAMPMAN, &trampman);
EEW_Read(TRAMP, &tramp);
EEW_Read(APM1START,&apM1start);
EEW_Read(APM1STOP ,&apM1stop);
EEW_Read(APM2START,&apM2start);
EEW_Read(APM2STOP ,&apM2stop);
EEW_Read(APM3START,&apM3start);
EEW_Read(APM3STOP ,&apM3stop);
EEW_Read(APM4START,&apM4start);
EEW_Read(APM4STOP ,&apM4stop);
EEW_Read(CHM1START,&chM1start);
EEW_Read(CHM1STOP ,&chM1stop);
EEW_Read(CHM2START,&chM2start);
EEW_Read(CHM2STOP ,&chM2stop);
EEW_Read(CHM3START,&chM3start);
EEW_Read(CHM3STOP ,&chM3stop);
EEW_Read(CHM4START,&chM4start);
EEW_Read(CHM4STOP ,&chM4stop);
sprintf((char*)s,"LoadEE\n");
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
sprintf((char*)s,"\nm1pwmap=%d m1pwmch=%d m2pwmap=%d m2pwmch=%d m3pwmap=%d m3pwmch=%d m4pwmap=%d m4pwmch=%d",m1pwmap,m1pwmch,m2pwmap,m2pwmch,m3pwmap,m3pwmch,m4pwmap, m4pwmch);
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
sprintf((char*)s,"\nm1TimeoutMan=%d m2TimeoutMan=%d m3TimeoutMan=%d m4TimeoutMan=%d ",m1TimeoutMan,m2TimeoutMan,m3TimeoutMan,m4TimeoutMan);
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
sprintf((char*)s,"\ntramp=%d trampman=%d",tramp,trampman);
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
sprintf((char*)s,"\nm1pwmMan=%d m2pwmMan=%d m3pwmMan=%d m4pwmMan=%d",m1pwmMan,m2pwmMan,m3pwmMan,m4pwmMan);
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
sprintf((char*)s,"\napM1start=%d apM1stop=%d chM1start=%d chM1stop=%d",apM1start,apM1stop,chM1start,chM1stop);
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
sprintf((char*)s,"\napM2start=%d apM2stop=%d chM2start=%d chM2stop=%d",apM2start,apM2stop,chM2start,chM2stop);
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
sprintf((char*)s,"\napM3start=%d apM3stop=%d chM3start=%d chM3stop=%d",apM3start,apM3stop,chM3start,chM3stop);
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
sprintf((char*)s,"\napM4start=%d apM4stop=%d chM4start=%d chM4stop=%d",apM4start,apM4stop,chM4start,chM4stop);
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
}

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#include <stdio.h>
#include <string.h>
#include "eeprom.h"
#include "pwm.h"
extern UART_HandleTypeDef huart1;
/*
* Record format (4 bytes):
* [0] VirtAddress (uint16_t)
* [2] Data (uint16_t)
*
* Page layout:
* [0] PageStatus (uint16_t)
* [2..] Records...
*/
extern uint16_t m1pwmap;
extern uint16_t m1pwmch;
extern uint16_t m2pwmap;
extern uint16_t m2pwmch;
extern uint16_t m3pwmap;
extern uint16_t m3pwmch;
extern uint16_t m4pwmap;
extern uint16_t m4pwmch;
extern uint16_t m1TimeoutMan;
extern uint16_t m2TimeoutMan;
extern uint16_t m3TimeoutMan;
extern uint16_t m4TimeoutMan;
extern uint16_t twap;
extern uint16_t tramp;
extern uint16_t t1ch;
extern uint16_t t2ch;
extern uint16_t t3ch;
extern uint16_t t4ch;
extern uint16_t twch;
extern uint16_t tramp1;
extern uint16_t trampman;
extern uint16_t m1pwmMan;
extern uint16_t m2pwmMan;
extern uint16_t m3pwmMan;
extern uint16_t m4pwmMan;
extern uint16_t mrampstart[];
extern uint16_t apM1start;
extern uint16_t apM1stop;
extern uint16_t apM2start;
extern uint16_t apM2stop;
extern uint16_t apM3start;
extern uint16_t apM3stop;
extern uint16_t apM4start;
extern uint16_t apM4stop;
extern uint16_t chM1start;
extern uint16_t chM1stop;
extern uint16_t chM2start;
extern uint16_t chM2stop;
extern uint16_t chM3start;
extern uint16_t chM3stop;
extern uint16_t chM4start;
extern uint16_t chM4stop;
const uint16_t deftab[EE_NUM_VIRTUAL_ADDR]={
40, //m1pwmap
60, //m1pwmch
70, //m2pwmap
70, //m2pwmch
35, //m3pwmap
40, //m3pwmch
40, //m4pwmap
40, //m4pwmch
20, //m1rampstart
20, //m2rampstart
20, //m3rampstart
20, //m4rampstart
230,//m1timeoutman
100,//m2timeoutman
130,//m3timeoutman
300,//m4timeoutman
1, //twap
27, //t1ch
10, //t2ch
30, //t3ch
1, //t4ch
1, //twch
0,
0,
0,
100, //tramp1
60, //m1pwmMan
70, //m2pwmMan
40, //m3pwmMan
40, //m4pwmMan
50, //trampman
10, //tramp
310, //apM1start;
450, //apM1stop;
30, //apM2start;
310, //apM2stop;
350, //apM3start;
450, //apM3stop;
450, //apM4start;
850, //apM4stop;
10, //chM1start;
280, //chM1stop;
280, //chM2start;
580, //chM2stop;
20, //chM3start;
280, //chM3stop;
280, //chM4start;
680, //chM4stop;
1,
27,
10,
30,
1,
1,
0,
0,
0,
100,
60,
70,
40,
40,
50,
10,
};
typedef struct
{
uint16_t VirtAddress;
uint16_t Data;
} EE_Record_t;
/* Active page base address (runtime selected in EE_Init) */
static uint32_t EE_ActivePageBase = EE_PAGE0_BASE;
/* 32 sequential virtual addresses */
const uint16_t EE_VirtAddrs[EE_NUM_VIRTUAL_ADDR] =
{
0x0001, 0x0002, 0x0003, 0x0004,
0x0005, 0x0006, 0x0007, 0x0008,
0x0009, 0x000A, 0x000B, 0x000C,
0x000D, 0x000E, 0x000F, 0x0010,
0x0011, 0x0012, 0x0013, 0x0014,
0x0015, 0x0016, 0x0017, 0x0018,
0x0019, 0x001A, 0x001B, 0x001C,
0x001D, 0x001E, 0x001F, 0x0020,
0x0021, 0x0022, 0x0023, 0x0024,
0x0025, 0x0026, 0x0027, 0x0028,
0x0029, 0x002A, 0x002B, 0x002C,
0x002D, 0x002E, 0x002F, 0x0030,
0x0031, 0x0032, 0x0033, 0x0034,
0x0035, 0x0036, 0x0037, 0x0038,
0x0039, 0x003A, 0x003B, 0x003C,
0x003D, 0x003E, 0x003F, 0x0040
};
/* ========================================================================= */
/* --- Internal helpers ---------------------------------------------------- */
static uint16_t EE_GetPageStatus(uint32_t pageBase)
{
return *(__IO uint16_t *)pageBase;
}
static HAL_StatusTypeDef EE_FlashProgramHalfWord(uint32_t Address, uint16_t Data)
{
HAL_StatusTypeDef status;
HAL_FLASH_Unlock();
status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, Address, Data);
HAL_FLASH_Lock();
return status;
}
static HAL_StatusTypeDef EE_FlashErasePage(uint32_t PageAddress)
{
HAL_StatusTypeDef status;
FLASH_EraseInitTypeDef EraseInit;
uint32_t PageError = 0;
HAL_FLASH_Unlock();
EraseInit.TypeErase = FLASH_TYPEERASE_PAGES;
EraseInit.PageAddress = PageAddress;
EraseInit.NbPages = 1;
status = HAL_FLASHEx_Erase(&EraseInit, &PageError);
HAL_FLASH_Lock();
return status;
}
/* Find first free record address in given page (returns 0 if full) */
static uint32_t EE_FindFreeAddress(uint32_t pageBase)
{
uint32_t addr = pageBase + 2U; /* Skip status word */
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
while (addr < (pageEnd - sizeof(EE_Record_t) + 1U))
{
uint16_t vaddr = *(__IO uint16_t *)addr;
if (vaddr == 0xFFFFU)
{
/* Empty slot */
return addr;
}
addr += sizeof(EE_Record_t);
}
return 0U; /* No space */
}
/* Find latest value of VirtAddress in a specific page (internal, uses EE_Status) */
/* Find latest value of VirtAddress in a specific page (scan forward) */
static EE_Status EE_FindInPage(uint32_t pageBase, uint16_t VirtAddress, uint16_t *Data)
{
uint32_t addr = pageBase + 2U; // skip status halfword
uint32_t pageEnd = pageBase + EE_PAGE_SIZE;
EE_Status result = EE_NOT_FOUND;
uint16_t lastVal = 0;
if (Data == NULL)
return EE_ERROR;
while (addr <= (pageEnd - sizeof(EE_Record_t)))
{
uint16_t vaddr = *(__IO uint16_t *)addr;
if (vaddr == 0xFFFFU)
{
// First empty slot => no more records in this page
break;
}
uint16_t value = *(__IO uint16_t *)(addr + 2U);
if (vaddr == VirtAddress)
{
lastVal = value; // keep most recent
result = EE_OK;
}
addr += sizeof(EE_Record_t); // move 4 bytes forward
}
if (result == EE_OK)
*Data = lastVal;
return result;
}
/* Format both pages: erase and set PAGE0 as VALID */
static EE_Status EE_Format(void)
{
if (EE_FlashErasePage(EE_PAGE0_BASE) != HAL_OK)
return EE_STATUS_ERROR;
if (EE_FlashErasePage(EE_PAGE1_BASE) != HAL_OK)
return EE_STATUS_ERROR;
if (EE_FlashProgramHalfWord(EE_PAGE0_BASE, EE_PAGE_STATUS_VALID) != HAL_OK)
return EE_STATUS_ERROR;
/* PAGE1 will remain erased (status = 0xFFFF) */
EE_ActivePageBase = EE_PAGE0_BASE;
return EE_STATUS_OK;
}
/* Get the base of the other page */
static uint32_t EE_GetOtherPageBase(uint32_t pageBase)
{
return (pageBase == EE_PAGE0_BASE) ? EE_PAGE1_BASE : EE_PAGE0_BASE;
}
/* Page transfer (garbage collection + new write) */
static EE_Status EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
{
uint32_t oldBase = EE_ActivePageBase;
uint32_t newBase = EE_GetOtherPageBase(oldBase);
uint32_t addr;
uint16_t value;
EE_Status st;
/* Erase new page */
if (EE_FlashErasePage(newBase) != HAL_OK)
return EE_STATUS_ERROR;
/* Mark new page as RECEIVE */
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_RECEIVE) != HAL_OK)
return EE_STATUS_ERROR;
/* Start writing records just after status */
addr = newBase + 2U;
/* For each known virtual variable */
for (uint16_t i = 0; i < EE_NUM_VIRTUAL_ADDR; i++)
{
uint16_t vaddr = EE_VirtAddrs[i];
if (vaddr == VirtAddress)
{
/* Use the new data passed into PageTransfer */
value = Data;
}
else
{
/* Read latest value from old active page */
st = EE_FindInPage(oldBase, vaddr, &value);
if (st != EE_STATUS_OK)
{
/* Variable never written -> skip */
continue;
}
}
/* Write record to new page */
if (EE_FlashProgramHalfWord(addr, vaddr) != HAL_OK)
return EE_STATUS_ERROR;
if (EE_FlashProgramHalfWord(addr + 2U, value) != HAL_OK)
return EE_STATUS_ERROR;
addr += sizeof(EE_Record_t);
if (addr >= (newBase + EE_PAGE_SIZE))
return EE_STATUS_NO_SPACE;
}
/* Erase old page */
if (EE_FlashErasePage(oldBase) != HAL_OK)
return EE_STATUS_ERROR;
/* Mark new page as VALID */
if (EE_FlashProgramHalfWord(newBase, EE_PAGE_STATUS_VALID) != HAL_OK)
return EE_STATUS_ERROR;
/* Update active page */
EE_ActivePageBase = newBase;
return EE_STATUS_OK;
}
/* --- Public API ----------------------------------------------------------- */
/*
* Initialize the EEPROM emulation.
* - Checks page statuses and chooses the active page.
* - If inconsistent or blank, formats pages.
* PUBLIC RETURN TYPE: uint16_t (EE_OK / EE_ERROR / ...)
*/
uint16_t EE_Init(void)
{
uint16_t status0 = EE_GetPageStatus(EE_PAGE0_BASE);
uint16_t status1 = EE_GetPageStatus(EE_PAGE1_BASE);
if ((status0 == EE_PAGE_STATUS_ERASED) && (status1 == EE_PAGE_STATUS_ERASED))
{
/* Fresh device -> format */
return (uint16_t)EE_Format();
}
else if ((status0 == EE_PAGE_STATUS_VALID) && (status1 == EE_PAGE_STATUS_ERASED))
{
EE_ActivePageBase = EE_PAGE0_BASE;
return EE_OK;
}
else if ((status1 == EE_PAGE_STATUS_VALID) && (status0 == EE_PAGE_STATUS_ERASED))
{
EE_ActivePageBase = EE_PAGE1_BASE;
return EE_OK;
}
else
{
/* Any weird or inconsistent state -> reformat */
return (uint16_t)EE_Format();
}
}
/*
* Read a 16-bit variable by its virtual address.
* PUBLIC RETURN: EE_OK / EE_NOT_FOUND / EE_ERROR (as uint16_t)
*/
uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t *Data)
{
EE_Status st;
if (Data == NULL)
return EE_ERROR;
st = EE_FindInPage(EE_ActivePageBase, VirtAddress, Data);
return (uint16_t)st;
}
/*
* Write (append) a 16-bit variable.
* - Writes a new record in the active page.
* - If the page is full, triggers a page transfer (GC).
* PUBLIC RETURN: EE_OK / EE_ERROR / EE_NO_SPACE (as uint16_t)
*/
uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
{
uint32_t freeAddr;
EE_Status st;
/* Find free space in active page */
freeAddr = EE_FindFreeAddress(EE_ActivePageBase);
if (freeAddr != 0U)
{
/* Write new record */
if (EE_FlashProgramHalfWord(freeAddr, VirtAddress) != HAL_OK)
return EE_ERROR;
if (EE_FlashProgramHalfWord(freeAddr + 2U, Data) != HAL_OK)
return EE_ERROR;
return EE_OK;
}
/* No space -> page transfer */
st = EE_PageTransfer(VirtAddress, Data);
return (uint16_t)st;
}
void loadEE(void){
char s [200];
EEW_Read(M1PWMAP, &m1pwmap);
EEW_Read(M1PWMCH, &m1pwmch);
EEW_Read(M2PWMAP, &m2pwmap);
EEW_Read(M2PWMCH, &m2pwmch);
EEW_Read(M3PWMAP, &m3pwmap);
EEW_Read(M3PWMCH, &m3pwmch);
EEW_Read(M4PWMAP, &m4pwmap);
EEW_Read(M4PWMCH, &m4pwmch);
EEW_Read(M1RAMPSTART, &mrampstart[M1-1]);
EEW_Read(M2RAMPSTART, &mrampstart[M2-1]);
EEW_Read(M3RAMPSTART, &mrampstart[M3-1]);
EEW_Read(M4RAMPSTART, &mrampstart[M4-1]);
EEW_Read(M1TIMEOUTMAN, &m1TimeoutMan);
EEW_Read(M2TIMEOUTMAN, &m2TimeoutMan);
EEW_Read(M3TIMEOUTMAN, &m3TimeoutMan);
EEW_Read(M4TIMEOUTMAN, &m4TimeoutMan);
EEW_Read(TRAMP1, &tramp1);
EEW_Read(M1PWMMAN, &m1pwmMan);
EEW_Read(M2PWMMAN, &m2pwmMan);
EEW_Read(M3PWMMAN, &m3pwmMan);
EEW_Read(M4PWMMAN, &m4pwmMan);
EEW_Read(TRAMPMAN, &trampman);
EEW_Read(TRAMP, &tramp);
EEW_Read(APM1START,&apM1start);
EEW_Read(APM1STOP ,&apM1stop);
EEW_Read(APM2START,&apM2start);
EEW_Read(APM2STOP ,&apM2stop);
EEW_Read(APM3START,&apM3start);
EEW_Read(APM3STOP ,&apM3stop);
EEW_Read(APM4START,&apM4start);
EEW_Read(APM4STOP ,&apM4stop);
EEW_Read(CHM1START,&chM1start);
EEW_Read(CHM1STOP ,&chM1stop);
EEW_Read(CHM2START,&chM2start);
EEW_Read(CHM2STOP ,&chM2stop);
EEW_Read(CHM3START,&chM3start);
EEW_Read(CHM3STOP ,&chM3stop);
EEW_Read(CHM4START,&chM4start);
EEW_Read(CHM4STOP ,&chM4stop);
sprintf((char*)s,"LoadEE\n");
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
sprintf((char*)s,"\nm1pwmap=%d m1pwmch=%d m2pwmap=%d m2pwmch=%d m3pwmap=%d m3pwmch=%d m4pwmap=%d m4pwmch=%d",m1pwmap,m1pwmch,m2pwmap,m2pwmch,m3pwmap,m3pwmch,m4pwmap, m4pwmch);
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
sprintf((char*)s,"\nm1TimeoutMan=%d m2TimeoutMan=%d m3TimeoutMan=%d m4TimeoutMan=%d ",m1TimeoutMan,m2TimeoutMan,m3TimeoutMan,m4TimeoutMan);
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
sprintf((char*)s,"\ntramp=%d trampman=%d",tramp,trampman);
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
sprintf((char*)s,"\nm1pwmMan=%d m2pwmMan=%d m3pwmMan=%d m4pwmMan=%d",m1pwmMan,m2pwmMan,m3pwmMan,m4pwmMan);
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
sprintf((char*)s,"\napM1start=%d apM1stop=%d chM1start=%d chM1stop=%d",apM1start,apM1stop,chM1start,chM1stop);
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
sprintf((char*)s,"\napM2start=%d apM2stop=%d chM2start=%d chM2stop=%d",apM2start,apM2stop,chM2start,chM2stop);
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
sprintf((char*)s,"\napM3start=%d apM3stop=%d chM3start=%d chM3stop=%d",apM3start,apM3stop,chM3start,chM3stop);
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
sprintf((char*)s,"\napM4start=%d apM4stop=%d chM4start=%d chM4stop=%d",apM4start,apM4stop,chM4start,chM4stop);
HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
}

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workspace/.metadata/.plugins/org.eclipse.core.resources/.projects/AUTOM10/.indexes/bf/c4/history.index
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workspace/.metadata/.plugins/org.eclipse.core.resources/.root/34.tree → workspace/.metadata/.plugins/org.eclipse.core.resources/.root/36.tree
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workspace/.metadata/.plugins/org.eclipse.core.resources/.safetable/org.eclipse.core.resources
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32
workspace/.metadata/.plugins/org.eclipse.e4.workbench/workbench.xmi
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2
workspace/.metadata/version.ini
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@@ -1,3 +1,3 @@
#Thu May 14 17:57:33 CEST 2026
#Fri May 15 19:11:24 CEST 2026
org.eclipse.core.runtime=2
org.eclipse.platform=4.33.0.v20240903-0240

18
workspace/AUTOM10/Core/Src/eeprom.c
View File

@@ -95,18 +95,18 @@ const uint16_t deftab[EE_NUM_VIRTUAL_ADDR]={
450, //apM1stop;
30, //apM2start;
310, //apM2stop;
350, //apM3start;
450, //apM3stop;
450, //apM4start;
850, //apM4stop;
340, //apM3start;
430, //apM3stop;
30, //apM4start;
430, //apM4stop;
10, //chM1start;
280, //chM1stop;
280, //chM2start;
580, //chM2stop;
320, //chM1stop;
140, //chM2start;
440, //chM2stop;
20, //chM3start;
280, //chM3stop;
280, //chM4start;
680, //chM4stop;
40, //chM4start;
440, //chM4stop;
1,
27,
10,

48
workspace/AUTOM10/Core/Src/mot.c
View File

@@ -55,23 +55,23 @@ motMov_st m1ap(void){
SetMotPerc(M1,FW,0);
SetMotPerc(M1,BW,0);
if(rtCiclo>=apM1start){
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
m1st=motStartRamp;
}
break;
case motStartRamp:
if(ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
if(ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
m1st=motWaitingTime;
}
break;
case motWaitingTime:
if(rtCiclo>=apM1stop){
(void)ramp(M1,BW,m1pwmap,0,tramp,RAMPINIT);
(void)ramp(M1,FW,m1pwmap,0,tramp,RAMPINIT);
m1st=motStopRamp;
}
break;
case motStopRamp:
if(ramp(M1,BW,m1pwmap,0,tramp,RAMPRUN)==DONE){
if(ramp(M1,FW,m1pwmap,0,tramp,RAMPRUN)==DONE){
m1st=motStop;
}
break;
@@ -143,23 +143,23 @@ motMov_st m3ap(void){
SetMotPerc(M3,FW,0);
SetMotPerc(M3,BW,0);
if(rtCiclo>=apM3start){
(void)ramp(M3,BW,mrampstart[M3-1],m2pwmap,tramp,RAMPINIT);
(void)ramp(M3,FW,mrampstart[M3-1],m2pwmap,tramp,RAMPINIT);
m3st=motStartRamp;
}
break;
case motStartRamp:
if(ramp(M3,BW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
if(ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
m3st=motWaitingTime;
}
break;
case motWaitingTime:
if(rtCiclo>=apM3stop){
(void)ramp(M3,BW,m3pwmap,0,tramp,RAMPINIT);
(void)ramp(M3,FW,m3pwmap,0,tramp,RAMPINIT);
m3st=motStopRamp;
}
break;
case motStopRamp:
if(ramp(M3,BW,m3pwmap,0,tramp,RAMPRUN)==DONE){
if(ramp(M3,FW,m3pwmap,0,tramp,RAMPRUN)==DONE){
m3st=motStop;
}
break;
@@ -187,23 +187,23 @@ motMov_st m4ap(void){
SetMotPerc(M4,FW,0);
SetMotPerc(M4,BW,0);
if(rtCiclo>=apM4start){
(void)ramp(M4,BW,mrampstart[M4-1],m2pwmap,tramp,RAMPINIT);
(void)ramp(M4,FW,mrampstart[M4-1],m2pwmap,tramp,RAMPINIT);
m4st=motStartRamp;
}
break;
case motStartRamp:
if(ramp(M4,BW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
if(ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
m4st=motWaitingTime;
}
break;
case motWaitingTime:
if(rtCiclo>=apM4stop){
(void)ramp(M4,BW,m4pwmap,0,tramp,RAMPINIT);
(void)ramp(M4,FW,m4pwmap,0,tramp,RAMPINIT);
m4st=motStopRamp;
}
break;
case motStopRamp:
if(ramp(M4,BW,m4pwmap,0,tramp,RAMPRUN)==DONE){
if(ramp(M4,FW,m4pwmap,0,tramp,RAMPRUN)==DONE){
m4st=motStop;
}
break;
@@ -231,23 +231,23 @@ motMov_st m1ch(void){
SetMotPerc(M1,FW,0);
SetMotPerc(M1,BW,0);
if(rtCiclo>=chM1start){
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
m1st=motStartRamp;
}
break;
case motStartRamp:
if(ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
if(ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
m1st=motWaitingTime;
}
break;
case motWaitingTime:
if(rtCiclo>=chM1stop){
(void)ramp(M1,FW,m1pwmch,0,tramp,RAMPINIT);
(void)ramp(M1,BW,m1pwmch,0,tramp,RAMPINIT);
m1st=motStopRamp;
}
break;
case motStopRamp:
if(ramp(M1,FW,m1pwmch,0,tramp,RAMPRUN)==DONE){
if(ramp(M1,BW,m1pwmch,0,tramp,RAMPRUN)==DONE){
m1st=motStop;
}
break;
@@ -321,23 +321,23 @@ motMov_st m3ch(void){
SetMotPerc(M3,FW,0);
SetMotPerc(M3,BW,0);
if(rtCiclo>=chM3start){
(void)ramp(M3,FW,mrampstart[M3-1],m2pwmch,tramp,RAMPINIT);
(void)ramp(M3,BW,mrampstart[M3-1],m2pwmch,tramp,RAMPINIT);
m3st=motStartRamp;
}
break;
case motStartRamp:
if(ramp(M3,FW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
if(ramp(M3,BW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
m3st=motWaitingTime;
}
break;
case motWaitingTime:
if(rtCiclo>=chM3stop){
(void)ramp(M3,FW,m3pwmch,0,tramp,RAMPINIT);
(void)ramp(M3,BW,m3pwmch,0,tramp,RAMPINIT);
m3st=motStopRamp;
}
break;
case motStopRamp:
if(ramp(M3,FW,m3pwmch,0,tramp,RAMPRUN)==DONE){
if(ramp(M3,BW,m3pwmch,0,tramp,RAMPRUN)==DONE){
m3st=motStop;
}
break;
@@ -366,23 +366,23 @@ motMov_st m4ch(void){
SetMotPerc(M4,FW,0);
SetMotPerc(M4,BW,0);
if(rtCiclo>=chM4start){
(void)ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPINIT);
(void)ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPINIT);
m4st=motStartRamp;
}
break;
case motStartRamp:
if(ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
if(ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
m4st=motWaitingTime;
}
break;
case motWaitingTime:
if(rtCiclo>=chM4stop){
(void)ramp(M4,FW,m4pwmch,0,tramp,RAMPINIT);
(void)ramp(M4,BW,m4pwmch,0,tramp,RAMPINIT);
m4st=motStopRamp;
}
break;
case motStopRamp:
if(ramp(M4,FW,m4pwmch,0,tramp,RAMPRUN)==DONE){
if(ramp(M4,BW,m4pwmch,0,tramp,RAMPRUN)==DONE){
m4st=motStop;
}
break;

BIN
workspace/AUTOM10/Debug/AUTOM10.elf
View File

Binary file not shown.

96
workspace/AUTOM10/Debug/AUTOM10.list
View File

@@ -6643,7 +6643,7 @@ motMov_st m1ap(void){
80030ac: 881b ldrh r3, [r3, #0]
80030ae: 429a cmp r2, r3
80030b0: d365 bcc.n 800317e <m1ap+0x162>
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPINIT);
80030b2: 4b3f ldr r3, [pc, #252] @ (80031b0 <m1ap+0x194>)
80030b4: 881b ldrh r3, [r3, #0]
80030b6: b2da uxtb r2, r3
@@ -6657,7 +6657,7 @@ motMov_st m1ap(void){
80030c6: 9001 str r0, [sp, #4]
80030c8: 9300 str r3, [sp, #0]
80030ca: 460b mov r3, r1
80030cc: 2101 movs r1, #1
80030cc: 2100 movs r1, #0
80030ce: 2001 movs r0, #1
80030d0: f001 f9a2 bl 8004418 <ramp>
m1st=motStartRamp;
@@ -6668,7 +6668,7 @@ motMov_st m1ap(void){
break;
80030da: e050 b.n 800317e <m1ap+0x162>
case motStartRamp:
if(ramp(M1,BW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
if(ramp(M1,FW,mrampstart[M1-1],m1pwmap,tramp,RAMPRUN)==DONE){
80030dc: 4b34 ldr r3, [pc, #208] @ (80031b0 <m1ap+0x194>)
80030de: 881b ldrh r3, [r3, #0]
80030e0: b2da uxtb r2, r3
@@ -6682,7 +6682,7 @@ motMov_st m1ap(void){
80030f0: 9001 str r0, [sp, #4]
80030f2: 9300 str r3, [sp, #0]
80030f4: 460b mov r3, r1
80030f6: 2101 movs r1, #1
80030f6: 2100 movs r1, #0
80030f8: 2001 movs r0, #1
80030fa: f001 f98d bl 8004418 <ramp>
80030fe: 4603 mov r3, r0
@@ -6704,7 +6704,7 @@ motMov_st m1ap(void){
8003114: 881b ldrh r3, [r3, #0]
8003116: 429a cmp r2, r3
8003118: d335 bcc.n 8003186 <m1ap+0x16a>
(void)ramp(M1,BW,m1pwmap,0,tramp,RAMPINIT);
(void)ramp(M1,FW,m1pwmap,0,tramp,RAMPINIT);
800311a: 4b26 ldr r3, [pc, #152] @ (80031b4 <m1ap+0x198>)
800311c: 881b ldrh r3, [r3, #0]
800311e: b2da uxtb r2, r3
@@ -6715,7 +6715,7 @@ motMov_st m1ap(void){
8003128: 9101 str r1, [sp, #4]
800312a: 9300 str r3, [sp, #0]
800312c: 2300 movs r3, #0
800312e: 2101 movs r1, #1
800312e: 2100 movs r1, #0
8003130: 2001 movs r0, #1
8003132: f001 f971 bl 8004418 <ramp>
m1st=motStopRamp;
@@ -6726,7 +6726,7 @@ motMov_st m1ap(void){
break;
800313c: e023 b.n 8003186 <m1ap+0x16a>
case motStopRamp:
if(ramp(M1,BW,m1pwmap,0,tramp,RAMPRUN)==DONE){
if(ramp(M1,FW,m1pwmap,0,tramp,RAMPRUN)==DONE){
800313e: 4b1d ldr r3, [pc, #116] @ (80031b4 <m1ap+0x198>)
8003140: 881b ldrh r3, [r3, #0]
8003142: b2da uxtb r2, r3
@@ -6737,7 +6737,7 @@ motMov_st m1ap(void){
800314c: 9101 str r1, [sp, #4]
800314e: 9300 str r3, [sp, #0]
8003150: 2300 movs r3, #0
8003152: 2101 movs r1, #1
8003152: 2100 movs r1, #0
8003154: 2001 movs r0, #1
8003156: f001 f95f bl 8004418 <ramp>
800315a: 4603 mov r3, r0
@@ -7109,7 +7109,7 @@ motMov_st m3ap(void){
80033f4: 881b ldrh r3, [r3, #0]
80033f6: 429a cmp r2, r3
80033f8: d365 bcc.n 80034c6 <m3ap+0x162>
(void)ramp(M3,BW,mrampstart[M3-1],m2pwmap,tramp,RAMPINIT);
(void)ramp(M3,FW,mrampstart[M3-1],m2pwmap,tramp,RAMPINIT);
80033fa: 4b3f ldr r3, [pc, #252] @ (80034f8 <m3ap+0x194>)
80033fc: 889b ldrh r3, [r3, #4]
80033fe: b2da uxtb r2, r3
@@ -7123,7 +7123,7 @@ motMov_st m3ap(void){
800340e: 9001 str r0, [sp, #4]
8003410: 9300 str r3, [sp, #0]
8003412: 460b mov r3, r1
8003414: 2101 movs r1, #1
8003414: 2100 movs r1, #0
8003416: 2003 movs r0, #3
8003418: f000 fffe bl 8004418 <ramp>
m3st=motStartRamp;
@@ -7134,7 +7134,7 @@ motMov_st m3ap(void){
break;
8003422: e050 b.n 80034c6 <m3ap+0x162>
case motStartRamp:
if(ramp(M3,BW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
if(ramp(M3,FW,mrampstart[M3-1],m3pwmap,tramp,RAMPRUN)==DONE){
8003424: 4b34 ldr r3, [pc, #208] @ (80034f8 <m3ap+0x194>)
8003426: 889b ldrh r3, [r3, #4]
8003428: b2da uxtb r2, r3
@@ -7148,7 +7148,7 @@ motMov_st m3ap(void){
8003438: 9001 str r0, [sp, #4]
800343a: 9300 str r3, [sp, #0]
800343c: 460b mov r3, r1
800343e: 2101 movs r1, #1
800343e: 2100 movs r1, #0
8003440: 2003 movs r0, #3
8003442: f000 ffe9 bl 8004418 <ramp>
8003446: 4603 mov r3, r0
@@ -7170,7 +7170,7 @@ motMov_st m3ap(void){
800345c: 881b ldrh r3, [r3, #0]
800345e: 429a cmp r2, r3
8003460: d335 bcc.n 80034ce <m3ap+0x16a>
(void)ramp(M3,BW,m3pwmap,0,tramp,RAMPINIT);
(void)ramp(M3,FW,m3pwmap,0,tramp,RAMPINIT);
8003462: 4b28 ldr r3, [pc, #160] @ (8003504 <m3ap+0x1a0>)
8003464: 881b ldrh r3, [r3, #0]
8003466: b2da uxtb r2, r3
@@ -7181,7 +7181,7 @@ motMov_st m3ap(void){
8003470: 9101 str r1, [sp, #4]
8003472: 9300 str r3, [sp, #0]
8003474: 2300 movs r3, #0
8003476: 2101 movs r1, #1
8003476: 2100 movs r1, #0
8003478: 2003 movs r0, #3
800347a: f000 ffcd bl 8004418 <ramp>
m3st=motStopRamp;
@@ -7192,7 +7192,7 @@ motMov_st m3ap(void){
break;
8003484: e023 b.n 80034ce <m3ap+0x16a>
case motStopRamp:
if(ramp(M3,BW,m3pwmap,0,tramp,RAMPRUN)==DONE){
if(ramp(M3,FW,m3pwmap,0,tramp,RAMPRUN)==DONE){
8003486: 4b1f ldr r3, [pc, #124] @ (8003504 <m3ap+0x1a0>)
8003488: 881b ldrh r3, [r3, #0]
800348a: b2da uxtb r2, r3
@@ -7203,7 +7203,7 @@ motMov_st m3ap(void){
8003494: 9101 str r1, [sp, #4]
8003496: 9300 str r3, [sp, #0]
8003498: 2300 movs r3, #0
800349a: 2101 movs r1, #1
800349a: 2100 movs r1, #0
800349c: 2003 movs r0, #3
800349e: f000 ffbb bl 8004418 <ramp>
80034a2: 4603 mov r3, r0
@@ -7343,7 +7343,7 @@ motMov_st m4ap(void){
800359c: 881b ldrh r3, [r3, #0]
800359e: 429a cmp r2, r3
80035a0: d365 bcc.n 800366e <m4ap+0x162>
(void)ramp(M4,BW,mrampstart[M4-1],m2pwmap,tramp,RAMPINIT);
(void)ramp(M4,FW,mrampstart[M4-1],m2pwmap,tramp,RAMPINIT);
80035a2: 4b3f ldr r3, [pc, #252] @ (80036a0 <m4ap+0x194>)
80035a4: 88db ldrh r3, [r3, #6]
80035a6: b2da uxtb r2, r3
@@ -7357,7 +7357,7 @@ motMov_st m4ap(void){
80035b6: 9001 str r0, [sp, #4]
80035b8: 9300 str r3, [sp, #0]
80035ba: 460b mov r3, r1
80035bc: 2101 movs r1, #1
80035bc: 2100 movs r1, #0
80035be: 2004 movs r0, #4
80035c0: f000 ff2a bl 8004418 <ramp>
m4st=motStartRamp;
@@ -7368,7 +7368,7 @@ motMov_st m4ap(void){
break;
80035ca: e050 b.n 800366e <m4ap+0x162>
case motStartRamp:
if(ramp(M4,BW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
if(ramp(M4,FW,mrampstart[M4-1],m4pwmap,tramp,RAMPRUN)==DONE){
80035cc: 4b34 ldr r3, [pc, #208] @ (80036a0 <m4ap+0x194>)
80035ce: 88db ldrh r3, [r3, #6]
80035d0: b2da uxtb r2, r3
@@ -7382,7 +7382,7 @@ motMov_st m4ap(void){
80035e0: 9001 str r0, [sp, #4]
80035e2: 9300 str r3, [sp, #0]
80035e4: 460b mov r3, r1
80035e6: 2101 movs r1, #1
80035e6: 2100 movs r1, #0
80035e8: 2004 movs r0, #4
80035ea: f000 ff15 bl 8004418 <ramp>
80035ee: 4603 mov r3, r0
@@ -7404,7 +7404,7 @@ motMov_st m4ap(void){
8003604: 881b ldrh r3, [r3, #0]
8003606: 429a cmp r2, r3
8003608: d335 bcc.n 8003676 <m4ap+0x16a>
(void)ramp(M4,BW,m4pwmap,0,tramp,RAMPINIT);
(void)ramp(M4,FW,m4pwmap,0,tramp,RAMPINIT);
800360a: 4b28 ldr r3, [pc, #160] @ (80036ac <m4ap+0x1a0>)
800360c: 881b ldrh r3, [r3, #0]
800360e: b2da uxtb r2, r3
@@ -7415,7 +7415,7 @@ motMov_st m4ap(void){
8003618: 9101 str r1, [sp, #4]
800361a: 9300 str r3, [sp, #0]
800361c: 2300 movs r3, #0
800361e: 2101 movs r1, #1
800361e: 2100 movs r1, #0
8003620: 2004 movs r0, #4
8003622: f000 fef9 bl 8004418 <ramp>
m4st=motStopRamp;
@@ -7426,7 +7426,7 @@ motMov_st m4ap(void){
break;
800362c: e023 b.n 8003676 <m4ap+0x16a>
case motStopRamp:
if(ramp(M4,BW,m4pwmap,0,tramp,RAMPRUN)==DONE){
if(ramp(M4,FW,m4pwmap,0,tramp,RAMPRUN)==DONE){
800362e: 4b1f ldr r3, [pc, #124] @ (80036ac <m4ap+0x1a0>)
8003630: 881b ldrh r3, [r3, #0]
8003632: b2da uxtb r2, r3
@@ -7437,7 +7437,7 @@ motMov_st m4ap(void){
800363c: 9101 str r1, [sp, #4]
800363e: 9300 str r3, [sp, #0]
8003640: 2300 movs r3, #0
8003642: 2101 movs r1, #1
8003642: 2100 movs r1, #0
8003644: 2004 movs r0, #4
8003646: f000 fee7 bl 8004418 <ramp>
800364a: 4603 mov r3, r0
@@ -7577,7 +7577,7 @@ motMov_st m1ch(void){
8003744: 881b ldrh r3, [r3, #0]
8003746: 429a cmp r2, r3
8003748: d365 bcc.n 8003816 <m1ch+0x162>
(void)ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
(void)ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPINIT);
800374a: 4b3f ldr r3, [pc, #252] @ (8003848 <m1ch+0x194>)
800374c: 881b ldrh r3, [r3, #0]
800374e: b2da uxtb r2, r3
@@ -7591,7 +7591,7 @@ motMov_st m1ch(void){
800375e: 9001 str r0, [sp, #4]
8003760: 9300 str r3, [sp, #0]
8003762: 460b mov r3, r1
8003764: 2100 movs r1, #0
8003764: 2101 movs r1, #1
8003766: 2001 movs r0, #1
8003768: f000 fe56 bl 8004418 <ramp>
m1st=motStartRamp;
@@ -7602,7 +7602,7 @@ motMov_st m1ch(void){
break;
8003772: e050 b.n 8003816 <m1ch+0x162>
case motStartRamp:
if(ramp(M1,FW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
if(ramp(M1,BW,mrampstart[M1-1],m1pwmch,tramp,RAMPRUN)==DONE){
8003774: 4b34 ldr r3, [pc, #208] @ (8003848 <m1ch+0x194>)
8003776: 881b ldrh r3, [r3, #0]
8003778: b2da uxtb r2, r3
@@ -7616,7 +7616,7 @@ motMov_st m1ch(void){
8003788: 9001 str r0, [sp, #4]
800378a: 9300 str r3, [sp, #0]
800378c: 460b mov r3, r1
800378e: 2100 movs r1, #0
800378e: 2101 movs r1, #1
8003790: 2001 movs r0, #1
8003792: f000 fe41 bl 8004418 <ramp>
8003796: 4603 mov r3, r0
@@ -7638,7 +7638,7 @@ motMov_st m1ch(void){
80037ac: 881b ldrh r3, [r3, #0]
80037ae: 429a cmp r2, r3
80037b0: d335 bcc.n 800381e <m1ch+0x16a>
(void)ramp(M1,FW,m1pwmch,0,tramp,RAMPINIT);
(void)ramp(M1,BW,m1pwmch,0,tramp,RAMPINIT);
80037b2: 4b26 ldr r3, [pc, #152] @ (800384c <m1ch+0x198>)
80037b4: 881b ldrh r3, [r3, #0]
80037b6: b2da uxtb r2, r3
@@ -7649,7 +7649,7 @@ motMov_st m1ch(void){
80037c0: 9101 str r1, [sp, #4]
80037c2: 9300 str r3, [sp, #0]
80037c4: 2300 movs r3, #0
80037c6: 2100 movs r1, #0
80037c6: 2101 movs r1, #1
80037c8: 2001 movs r0, #1
80037ca: f000 fe25 bl 8004418 <ramp>
m1st=motStopRamp;
@@ -7660,7 +7660,7 @@ motMov_st m1ch(void){
break;
80037d4: e023 b.n 800381e <m1ch+0x16a>
case motStopRamp:
if(ramp(M1,FW,m1pwmch,0,tramp,RAMPRUN)==DONE){
if(ramp(M1,BW,m1pwmch,0,tramp,RAMPRUN)==DONE){
80037d6: 4b1d ldr r3, [pc, #116] @ (800384c <m1ch+0x198>)
80037d8: 881b ldrh r3, [r3, #0]
80037da: b2da uxtb r2, r3
@@ -7671,7 +7671,7 @@ motMov_st m1ch(void){
80037e4: 9101 str r1, [sp, #4]
80037e6: 9300 str r3, [sp, #0]
80037e8: 2300 movs r3, #0
80037ea: 2100 movs r1, #0
80037ea: 2101 movs r1, #1
80037ec: 2001 movs r0, #1
80037ee: f000 fe13 bl 8004418 <ramp>
80037f2: 4603 mov r3, r0
@@ -8045,7 +8045,7 @@ motMov_st m3ch(void){
8003a8c: 881b ldrh r3, [r3, #0]
8003a8e: 429a cmp r2, r3
8003a90: d365 bcc.n 8003b5e <m3ch+0x162>
(void)ramp(M3,FW,mrampstart[M3-1],m2pwmch,tramp,RAMPINIT);
(void)ramp(M3,BW,mrampstart[M3-1],m2pwmch,tramp,RAMPINIT);
8003a92: 4b3f ldr r3, [pc, #252] @ (8003b90 <m3ch+0x194>)
8003a94: 889b ldrh r3, [r3, #4]
8003a96: b2da uxtb r2, r3
@@ -8059,7 +8059,7 @@ motMov_st m3ch(void){
8003aa6: 9001 str r0, [sp, #4]
8003aa8: 9300 str r3, [sp, #0]
8003aaa: 460b mov r3, r1
8003aac: 2100 movs r1, #0
8003aac: 2101 movs r1, #1
8003aae: 2003 movs r0, #3
8003ab0: f000 fcb2 bl 8004418 <ramp>
m3st=motStartRamp;
@@ -8070,7 +8070,7 @@ motMov_st m3ch(void){
break;
8003aba: e050 b.n 8003b5e <m3ch+0x162>
case motStartRamp:
if(ramp(M3,FW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
if(ramp(M3,BW,mrampstart[M3-1],m3pwmch,tramp,RAMPRUN)==DONE){
8003abc: 4b34 ldr r3, [pc, #208] @ (8003b90 <m3ch+0x194>)
8003abe: 889b ldrh r3, [r3, #4]
8003ac0: b2da uxtb r2, r3
@@ -8084,7 +8084,7 @@ motMov_st m3ch(void){
8003ad0: 9001 str r0, [sp, #4]
8003ad2: 9300 str r3, [sp, #0]
8003ad4: 460b mov r3, r1
8003ad6: 2100 movs r1, #0
8003ad6: 2101 movs r1, #1
8003ad8: 2003 movs r0, #3
8003ada: f000 fc9d bl 8004418 <ramp>
8003ade: 4603 mov r3, r0
@@ -8106,7 +8106,7 @@ motMov_st m3ch(void){
8003af4: 881b ldrh r3, [r3, #0]
8003af6: 429a cmp r2, r3
8003af8: d335 bcc.n 8003b66 <m3ch+0x16a>
(void)ramp(M3,FW,m3pwmch,0,tramp,RAMPINIT);
(void)ramp(M3,BW,m3pwmch,0,tramp,RAMPINIT);
8003afa: 4b28 ldr r3, [pc, #160] @ (8003b9c <m3ch+0x1a0>)
8003afc: 881b ldrh r3, [r3, #0]
8003afe: b2da uxtb r2, r3
@@ -8117,7 +8117,7 @@ motMov_st m3ch(void){
8003b08: 9101 str r1, [sp, #4]
8003b0a: 9300 str r3, [sp, #0]
8003b0c: 2300 movs r3, #0
8003b0e: 2100 movs r1, #0
8003b0e: 2101 movs r1, #1
8003b10: 2003 movs r0, #3
8003b12: f000 fc81 bl 8004418 <ramp>
m3st=motStopRamp;
@@ -8128,7 +8128,7 @@ motMov_st m3ch(void){
break;
8003b1c: e023 b.n 8003b66 <m3ch+0x16a>
case motStopRamp:
if(ramp(M3,FW,m3pwmch,0,tramp,RAMPRUN)==DONE){
if(ramp(M3,BW,m3pwmch,0,tramp,RAMPRUN)==DONE){
8003b1e: 4b1f ldr r3, [pc, #124] @ (8003b9c <m3ch+0x1a0>)
8003b20: 881b ldrh r3, [r3, #0]
8003b22: b2da uxtb r2, r3
@@ -8139,7 +8139,7 @@ motMov_st m3ch(void){
8003b2c: 9101 str r1, [sp, #4]
8003b2e: 9300 str r3, [sp, #0]
8003b30: 2300 movs r3, #0
8003b32: 2100 movs r1, #0
8003b32: 2101 movs r1, #1
8003b34: 2003 movs r0, #3
8003b36: f000 fc6f bl 8004418 <ramp>
8003b3a: 4603 mov r3, r0
@@ -8280,7 +8280,7 @@ motMov_st m4ch(void){
8003c34: 881b ldrh r3, [r3, #0]
8003c36: 429a cmp r2, r3
8003c38: d365 bcc.n 8003d06 <m4ch+0x162>
(void)ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPINIT);
(void)ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPINIT);
8003c3a: 4b3f ldr r3, [pc, #252] @ (8003d38 <m4ch+0x194>)
8003c3c: 88db ldrh r3, [r3, #6]
8003c3e: b2da uxtb r2, r3
@@ -8294,7 +8294,7 @@ motMov_st m4ch(void){
8003c4e: 9001 str r0, [sp, #4]
8003c50: 9300 str r3, [sp, #0]
8003c52: 460b mov r3, r1
8003c54: 2100 movs r1, #0
8003c54: 2101 movs r1, #1
8003c56: 2004 movs r0, #4
8003c58: f000 fbde bl 8004418 <ramp>
m4st=motStartRamp;
@@ -8305,7 +8305,7 @@ motMov_st m4ch(void){
break;
8003c62: e050 b.n 8003d06 <m4ch+0x162>
case motStartRamp:
if(ramp(M4,FW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
if(ramp(M4,BW,mrampstart[M4-1],m4pwmch,tramp,RAMPRUN)==DONE){
8003c64: 4b34 ldr r3, [pc, #208] @ (8003d38 <m4ch+0x194>)
8003c66: 88db ldrh r3, [r3, #6]
8003c68: b2da uxtb r2, r3
@@ -8319,7 +8319,7 @@ motMov_st m4ch(void){
8003c78: 9001 str r0, [sp, #4]
8003c7a: 9300 str r3, [sp, #0]
8003c7c: 460b mov r3, r1
8003c7e: 2100 movs r1, #0
8003c7e: 2101 movs r1, #1
8003c80: 2004 movs r0, #4
8003c82: f000 fbc9 bl 8004418 <ramp>
8003c86: 4603 mov r3, r0
@@ -8341,7 +8341,7 @@ motMov_st m4ch(void){
8003c9c: 881b ldrh r3, [r3, #0]
8003c9e: 429a cmp r2, r3
8003ca0: d335 bcc.n 8003d0e <m4ch+0x16a>
(void)ramp(M4,FW,m4pwmch,0,tramp,RAMPINIT);
(void)ramp(M4,BW,m4pwmch,0,tramp,RAMPINIT);
8003ca2: 4b26 ldr r3, [pc, #152] @ (8003d3c <m4ch+0x198>)
8003ca4: 881b ldrh r3, [r3, #0]
8003ca6: b2da uxtb r2, r3
@@ -8352,7 +8352,7 @@ motMov_st m4ch(void){
8003cb0: 9101 str r1, [sp, #4]
8003cb2: 9300 str r3, [sp, #0]
8003cb4: 2300 movs r3, #0
8003cb6: 2100 movs r1, #0
8003cb6: 2101 movs r1, #1
8003cb8: 2004 movs r0, #4
8003cba: f000 fbad bl 8004418 <ramp>
m4st=motStopRamp;
@@ -8363,7 +8363,7 @@ motMov_st m4ch(void){
break;
8003cc4: e023 b.n 8003d0e <m4ch+0x16a>
case motStopRamp:
if(ramp(M4,FW,m4pwmch,0,tramp,RAMPRUN)==DONE){
if(ramp(M4,BW,m4pwmch,0,tramp,RAMPRUN)==DONE){
8003cc6: 4b1d ldr r3, [pc, #116] @ (8003d3c <m4ch+0x198>)
8003cc8: 881b ldrh r3, [r3, #0]
8003cca: b2da uxtb r2, r3
@@ -8374,7 +8374,7 @@ motMov_st m4ch(void){
8003cd4: 9101 str r1, [sp, #4]
8003cd6: 9300 str r3, [sp, #0]
8003cd8: 2300 movs r3, #0
8003cda: 2100 movs r1, #0
8003cda: 2101 movs r1, #1
8003cdc: 2004 movs r0, #4
8003cde: f000 fb9b bl 8004418 <ramp>
8003ce2: 4603 mov r3, r0

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workspace/AUTOM10/Debug/Core/Src/eeprom.o
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workspace/AUTOM10/Debug/Core/Src/mot.o
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