提交电机驱动

Module/Inc/buzzer.h

+#ifndef BUZZER_H
+#define BUZZER_H
+
+void Buzzer_On(void);
+
+void Buzzer_Off(void);
+
+#endif 

Module/Inc/common.h

+#ifndef COMMON_H
+#define COMMON_H
+
+#include "stm32f10x.h" 
+
+#define D14_GET()   (((GPIOD->IDR >> 14) & 1) ? 1 : 0)
+
+
+// 定义系统状态的枚举类型
+typedef enum {
+    STATE_IDLE,                  // 系统处于空闲状态
+    STATE_MOTOR_RUNNING,         // 电机正在运行
+    STATE_EMERGENCY_STOP,        // 紧急停止状态
+    STATE_BACKUP_RADAR_ACTIVE,   // 备用雷达激活状态
+	  STATE_PARKING_SENSOR_ACTIVE, //倒车雷达激活状态
+    STATE_DISTANCE_SWITCH_ACTIVE,// 距离开关激活状态
+    STATE_PHOTOELECTRIC_SWITCH_ACTIVE // 光电开关激活状态
+} SystemState;
+
+
+// 状态处理函数
+void StateMachineHandler(SystemState newState);
+
+void Delay(uint32_t time, char unit);
+
+
+void Total_GPIO_Init(void);
+
+void Total_EXTI_Init(void);
+
+
+#endif // COMMON

Module/Inc/distance_switch.h

+#ifndef DISTANCE_SWITCH_H
+#define DISTANCE_SWITCH_H
+
+void Distance_Switch_Interruption(void);
+
+
+#endif // DISTANCE_SWITCH

Module/Inc/ds18b20.h

+#ifndef DS18B20_H
+#define DS18B20_H
+
+#include "stm32f10x.h"
+
+// 引脚定义
+#define DS18B20_DQ_PIN     (1 << 12)  // PD12
+#define DS18B20_PORT       GPIOD
+
+// 设置 DQ 引脚为输出模式
+#define DQ_OUT()            { \
+                            GPIOD->CRH &= ~(0xF << (4 * 4)); /* 清除配置 */ \
+                            GPIOD->CRH |= (0x3 << (4 * 4));  /* 设置为推挽输出模式，最大50MHz */ \
+                        }
+
+// 设置 DQ 引脚为输入模式
+#define DQ_IN()             { \
+                            GPIOD->CRH &= ~(0xF << (4 * 4)); /* 清除配置 */ \
+                            GPIOD->CRH |= (0x4 << (4 * 4));  /* 设置为浮空输入模式 */ \
+                        }
+
+// 获取 DQ 引脚的电平变化
+#define DQ_GET()            ((GPIOD->IDR & DS18B20_DQ_PIN) ? 1 : 0)
+
+// DQ 输出高电平或低电平
+#define DQ(x)               ((x) ? (GPIOD->BSRR = DS18B20_DQ_PIN) : (GPIOD->BRR = DS18B20_DQ_PIN))
+
+
+uint8_t DS18B20_Check(void);
+char DS18B20_Init(void);
+void DS18B20_Start(void);
+
+float DS18B20_GetTemperture(void);
+
+#endif // DS18B20_H

Module/Inc/emergency_stop.h

+#ifndef EMERGENCY_STOP_H
+#define EMERGENCY_STOP_H
+
+void Emergency_Stop_Interrupt(void);
+#endif // EMERGENCY_STOP
+

Module/Inc/motor_common.h

+#ifndef MOTOR_COMMON_H
+#define MOTOR_COMMON_H
+
+#define SYSCLK_FREQUENCY 72000000  // 主时钟频率（72 MHz）
+
+#define STEPMOTOR_ANGLEPERSTEP  1.8  //步进电机步距角
+#define STEPMOTOR_FREDIV  32         //步进电机分频系数（细分数）
+
+#define STEPMOTOR_PERDISTANCE 2        //步进电机一转走2mm
+#define STEPMOTOR_PULSEPERROUND  ((360/STEPMOTOR_ANGLEPERSTEP)*STEPMOTOR_FREDIV)   //步进电机每转所需要脉冲的脉冲个数
+#define STEPMOTOR_PULSEPERDISTANCE  STEPMOTOR_PULSEPERROUND/STEPMOTOR_PERDISTANCE  //步进电机每1mm所需要脉冲的脉冲个数
+#define STEPMOTOR_FREQ_ROUNDPERMIN (9375/(STEPMOTOR_FREDIV*2))   //步进电机1r/min需要配置的定时器重载值((72000000*60/STEPMOTOR_PULSEPERROUND)/72)（假设时钟分频为8）   定时时间=60s/(每转需要的脉冲个数)  秒冲个数*2是因为只认高-低
+#define STEPMOTOR_MAX_SPEED(psc, arr)  (SYSCLK_FREQUENCY / ((psc + 1) * (arr + 1)) * 60 / STEPMOTOR_PULSEPERROUND)
+
+#include "stdint.h"
+#include <stdbool.h>
+
+typedef enum {
+    SPEED_NONE,   // 匀速
+    SPEED_ACC,    // 加速
+    SPEED_DEC,    // 减速
+    SPEED_STOP,   // 停止
+} SpeedStatus;
+
+typedef enum {
+    ABSOLUTE_COUNT,
+    RELATIVE_COUNT,
+    CIRCULAR_COUNT,
+    BIDIRECTIONAL_COUNT,
+    INCREMENTAL_COUNT
+} StepCountMode;
+
+typedef struct {
+    uint32_t stepcount;       // 步数（脉冲数）
+    uint8_t direction;        // 方向 (0: 逆时针, 1: 顺时针)
+    uint16_t curSpeed;        // 当前速度 (步/秒)
+    uint16_t desSpeed;        // 目标速度 (步/秒)
+    uint16_t maxSpeed;        // 最大转速
+    SpeedStatus speedStatus;  // 速度状态
+    uint8_t speedlevel;       // 速度级别 0:正常、1:快速、2:慢速
+    StepCountMode stepcountMode;  // 脉冲计数模式
+    uint16_t curlocation;     // 当前位置(角度判断)
+    uint16_t deslocation;     // 目标位置
+    uint16_t acceleration;    // 加速度 (步/秒^2)
+    uint16_t deceleration;    // 减速度 (步/秒^2)
+    uint16_t psc;             // 预分频器
+    uint16_t arr;             // 自动重装载寄存器
+} Motor;
+
+#endif // MOTOR_COMMON_H

Module/Inc/onewire.h

+#ifndef ONEWIRE_H
+#define ONEWIRE_H
+
+#include "stm32f10x.h"
+
+// 引脚定义
+#define ONEWIRE_PIN  (1 << 12)  // PD12
+#define ONEWIRE_PORT GPIOD
+
+
+// 初始化 One-Wire 总线 (PE1)
+void Onewire_Init(void);
+
+// 设置引脚为输出模式
+void Onewire_Pin_Output(void);
+
+// 设置引脚为输入模式
+void Onewire_Pin_Input(void);
+
+// 复位 One-Wire 总线并检测传感器是否存在
+uint8_t Onewire_Reset(void);
+
+// 向 One-Wire 设备发送一位数据
+void Onewire_SendBit(unsigned char Bit);
+
+// 从 One-Wire 设备接收一位数据
+unsigned char Onewire_ReceiveBit(void);
+
+// 向 One-Wire 设备发送一个字节数据
+void Onewire_SendByte(unsigned char Byte);
+
+// 从 One-Wire 设备接收一个字节数据
+unsigned char Onewire_ReceiveByte(void);
+
+#endif // ONEWIRE_H

Module/Inc/parking_sensor.h

+#ifndef PARKING_SENSOR_H
+#define PARKING_SENSOR_H
+
+#include "stm32f10x.h"  // 包含STM32F103的寄存器定义头文件
+
+
+
+// 全局变量
+extern  volatile uint32_t pulse_time ;     // 脉宽时间
+extern  volatile double distance_cm ;      // 距离
+extern  volatile uint8_t capture_state ;   // 捕获状态标志
+
+// 动态配置 PE0 - PE15 引脚
+void Configure_PE_Pin(uint8_t pin, uint8_t mode);
+
+
+// 初始化 TIM2 为捕获模式
+void TIM2_Capture_Init(void);
+
+// 发送触发信号
+void SendTriggerSignal(void);
+
+
+
+double CalculateDistance();
+
+
+void Parking_Sensor_Interruption(void);
+
+
+
+#endif // parking_sensor

Module/Inc/photoelectric_switch.h

+#ifndef PHOTOELECTRIC_SWITCH_H
+#define PHOTOELECTRIC_SWITCH_H
+
+void Photoelectric_Switch_Interrupt(void);
+
+
+#endif // PHOTOELECTRIC_SWITCH

Module/Inc/pneumatic_solenoid.h

+#ifndef PNEUMATIC_SOLENOID_H
+#define PNEUMATIC_SOLENOID_H
+#include "stdint.h"
+
+//控制气动电磁阀的高低电平
+void Pneumatic_Solenoid_Control(uint8_t index,unsigned char bitValue);
+
+//查询气动电磁阀的电平
+unsigned char find_Pneumatic_Solenoid(uint8_t index);
+
+
+#endif // PNEUMATIC_SOLENOID

Module/Inc/rotate_motor.h

+#ifndef STEPPER_MOTOR_H
+#define STEPPER_MOTOR_H
+
+#include "motor_common.h"
+
+#include "stdint.h"
+#include <stdbool.h>
+typedef struct {
+    Motor base;  // 继承自公共结构体
+} RotateMotor;
+
+
+// 更新电机状态
+void Update_Motor_Status(RotateMotor *motor, SpeedStatus status, uint32_t targetSpeed, uint32_t acceleration);
+;
+
+void Rotate_SetDirection(int direction);
+
+// 使能或禁用旋转电机
+void Rotate_Enable_Rotate(bool enable);
+
+// 设置PWM频率
+void Set_PWM_Frequency(uint32_t frequency);
+
+// 梯形加速算法
+void RotateMotor_Accelerate(uint32_t targetRPM, uint32_t acceleration);
+//梯形减速算法
+void RotateMotor_Decelerate(uint32_t currentRPM, uint32_t deceleration);
+
+
+void TIM3_CH1_Init(uint16_t psc,uint16_t arr);
+
+
+
+#endif // STEPPER_MOTOR_H

Module/Inc/step_motor.h

-#ifndef STEPPER_MOTOR_H
-#define STEPPER_MOTOR_H
-
-
-#define SYSCLK_FREQUENCY 72000000  // 主时钟频率（72 MHz）
-
-#define STEPMOTOR_ANGLEPERSTEP  1.8  //步进电机步距角
-#define STEPMOTOR_FREDIV  32         //步进电机分频系数（细分数）
-
-#define STEPMOTOR_PERDISTANCE 2        //步进电机一转走2mm
-#define STEPMOTOR_PULSEPERROUND  ((360/STEPMOTOR_ANGLEPERSTEP)*STEPMOTOR_FREDIV)   //步进电机每转所需要脉冲的脉冲个数
-#define STEPMOTOR_PULSEPERDISTANCE  STEPMOTOR_PULSEPERROUND/STEPMOTOR_PERDISTANCE  //步进电机每1mm所需要脉冲的脉冲个数
-#define STEPMOTOR_FREQ_ROUNDPERMIN (9375/(STEPMOTOR_FREDIV*2))   //步进电机1r/min需要配置的定时器重载值((72000000*60/STEPMOTOR_PULSEPERROUND)/72)（假设时钟分频为8）   定时时间=60s/(每转需要的脉冲个数)  秒冲个数*2是因为只认高-低
-#define STEPMOTOR_MAX_SPEED(psc, arr)  (SYSCLK_FREQUENCY / ((psc + 1) * (arr + 1)) * 60 / STEPMOTOR_PULSEPERROUND)
-
-
-typedef enum
-{
-    SPEED_NONE,   // 无速度变化
-    SPEED_ACC,    // 加速
-    SPEED_DEC,    // 减速
-    SPEED_STOP,   // 停止
-} SpeedStatus;
-
-
-// 定义步进电机配置结构体
-typedef struct {
-    unsigned stepcount;       // 步数（脉冲数）
-    unsigned direction;       // 方向 (0: 逆时针, 1: 顺时针)
-    unsigned curSpeed;        // 当前速度 (步/秒)
-    unsigned desSpeed;        // 目标速度 (步/秒)
-	  unsigned maxSpeed;        //最大转速
-    SpeedStatus speedStatus;  // 速度状态
-    unsigned stepcountMode;   // 脉冲计数模式
-    unsigned curlocation;     // 当前位置
-    unsigned deslocation;     // 目标位置
-    unsigned acceleration;    // 加速度 (步/秒^2)
-    unsigned deceleration;    // 减速度 (步/秒^2)
-	  uint16_t  psc;            //预分频器 
-    uint16_t  arr;               //自动重装载寄存器 
-} StepMotor;
-
-
-// 更新电机状态
-void Update_Motor_Status(StepMotor *motor, SpeedStatus status, uint32_t targetSpeed, uint32_t acceleration);
-;
-
-void Set_Direction(int direction);
-
-// 使能或禁用步进电机
-void Enable_Stepper(bool enable);
-
-// 设置PWM频率
-void Set_PWM_Frequency(uint32_t frequency)；
-
-// 梯形加减速算法
-void StepMotor(int steps, int direction, int max_speed, int acceleration);
-
-void Delay(uint32_t delay);
-
-void Timer_Frequency(int & frequency,StepMotor *stepMotor);
-
-void TIM3_Init(uint16_t &psc,uint16_t &arr);
-
-
-
-#endif // STEPPER_MOTOR_H
\ No newline at end of file

Module/Inc/temperature_sensor.h

+// ds18b20.h
+
+#ifndef TEMPERATURE_SENSOR_H
+#define TEMPERATURE_SENSOR_H
+
+
+void TemperatureSensor_ConvertT(void);  // 启动温度转换
+float TemperatureSensor_ReadT(void);    // 读取温度数据
+
+#endif

Module/Inc/walking_motor.h

+#ifndef WALKING_MOTOR_H
+#define WALKING_MOTOR_H
+
+#include "motor_common.h"
+#include "stdint.h"
+#include <stdbool.h>
+
+typedef struct {
+    Motor base;  // 继承自公共结构体
+} WalkingMotor;
+
+// 更新电机状态
+void Walking_Update_Motor_Status(WalkingMotor *motor, SpeedStatus status, uint32_t targetSpeed, uint32_t acceleration);
+;
+
+void Walking_SetDirection(int direction);
+
+// 使能或禁用旋转电机
+void Walking_Enable_Rotate(bool enable);
+
+// 设置PWM频率
+void Walking_Set_PWM_Frequency(uint32_t frequency);
+
+// 梯形加速算法
+void WalkingMotor_Accelerate(uint32_t targetRPM, uint32_t acceleration);
+//梯形减速算法
+void WalkingMotor_Decelerate(uint32_t currentRPM, uint32_t deceleration);
+
+
+void TIM3_CH2_Init(uint16_t psc,uint16_t arr);
+
+
+
+
+#endif

Module/Src/buzzer.c

+#include "buzzer.h"
+#include "stm32f10x.h"
+#include "common.h"
+
+void Buzzer_On(void) {
+    GPIOE->BSRR = GPIO_BSRR_BS9; // 设置PE9为高电平
+	    Delay(1, 's');
+
+}
+
+void Buzzer_Off(void) {
+    GPIOE->BRR = GPIO_BRR_BR9; // 设置PE9为低电平
+	    Delay(1, 's');
+}
+

Module/Src/common.c

+#include "common.h"
+#include "stm32f10x.h"
+#include "parking_sensor.h"
+#include "distance_switch.h"
+#include "photoelectric_switch.h"
+#include "emergency_stop.h"
+#include "uart_log.h"
+
+void Delay(uint32_t time, char unit) {
+    uint32_t cycles = 0;
+
+    const uint32_t SYSCLK_FREQ = 72000000;  // 72 MHz
+
+    // 根据单位选择不同的延时计算
+    switch (unit) {
+    case 'n':  // 纳秒延时
+        // 每个时钟周期为 13.89 纳秒
+        cycles = (time * SYSCLK_FREQ) / 1000000000;  // 纳秒转为时钟周期
+        break;
+    case 'u':  // 微秒延时
+        cycles = (time * SYSCLK_FREQ) / 1000000;  // 微秒转为时钟周期
+        break;
+    case 'm':  // 毫秒延时
+        cycles = (time * SYSCLK_FREQ) / 1000;  // 毫秒转为时钟周期
+        break;
+    case 's':  // 秒延时
+        cycles = time * SYSCLK_FREQ;  // 秒转为时钟周期
+        break;
+    default:
+        // 无效的单位，直接返回
+        return;
+    }
+
+    // 使用空操作进行延时
+    for (volatile uint32_t i = 0; i < cycles; i++) {
+        __NOP();  // 空操作
+    }
+}
+
+
+void Total_GPIO_Init(void) {
+    //电机配置01
+    // 使能 GPIOC 和 GPIOF 的时钟
+    RCC->APB2ENR |= RCC_APB2ENR_IOPCEN;
+    RCC->APB2ENR |= RCC_APB2ENR_IOPFEN;
+
+    RCC->APB2ENR |= RCC_APB2ENR_IOPGEN; // 启用GPIOG时钟
+    RCC->APB2ENR |= RCC_APB2ENR_IOPEEN; // 启用GPIOE时钟
+
+    // 使能GPIOE和GPIOD时钟，同时使能AFIO时钟
+    RCC->APB2ENR |= RCC_APB2ENR_IOPDEN;
+    // 使能GPIOB
+    RCC->APB2ENR |= RCC_APB2ENR_IOPBEN;
+
+
+    // 使能 AFIO 时钟，用于重映射
+    RCC->APB2ENR |= RCC_APB2ENR_AFIOEN;
+
+    // 配置 PC6 引脚为复用推挽输出 (50 MHz)
+    GPIOC->CRL &= ~(0xF << 24); // 清空 PC6 配置
+    GPIOC->CRL |= (0xB << 24);  // 配置为复用推挽输出 (0xB = 1011)
+
+    // 配置 PC5 为通用推挽输出 (方向)
+    GPIOC->CRL &= ~(0xF << 20); // 清空 PC5 配置
+    GPIOC->CRL |= (0x3 << 20);  // 配置为通用推挽输出 (0x3 = 0011)
+
+    // 配置 PF11 为通用推挽输出 (使能)
+    GPIOF->CRH &= ~(0xF <<12); // 清空 PF11 配置
+    GPIOF->CRH |= (0x3 << 12);  // 配置为通用推挽输出 (0x3 = 0011)
+
+
+
+    //电机配置02
+    // 配置 PC7 引脚为复用推挽输出 (50 MHz)
+    GPIOC->CRL &= ~((uint32_t)0xF << (4*7)); // 清空 PC7 配置
+    GPIOC->CRL |= ((uint32_t)0xB << (4*7));  // 配置为复用推挽输出 (0xB = 1011)
+
+    // 配置 PF12 为通用推挽输出 (方向)
+    GPIOF->CRH &= ~(0xF << (4*4)); // 清空 PF12 配置
+    GPIOF->CRH |= (0x3 <<(4*4));  // 配置为通用推挽输出 (0x3 = 0011)
+
+
+    // 配置 PC4 为通用推挽输出 (使能)
+    GPIOC->CRL &= ~(0xF <<(4*4)); // 清空 PC4 配置
+    GPIOC->CRL |= (0x3 << (4*4));  // 配置为通用推挽输出 (0x3 = 0011)
+
+    // 重映射 TIM3_CH1 到 PC6 TIM3_CH2 到 PC7
+    AFIO->MAPR |= AFIO_MAPR_TIM3_REMAP_FULLREMAP;
+
+    //气动电磁阀GPIO配置
+    // 配置 PF13, PF14, PF15 为复用推挽输出 (50 MHz)
+    GPIOF->CRH &= ~(0xF <<(4*5)); // 清空 PF13 配置 (位20-23)
+    GPIOF->CRH |= (0x3 <<(4*5));  // 配置 PF13 为通用推挽输出
+
+    GPIOF->CRH &= ~(0xF <<(4*6)); // 清空 PF14 配置 (位24-27)
+    GPIOF->CRH |= (0x3 << (4*6));  // 配置 PF14 为通用推挽输出
+
+    GPIOF->CRH &= ~((uint32_t)0x3 <<(4*7)); // 清空 PF15 配置 (位28-31)
+    GPIOF->CRH |= ((uint32_t)0x3 << (4*7));  // 配置 PF15 为通用推挽输出
+
+    // 配置 PG0, PG1 为复用推挽输出 (50 MHz)
+    GPIOG->CRL &= ~(0xF << (4*0)); // 清空 PG0 配置 (位0-3)
+    GPIOG->CRL |= (0x3 << (4*0));  // 配置 PG0 为通用推挽输出
+
+    GPIOG->CRL &= ~(0xF << (4*1)); // 清空 PG1 配置 (位4-7)
+    GPIOG->CRL |= (0x3 << (4*1));  // 配置 PG1 为通用推挽输出
+
+    // 配置 PE7, PE8 为复用推挽输出 (50 MHz)
+    GPIOE->CRL &= ~(0xF << (4*7)); // 清空 PE7 配置 (位20-23)
+    GPIOE->CRL |= (0x3 << (4*7));  // 配置 PE7 为通用推挽输出
+
+    GPIOE->CRH &= ~(0xF << (4*0)); // 清空 PE8 配置 (位24-27)
+    GPIOE->CRH |= (0x3 << (4*0));  // 配置 PE8 为通用推挽输出
+
+    //倒车雷达
+
+    // 配置PE10-PE15为推挽输出，默认为低电平
+    GPIOE->CRH &= ~(0xFFFFF << 8);  // 清空PE10-PE15配置
+    GPIOE->CRH |= 0x11111 << 8;     // 设置PE10-PE15为推挽输出
+    GPIOE->BRR = 0xFC00;            // 默认低电平（PE10到PE15）
+
+    // 配置 PD14 为上拉输入模式
+    GPIOD->CRH &= ~(0xF << 24);  // 清空 PD14 的配置
+    GPIOD->CRH |= (0x4 << 24);   // 设置为上拉/下拉输入模式
+  
+
+    //行走距离开关 distance_switch
+
+    // 配置PG15为输入模式（浮空输入）
+    GPIOG->CRH &= ~((uint32_t)0xF << (4*7));   // 清除PG15的配置
+    GPIOG->CRH |= ((uint32_t)0x4 << (4*7));    // 设置为浮空输入模式
+
+    // 配置PD6为输入模式（浮空输入）
+    GPIOD->CRL &= ~(0xF << 24);   // 清除PD6的配置
+    GPIOD->CRL |= (0x4 << 24);    // 设置为浮空输入模式
+
+    //旋转光电开关 photoelectric_switch
+
+    // 配置PB9为输入模式（浮空输入）
+    GPIOB->CRH &= ~(0xF << 4);   // 清除PB9的配置
+    GPIOB->CRH |= (0x4 << 4);    // 设置为浮空输入模式
+
+    // 配置PE0为输入模式（浮空输入）
+    GPIOE->CRL &= ~(0xF << 0);   // 清除PE0的配置
+    GPIOE->CRL |= (0x4 << 0);    // 设置为浮空输入模式
+
+    //Onewire_Init
+    // 配置 PE1 为推挽输出（初始为高电平）
+    GPIOD->CRH &= ~(0xF << 4*4);   // 清除PD12的配置
+    GPIOD->CRH |= (0x3 << 4*4);    // 设置为推挽输出模式
+
+    //急停按钮 emergency_stop
+    // 配置 PE2 为输入上拉
+    GPIOE->CRL &= ~(0xF << (2 * 4));  // 清除 PE2 配置位
+    GPIOE->CRL |= (0x8 << (2 * 4));   // 配置 PE2 为上拉输入模式
+    GPIOE->ODR |= (1 << 2);
+
+    //蜂鸣器 buzzer
+    GPIOE->CRH &= ~(0xF << (4 * 1));
+    GPIOE->CRH |= (0x03 << (4 * 1));
+}
+
+void Total_EXTI_Init(void) {
+    // 设置优先级组为组2 (2位抢占优先级 + 2位子优先级)
+    //SCB->AIRCR = (0x05FA << 16) | (2 << 8);  // 设置优先级分组
+
+    // 倒车雷达中断
+    AFIO->EXTICR[3] &= ~AFIO_EXTICR4_EXTI14;  // 清除EXTI14
+    AFIO->EXTICR[3] |= AFIO_EXTICR4_EXTI14_PD;  // 将PD14连接到EXTI14
+
+    EXTI->FTSR &= ~EXTI_FTSR_TR14;  // 先清除下降沿触发配置
+    EXTI->RTSR &= ~EXTI_RTSR_TR14;  // 先清除上升沿触发配置
+    EXTI->RTSR |= EXTI_RTSR_TR14;  // 上升沿触发
+    EXTI->FTSR |= EXTI_RTSR_TR14;  // 下降沿触发
+
+	  EXTI->IMR |= EXTI_IMR_MR14;  // 使能中断
+
+    NVIC_EnableIRQ(EXTI15_10_IRQn);
+    NVIC_SetPriority(EXTI15_10_IRQn, 0x02); // 设置中断优先级
+
+    // 行走距离开关中断
+    AFIO->EXTICR[1] &= ~(AFIO_EXTICR2_EXTI6);  // 清除EXTI6的配置
+    AFIO->EXTICR[1] |= AFIO_EXTICR2_EXTI6_PD;  // 连接PD6到EXTI6
+    AFIO->EXTICR[3] &= ~(AFIO_EXTICR4_EXTI15);  // 清除EXTI15的配置
+    AFIO->EXTICR[3] |= AFIO_EXTICR4_EXTI15_PG;  // 连接PG15到EXTI15
+
+   
+    EXTI->RTSR |= EXTI_RTSR_TR6 | EXTI_RTSR_TR15;  // 配置上升沿触发
+    EXTI->FTSR |= EXTI_FTSR_TR6 | EXTI_FTSR_TR15;  // 配置下降沿触发
+		EXTI->IMR |= EXTI_IMR_MR6 | EXTI_IMR_MR15;  // 使能中断线6和15
+
+    // 使能EXTI9_5_IRQn中断
+    //NVIC_EnableIRQ(EXTI9_5_IRQn);  // PD6 属于 EXTI9_5_IRQn
+    NVIC_SetPriority(EXTI9_5_IRQn, 0x0B);  // 设置中断优先级
+
+    // 使能EXTI15_10_IRQn中断
+    //NVIC_EnableIRQ(EXTI15_10_IRQn);  // EXTI15 属于 EXTI15_10_IRQn
+    //NVIC_SetPriority(EXTI15_10_IRQn, 0x06);  // 设置中断优先级
+
+
+
+    // 旋转光电开关中断
+    AFIO->EXTICR[2] &= ~(AFIO_EXTICR3_EXTI9);    // 清除EXTI9的配置
+    AFIO->EXTICR[2] |= AFIO_EXTICR3_EXTI9_PB;    // 连接PB9到EXTI9
+    AFIO->EXTICR[0] &= ~(AFIO_EXTICR1_EXTI0);    // 清除EXTI0的配置
+    AFIO->EXTICR[0] |= AFIO_EXTICR1_EXTI0_PE;    // 连接PE0到EXTI0
+
+    EXTI->RTSR |= EXTI_RTSR_TR9 | EXTI_RTSR_TR0;  // 配置上升沿触发
+    EXTI->FTSR |= EXTI_FTSR_TR9 | EXTI_FTSR_TR0;  // 配置下降沿触发		
+    EXTI->IMR |= EXTI_IMR_MR9 | EXTI_IMR_MR0;     // 使能中断线9和0
+
+    // 使能EXTI9_5_IRQn中断
+    NVIC_EnableIRQ(EXTI9_5_IRQn);   // PB9 属于 EXTI9_5 中断
+    NVIC_SetPriority(EXTI9_5_IRQn, 0x0C);  // 设置优先级
+
+    // 使能EXTI0_IRQn中断
+    NVIC_EnableIRQ(EXTI0_IRQn);     // PE0 属于 EXTI0 中断
+    NVIC_SetPriority(EXTI0_IRQn, 0x0D);    // 设置优先级
+
+    // 急停按钮中断
+    //AFIO->EXTICR[0] = (AFIO->EXTICR[0] & ~0xF) | 0x4;  // PE2
+    AFIO->EXTICR[0] &= ~(AFIO_EXTICR1_EXTI2);    // 清除EXTI9的配置
+    AFIO->EXTICR[0] |= AFIO_EXTICR1_EXTI2_PE;    // 连接PE2到EXTI2
+
+    EXTI->FTSR &= ~EXTI_FTSR_TR2;  // 清除上升沿触发
+    EXTI->RTSR &= ~EXTI_RTSR_TR2;  // 清除上升沿触发
+    EXTI->FTSR |= EXTI_FTSR_TR2;   // 使能下降沿触发
+    EXTI->IMR |= EXTI_IMR_MR2;
+    NVIC_EnableIRQ(EXTI2_IRQn);
+    NVIC_SetPriority(EXTI2_IRQn, 0x00); // 设置急停按钮中断优先级为最高
+
+}
+// 状态处理函数
+void StateMachineHandler(SystemState currentState) {
+    switch (currentState) {
+    case STATE_IDLE:
+        // 处理IDLE状态
+        break;
+    case STATE_MOTOR_RUNNING:
+        // 处理MOTOR_RUNNING状态
+        break;
+    case STATE_EMERGENCY_STOP:
+        // 处理EMERGENCY_STOP状态
+        Emergency_Stop_Interrupt();
+        break;
+    case STATE_PARKING_SENSOR_ACTIVE:
+        Parking_Sensor_Interruption();
+        break;
+    case STATE_DISTANCE_SWITCH_ACTIVE:
+        Distance_Switch_Interruption();
+        // 处理DISTANCE_SWITCH_ACTIVE状态
+        break;
+    case STATE_PHOTOELECTRIC_SWITCH_ACTIVE:
+        // 处理PHOTOELECTRIC_SWITCH_ACTIVE状态
+        Photoelectric_Switch_Interrupt();
+        break;
+    default:
+        // 默认处理
+        break;
+    }
+}
+
+// 中断服务例程
+void EXTI9_5_IRQHandler(void) {
+    if (EXTI->PR & EXTI_PR_PR6) {  // 检查是否是 EXTI 线 6 触发了中断
+        // 处理 PD6 中断
+        StateMachineHandler(STATE_DISTANCE_SWITCH_ACTIVE);
+        // 清除中断标志位
+        EXTI->PR = EXTI_PR_PR6;
+    }
+    if (EXTI->PR & EXTI_PR_PR9) {  // 检查是否是 EXTI 线 9 触发了中断
+        // 处理 PB9 中断
+        StateMachineHandler(STATE_PHOTOELECTRIC_SWITCH_ACTIVE);
+        // 清除中断标志位
+        EXTI->PR = EXTI_PR_PR9;
+    }
+}
+
+// 中断服务例程
+void EXTI0_IRQHandler(void) {
+    if (EXTI->PR & EXTI_PR_PR0) {  // 检查是否是EXTI线0触发了中断
+        // 处理PE0中断
+        StateMachineHandler(STATE_PHOTOELECTRIC_SWITCH_ACTIVE);
+        // 清除中断标志位
+        EXTI->PR = EXTI_PR_PR0;
+    }
+}
+
+
+
+//STATE_PARKING_SENSOR_ACTIVE
+void EXTI15_10_IRQHandler(void) {
+    // 处理 PD14 中断
+    if (EXTI->PR & EXTI_PR_PR14) {  // 检查是否是EXTI线14触发了中断
+        StateMachineHandler(STATE_PARKING_SENSOR_ACTIVE);
+        EXTI->PR = EXTI_PR_PR14;  // 清除中断标志位
+    }
+    if (EXTI->PR & EXTI_PR_PR15) {  // 检查是否是EXTI线15触发了中断
+        Serial_Print("EXTI15 triggered\n");
+        StateMachineHandler(STATE_DISTANCE_SWITCH_ACTIVE);
+        EXTI->PR = EXTI_PR_PR15;  // 清除中断标志位
+    }
+}
+
+
+void EXTI2_IRQHandler(void) {
+    if (EXTI->PR & EXTI_PR_PR2) {  // 检查是否是EXTI线2触发了中断
+        // 处理PE2中断（急停按钮）
+        StateMachineHandler(STATE_EMERGENCY_STOP);
+        // 清除中断标志位
+        EXTI->PR = EXTI_PR_PR2;
+    }
+}

Module/Src/common.c.orig

+#include "common.h"
+#include "stm32f10x.h"
+#include "parking_sensor.h"
+#include "distance_switch.h"
+#include "photoelectric_switch.h"
+#include "emergency_stop.h"
+#include "uart_log.h"
+
+void Delay(uint32_t time, char unit) {
+    uint32_t cycles = 0;
+
+    const uint32_t SYSCLK_FREQ = 72000000;  // 72 MHz
+
+    // 根据单位选择不同的延时计算
+    switch (unit) {
+    case 'n':  // 纳秒延时
+        // 每个时钟周期为 13.89 纳秒
+        cycles = (time * SYSCLK_FREQ) / 1000000000;  // 纳秒转为时钟周期
+        break;
+    case 'u':  // 微秒延时
+        cycles = (time * SYSCLK_FREQ) / 1000000;  // 微秒转为时钟周期
+        break;
+    case 'm':  // 毫秒延时
+        cycles = (time * SYSCLK_FREQ) / 1000;  // 毫秒转为时钟周期
+        break;
+    case 's':  // 秒延时
+        cycles = time * SYSCLK_FREQ;  // 秒转为时钟周期
+        break;
+    default:
+        // 无效的单位，直接返回
+        return;
+    }
+
+    // 使用空操作进行延时
+    for (volatile uint32_t i = 0; i < cycles; i++) {
+        __NOP();  // 空操作
+    }
+}
+
+
+void Total_GPIO_Init(void) {
+    //电机配置01
+    // 使能 GPIOC 和 GPIOF 的时钟
+    RCC->APB2ENR |= RCC_APB2ENR_IOPCEN;
+    RCC->APB2ENR |= RCC_APB2ENR_IOPFEN;
+
+    RCC->APB2ENR |= RCC_APB2ENR_IOPGEN; // 启用GPIOG时钟
+    RCC->APB2ENR |= RCC_APB2ENR_IOPEEN; // 启用GPIOE时钟
+
+    // 使能GPIOE和GPIOD时钟，同时使能AFIO时钟
+    RCC->APB2ENR |= RCC_APB2ENR_IOPDEN;
+    // 使能GPIOB
+    RCC->APB2ENR |= RCC_APB2ENR_IOPBEN;
+
+
+    // 使能 AFIO 时钟，用于重映射
+    RCC->APB2ENR |= RCC_APB2ENR_AFIOEN;
+
+    // 配置 PC6 引脚为复用推挽输出 (50 MHz)
+    GPIOC->CRL &= ~(0xF << 24); // 清空 PC6 配置
+    GPIOC->CRL |= (0xB << 24);  // 配置为复用推挽输出 (0xB = 1011)
+
+    // 配置 PC5 为通用推挽输出 (方向)
+    GPIOC->CRL &= ~(0xF << 20); // 清空 PC5 配置
+    GPIOC->CRL |= (0x3 << 20);  // 配置为通用推挽输出 (0x3 = 0011)
+
+    // 配置 PF11 为通用推挽输出 (使能)
+    GPIOF->CRH &= ~(0xF <<12); // 清空 PF11 配置
+    GPIOF->CRH |= (0x3 << 12);  // 配置为通用推挽输出 (0x3 = 0011)
+
+
+
+    //电机配置02
+    // 配置 PC7 引脚为复用推挽输出 (50 MHz)
+    GPIOC->CRL &= ~((uint32_t)0xF << (4*7)); // 清空 PC7 配置
+    GPIOC->CRL |= ((uint32_t)0xB << (4*7));  // 配置为复用推挽输出 (0xB = 1011)
+
+    // 配置 PF12 为通用推挽输出 (方向)
+    GPIOF->CRH &= ~(0xF << (4*4)); // 清空 PF12 配置
+    GPIOF->CRH |= (0x3 <<(4*4));  // 配置为通用推挽输出 (0x3 = 0011)
+
+
+    // 配置 PC4 为通用推挽输出 (使能)
+    GPIOC->CRL &= ~(0xF <<(4*4)); // 清空 PC4 配置
+    GPIOC->CRL |= (0x3 << (4*4));  // 配置为通用推挽输出 (0x3 = 0011)
+
+    // 重映射 TIM3_CH1 到 PC6 TIM3_CH2 到 PC7
+    AFIO->MAPR |= AFIO_MAPR_TIM3_REMAP_FULLREMAP;
+
+    //气动电磁阀GPIO配置
+    // 配置 PF13, PF14, PF15 为复用推挽输出 (50 MHz)
+    GPIOF->CRH &= ~(0xF <<(4*5)); // 清空 PF13 配置 (位20-23)
+    GPIOF->CRH |= (0x3 <<(4*5));  // 配置 PF13 为通用推挽输出
+
+    GPIOF->CRH &= ~(0xF <<(4*6)); // 清空 PF14 配置 (位24-27)
+    GPIOF->CRH |= (0x3 << (4*6));  // 配置 PF14 为通用推挽输出
+
+    GPIOF->CRH &= ~((uint32_t)0x3 <<(4*7)); // 清空 PF15 配置 (位28-31)
+    GPIOF->CRH |= ((uint32_t)0x3 << (4*7));  // 配置 PF15 为通用推挽输出
+
+    // 配置 PG0, PG1 为复用推挽输出 (50 MHz)
+    GPIOG->CRL &= ~(0xF << (4*0)); // 清空 PG0 配置 (位0-3)
+    GPIOG->CRL |= (0x3 << (4*0));  // 配置 PG0 为通用推挽输出
+
+    GPIOG->CRL &= ~(0xF << (4*1)); // 清空 PG1 配置 (位4-7)
+    GPIOG->CRL |= (0x3 << (4*1));  // 配置 PG1 为通用推挽输出
+
+    // 配置 PE7, PE8 为复用推挽输出 (50 MHz)
+    GPIOE->CRH &= ~(0xF << (4*1)); // 清空 PE7 配置 (位20-23)
+    GPIOE->CRH |= (0x3 << (4*1));  // 配置 PE7 为通用推挽输出
+
+    GPIOE->CRH &= ~(0xF << (4*2)); // 清空 PE8 配置 (位24-27)
+    GPIOE->CRH |= (0x3 << (4*2));  // 配置 PE8 为通用推挽输出
+
+    //倒车雷达
+
+    // 配置PE10-PE15为推挽输出，默认为低电平
+    GPIOE->CRH &= ~(0xFFFFF << 8);  // 清空PE10-PE15配置
+    GPIOE->CRH |= 0x11111 << 8;     // 设置PE10-PE15为推挽输出
+    GPIOE->BRR = 0xFC00;            // 默认低电平（PE10到PE15）
+
+    // 配置 PD14 为上拉输入模式
+    GPIOD->CRH &= ~(0xF << 24);  // 清空 PD14 的配置
+    GPIOD->CRH |= (0x4 << 24);   // 设置为上拉/下拉输入模式
+
+
+    //行走距离开关 distance_switch
+
+    // 配置PG15为输入模式（浮空输入）
+    GPIOG->CRH &= ~((uint32_t)0xF << (4*7));   // 清除PG15的配置
+    GPIOG->CRH |= ((uint32_t)0x4 << (4*7));    // 设置为浮空输入模式
+
+    // 配置PD6为输入模式（浮空输入）
+    GPIOD->CRL &= ~(0xF << 24);   // 清除PD6的配置
+    GPIOD->CRL |= (0x4 << 24);    // 设置为浮空输入模式
+
+    //旋转光电开关 photoelectric_switch
+
+    // 配置PB9为输入模式（浮空输入）
+    GPIOB->CRH &= ~(0xF << 4);   // 清除PB9的配置
+    GPIOB->CRH |= (0x4 << 4);    // 设置为浮空输入模式
+
+    // 配置PE0为输入模式（浮空输入）
+    GPIOE->CRL &= ~(0xF << 0);   // 清除PE0的配置
+    GPIOE->CRL |= (0x4 << 0);    // 设置为浮空输入模式
+
+    //Onewire_Init
+    // 配置 PE1 为推挽输出（初始为高电平）
+    GPIOD->CRH &= ~(0xF << 4*4);   // 清除PD12的配置
+    GPIOD->CRH |= (0x3 << 4*4);    // 设置为推挽输出模式
+
+    //急停按钮 emergency_stop
+    // 配置 PE2 为输入上拉
+    GPIOE->CRL &= ~(0xF << (2 * 4));  // 清除 PE2 配置位
+    GPIOE->CRL |= (0x8 << (2 * 4));   // 配置 PE2 为上拉输入模式
+		GPIOE->ODR |= (1 << 2);     
+
+    //蜂鸣器 buzzer
+    GPIOE->CRH &= ~(0xF << (4 * 1));
+    GPIOE->CRH |= (0x03 << (4 * 1));
+}
+
+void Total_EXTI_Init(void) {
+    // 设置优先级组为组2 (2位抢占优先级 + 2位子优先级)
+    SCB->AIRCR = (0x05FA << 16) | (2 << 8);  // 设置优先级分组
+
+    // 倒车雷达中断
+    AFIO->EXTICR[3] &= ~AFIO_EXTICR4_EXTI14;  // 清除EXTI14
+    AFIO->EXTICR[3] |= AFIO_EXTICR4_EXTI14_PD;  // 将PD14连接到EXTI14
+    EXTI->IMR |= EXTI_IMR_MR14;  // 使能中断
+	
+	EXTI->FTSR &= ~EXTI_FTSR_TR14;  // 先清除下降沿触发配置
+EXTI->RTSR &= ~EXTI_RTSR_TR14;  // 先清除上升沿触发配置
+    EXTI->RTSR |= EXTI_RTSR_TR14;  // 上升沿触发
+    EXTI->FTSR |= EXTI_RTSR_TR14;  // 下降沿触发
+	
+
+    NVIC_EnableIRQ(EXTI15_10_IRQn);
+    NVIC_SetPriority(EXTI15_10_IRQn, 0x05); // 设置中断优先级
+
+    // 行走距离开关中断
+    AFIO->EXTICR[1] &= ~(AFIO_EXTICR2_EXTI6);  // 清除EXTI6的配置
+    AFIO->EXTICR[1] |= AFIO_EXTICR2_EXTI6_PD;  // 连接PD6到EXTI6
+    AFIO->EXTICR[3] &= ~(AFIO_EXTICR4_EXTI15);  // 清除EXTI15的配置
+    AFIO->EXTICR[3] |= AFIO_EXTICR4_EXTI15_PG;  // 连接PG15到EXTI15
+
+    EXTI->IMR |= EXTI_IMR_MR6 | EXTI_IMR_MR15;  // 使能中断线6和15
+    EXTI->RTSR |= EXTI_RTSR_TR6 | EXTI_RTSR_TR15;  // 配置上升沿触发
+    EXTI->FTSR |= EXTI_FTSR_TR6 | EXTI_FTSR_TR15;  // 配置下降沿触发
+
+    // 使能EXTI9_5_IRQn中断
+    NVIC_EnableIRQ(EXTI9_5_IRQn);  // PD6 属于 EXTI9_5_IRQn
+    NVIC_SetPriority(EXTI9_5_IRQn, 0x0B);  // 设置中断优先级
+
+    // 使能EXTI15_10_IRQn中断
+    NVIC_EnableIRQ(EXTI15_10_IRQn);  // EXTI15 属于 EXTI15_10_IRQn
+    NVIC_SetPriority(EXTI15_10_IRQn, 0x06);  // 设置中断优先级
+
+
+
+    // 旋转光电开关中断
+    AFIO->EXTICR[2] &= ~(AFIO_EXTICR3_EXTI9);    // 清除EXTI9的配置
+    AFIO->EXTICR[2] |= AFIO_EXTICR3_EXTI9_PB;    // 连接PB9到EXTI9
+    AFIO->EXTICR[0] &= ~(AFIO_EXTICR1_EXTI0);    // 清除EXTI0的配置
+    AFIO->EXTICR[0] |= AFIO_EXTICR1_EXTI0_PE;    // 连接PE0到EXTI0
+    EXTI->IMR |= EXTI_IMR_MR9 | EXTI_IMR_MR0;     // 使能中断线9和0
+    EXTI->RTSR |= EXTI_RTSR_TR9 | EXTI_RTSR_TR0;  // 配置上升沿触发
+    EXTI->FTSR |= EXTI_FTSR_TR9 | EXTI_FTSR_TR0;  // 配置下降沿触发
+
+    // 使能EXTI9_5_IRQn中断
+    NVIC_EnableIRQ(EXTI9_5_IRQn);   // PB9 属于 EXTI9_5 中断
+    NVIC_SetPriority(EXTI9_5_IRQn, 0x0C);  // 设置优先级
+
+    // 使能EXTI0_IRQn中断
+    NVIC_EnableIRQ(EXTI0_IRQn);     // PE0 属于 EXTI0 中断
+    NVIC_SetPriority(EXTI0_IRQn, 0x0D);    // 设置优先级
+
+    // 急停按钮中断
+    //AFIO->EXTICR[0] = (AFIO->EXTICR[0] & ~0xF) | 0x4;  // PE2
+    AFIO->EXTICR[0] &= ~(AFIO_EXTICR1_EXTI2);    // 清除EXTI9的配置
+    AFIO->EXTICR[0] |= AFIO_EXTICR1_EXTI2_PE;    // 连接PE2到EXTI2
+
+    EXTI->FTSR &= ~EXTI_FTSR_TR2;  // 清除上升沿触发
+    EXTI->RTSR &= ~EXTI_RTSR_TR2;  // 清除上升沿触发
+    EXTI->FTSR |= EXTI_FTSR_TR2;   // 使能下降沿触发
+    EXTI->IMR |= EXTI_IMR_MR2;
+    NVIC_EnableIRQ(EXTI2_IRQn);
+    NVIC_SetPriority(EXTI2_IRQn, 0x00); // 设置急停按钮中断优先级为最高
+
+}
+// 状态处理函数
+void StateMachineHandler(SystemState currentState) {
+    switch (currentState) {
+    case STATE_IDLE:
+        // 处理IDLE状态
+        break;
+    case STATE_MOTOR_RUNNING:
+        // 处理MOTOR_RUNNING状态
+        break;
+    case STATE_EMERGENCY_STOP:
+        // 处理EMERGENCY_STOP状态
+        Emergency_Stop_Interrupt();
+        break;
+    case STATE_PARKING_SENSOR_ACTIVE:
+        Parking_Sensor_Interruption();
+        break;
+    case STATE_DISTANCE_SWITCH_ACTIVE:
+        Distance_Switch_Interruption();
+        // 处理DISTANCE_SWITCH_ACTIVE状态
+        break;
+    case STATE_PHOTOELECTRIC_SWITCH_ACTIVE:
+        // 处理PHOTOELECTRIC_SWITCH_ACTIVE状态
+        Photoelectric_Switch_Interrupt();
+        break;
+    default:
+        // 默认处理
+        break;
+    }
+}
+
+// 中断服务例程
+void EXTI9_5_IRQHandler(void) {
+    if (EXTI->PR & EXTI_PR_PR6) {  // 检查是否是 EXTI 线 6 触发了中断
+        // 处理 PD6 中断
+        StateMachineHandler(STATE_DISTANCE_SWITCH_ACTIVE);
+        // 清除中断标志位
+        EXTI->PR = EXTI_PR_PR6;
+    }
+    if (EXTI->PR & EXTI_PR_PR9) {  // 检查是否是 EXTI 线 9 触发了中断
+        // 处理 PB9 中断
+        StateMachineHandler(STATE_PHOTOELECTRIC_SWITCH_ACTIVE);
+        // 清除中断标志位
+        EXTI->PR = EXTI_PR_PR9;
+    }
+}
+
+// 中断服务例程
+void EXTI0_IRQHandler(void) {
+    if (EXTI->PR & EXTI_PR_PR0) {  // 检查是否是EXTI线0触发了中断
+        // 处理PE0中断
+        StateMachineHandler(STATE_PHOTOELECTRIC_SWITCH_ACTIVE);
+        // 清除中断标志位
+        EXTI->PR = EXTI_PR_PR0;
+    }
+}
+
+
+
+//STATE_PARKING_SENSOR_ACTIVE
+void EXTI15_10_IRQHandler(void) {
+    // 处理 PD14 中断
+    if (EXTI->PR & EXTI_PR_PR14) {  // 检查是否是EXTI线14触发了中断
+        StateMachineHandler(STATE_PARKING_SENSOR_ACTIVE);
+        EXTI->PR = EXTI_PR_PR14;  // 清除中断标志位
+    }
+    if (EXTI->PR & EXTI_PR_PR15) {  // 检查是否是EXTI线15触发了中断
+        Serial_Print("EXTI15 triggered\n");
+        StateMachineHandler(STATE_DISTANCE_SWITCH_ACTIVE);
+        EXTI->PR = EXTI_PR_PR15;  // 清除中断标志位
+    }
+}
+
+
+void EXTI2_IRQHandler(void) {
+    if (EXTI->PR & EXTI_PR_PR2) {  // 检查是否是EXTI线2触发了中断
+        // 处理PE2中断（急停按钮）
+        StateMachineHandler(STATE_EMERGENCY_STOP);
+        // 清除中断标志位
+        EXTI->PR = EXTI_PR_PR2;
+    }
+}

Module/Src/distance_switch.c

+#include "stm32f10x.h"  // 包含STM32F103ZET6的标准库
+#include "uart_log.h"
+#include "distance_switch.h"
+
+void Distance_Switch_Interruption(void) {
+	Serial_Printf("Hello, Distance_Switch_Interruption!\n");
+    // 检查是否是PG15触发的中断
+    if (EXTI->PR & EXTI_PR_PR15) {
+        if (GPIOG->IDR & (1 << 15)) {  // 检测PG15的上升沿
+            Serial_Print("PG15: 接近 (NPN传感器 - 高电平)\n");
+        } else {  // 检测PG15的下降沿
+            Serial_Print("PG15: 远离 (NPN传感器 - 低电平)\n");
+        }
+        // 清除中断标志位
+        EXTI->PR = EXTI_PR_PR15;
+    }
+
+    // 检查是否是PD6触发的中断
+    if (EXTI->PR & EXTI_PR_PR6) {
+        if (GPIOD->IDR & (1 << 6)) {  // 检测PD14的上升沿
+            Serial_Print("PD6: 接近 (PNP传感器 - 高电平)\n");
+        } else {  // 检测PD14的下降沿
+            Serial_Print("PD6: 远离 (PNP传感器 - 低电平)\n");
+        }
+        // 清除中断标志位
+        EXTI->PR = EXTI_PR_PR6;
+    }
+}

Module/Src/ds18b20.c

+#include "ds18b20.h"
+#include "common.h"
+
+/******************************************************************
+ * 函 数 名 称：bsp_ds18b20_Init
+ * 函 数 说 明：MLX90614的初始化
+ * 函 数 形 参：无
+ * 函 数 返 回：1未检测到器件   0检测到器件
+ * 作       者：LC
+ * 备       注：无
+******************************************************************/
+char DS18B20_Init(void)
+{
+    int ret = DS18B20_Check();//检测器件是否存在
+    return ret;
+}
+
+
+
+/******************************************************************
+ * 函 数 名 称：DS18B20_Read_Byte
+ * 函 数 说 明：从DS18B20读取一个字节
+ * 函 数 形 参：无
+ * 函 数 返 回：读取到的字节数据
+ * 作       者：LC
+ * 备       注：无
+******************************************************************/
+uint8_t DS18B20_Read_Byte(void)
+{
+    uint8_t i=0,dat=0;
+
+    for (i=0; i<8; i++)
+    {
+        DQ_OUT();//设置为输入模式
+        DQ(0); //拉低
+
+        Delay(2, 'u');
+        DQ(1); //释放总线
+        DQ_IN();//设置为输入模式
+        Delay(12, 'u');
+
+        dat>>=1;
+        if( DQ_GET() )
+        {
+            dat=dat|0x80;
+        }
+        Delay(50, 'u');
+    }
+    return dat;
+}
+
+/******************************************************************
+ * 函 数 名 称：DS18B20_Write_Byte
+ * 函 数 说 明：写一个字节到DS18B20
+ * 函 数 形 参：dat：要写入的字节
+ * 函 数 返 回：无
+ * 作       者：LC
+ * 备       注：无
+******************************************************************/
+void DS18B20_Write_Byte(uint8_t dat)
+{
+    uint8_t i;
+    DQ_OUT();//设置输出模式
+    for (i=0; i<8; i++)
+    {
+        if ( (dat&0x01) ) //写1
+        {
+            DQ(0);
+            Delay(2, 'u');
+            DQ(1);
+            Delay(60, 'u');
+
+        }
+        else //写0
+        {
+            DQ(0);//拉低60us
+            Delay(60, 'u');
+
+            DQ(1);//释放总线
+            Delay(2, 'u');
+
+        }
+        dat=dat>>1;//传输下一位
+    }
+}
+
+
+
+/******************************************************************
+ * 函 数 名 称：DS18B20_Check
+ * 函 数 说 明：检测DS18B20是否存在
+ * 函 数 形 参：无
+ * 函 数 返 回：1:未检测到DS18B20的存在  0:存在
+ * 作       者：LC
+ * 备       注：无
+******************************************************************/
+uint8_t DS18B20_Check(void)
+{
+    uint8_t timeout=0;
+    //复位DS18B20
+    DQ_OUT(); //设置为输出模式
+    DQ(0); //拉低DQ
+    Delay(750, 'u');
+
+    DQ(1); //拉高DQ
+    Delay(15, 'u');
+
+
+    //设置为输入模式
+    DQ_IN();
+    //等待拉低，拉低说明有应答
+    while ( DQ_GET() &&timeout<200)
+    {
+        timeout++;//超时判断
+        Delay(1, 'u');
+
+    };
+    //设备未应答
+    if(timeout>=200)
+        return 1;
+    else
+        timeout=0;
+
+    //等待18B20释放总线
+    while ( !DQ_GET() &&timeout<240)
+    {
+        timeout++;//超时判断
+        Delay(1, 'u');
+
+    };
+    //释放总线失败
+    if(timeout>=240)
+        return 1;
+
+    return 0;
+}
+
+/******************************************************************
+ * 函 数 名 称：DS18B20_Start
+ * 函 数 说 明：DS18B20开始温度转换
+ * 函 数 形 参：无
+ * 函 数 返 回：无
+ * 作       者：LC
+ * 备       注：无
+******************************************************************/
+void DS18B20_Start(void)
+{
+    DS18B20_Check();                //查询是否有设备应答
+    DS18B20_Write_Byte(0xcc);   //对总线上所有设备进行寻址
+    DS18B20_Write_Byte(0x44);   //启动温度转换
+}
+
+/******************************************************************
+ * 函 数 名 称：DS18B20_GetTemperture
+ * 函 数 说 明：从ds18b20得到温度值
+ * 函 数 形 参：无
+ * 函 数 返 回：温度数据
+ * 作       者：LC
+ * 备       注：无
+******************************************************************/
+float DS18B20_GetTemperture(void)
+{
+    uint16_t temp;
+    uint8_t dataL=0,dataH=0;
+    float value;
+
+    DS18B20_Start();
+    DS18B20_Check();
+    DS18B20_Write_Byte(0xcc);//对总线上所有设备进行寻址
+    DS18B20_Write_Byte(0xbe);// 读取数据命令
+    dataL=DS18B20_Read_Byte(); //LSB
+    dataH=DS18B20_Read_Byte(); //MSB
+    temp=(dataH<<8)+dataL;//整合数据
+
+
+    if(dataH&0X80)//高位为1，说明是负温度
+    {
+        temp=(~temp)+1;
+        value=temp*(-0.0625);
+    }
+    else
+    {
+        value=temp*0.0625;
+    }
+    return value;
+}

Module/Src/ds18b20.c.orig

+#include "ds18b20.h"
+#include "common.h"
+
+/******************************************************************
+ * 函 数 名 称：bsp_ds18b20_Init
+ * 函 数 说 明：MLX90614的初始化
+ * 函 数 形 参：无
+ * 函 数 返 回：1未检测到器件   0检测到器件
+ * 作       者：LC
+ * 备       注：无
+******************************************************************/
+char DS18B20_Init(void)
+{
+    int ret = DS18B20_Check();//检测器件是否存在
+    return ret;
+}
+
+      
+
+/******************************************************************
+ * 函 数 名 称：DS18B20_Read_Byte
+ * 函 数 说 明：从DS18B20读取一个字节
+ * 函 数 形 参：无
+ * 函 数 返 回：读取到的字节数据
+ * 作       者：LC
+ * 备       注：无
+******************************************************************/
+uint8_t DS18B20_Read_Byte(void)    
+{        
+        uint8_t i=0,dat=0;
+
+        for (i=0;i<8;i++) 
+        {
+        DQ_OUT();//设置为输入模式
+        DQ(0); //拉低
+    
+			  Delay(2, 'u');
+        DQ(1); //释放总线
+        DQ_IN();//设置为输入模式
+								  Delay(12, 'u');
+
+        dat>>=1;
+        if( DQ_GET() )
+        {
+            dat=dat|0x80;
+        }
+					  Delay(50, 'u');
+     }                                                    
+        return dat;
+}
+
+/******************************************************************
+ * 函 数 名 称：DS18B20_Write_Byte
+ * 函 数 说 明：写一个字节到DS18B20
+ * 函 数 形 参：dat：要写入的字节
+ * 函 数 返 回：无
+ * 作       者：LC
+ * 备       注：无
+******************************************************************/
+void DS18B20_Write_Byte(uint8_t dat)     
+{             
+        uint8_t i;
+        DQ_OUT();//设置输出模式
+        for (i=0;i<8;i++) 
+        {
+                if ( (dat&0x01) ) //写1
+                {
+                        DQ(0);
+	  Delay(2, 'u');									
+                        DQ(1);
+                        	  Delay(60, 'u');									
+          
+                }
+                else //写0
+                {
+                        DQ(0);//拉低60us
+                      	  Delay(60, 'u');									
+           
+                        DQ(1);//释放总线
+                       	  Delay(2, 'u');									
+                        
+                }
+        dat=dat>>1;//传输下一位
+        }
+}
+
+
+ 
+/******************************************************************
+ * 函 数 名 称：DS18B20_Check
+ * 函 数 说 明：检测DS18B20是否存在
+ * 函 数 形 参：无
+ * 函 数 返 回：1:未检测到DS18B20的存在  0:存在
+ * 作       者：LC
+ * 备       注：无
+******************************************************************/
+uint8_t DS18B20_Check(void)            
+{   
+        uint8_t timeout=0;
+    //复位DS18B20
+        DQ_OUT(); //设置为输出模式
+        DQ(0); //拉低DQ
+        	  Delay(750, 'u');									
+
+        DQ(1); //拉高DQ 
+        	  Delay(15, 'u');									
+
+    
+    //设置为输入模式 
+        DQ_IN();
+    //等待拉低，拉低说明有应答
+        while ( DQ_GET() &&timeout<200)
+        {
+                timeout++;//超时判断
+                	  Delay(1, 'u');									
+
+        };
+        //设备未应答
+        if(timeout>=200)
+                return 1;
+        else 
+                timeout=0;
+    
+        //等待18B20释放总线
+        while ( !DQ_GET() &&timeout<240)
+        {
+                timeout++;//超时判断
+               	  Delay(1, 'u');									
+
+        };
+    //释放总线失败
+        if(timeout>=240)
+                return 1;         
+        
+        return 0;
+}
+
+/******************************************************************
+ * 函 数 名 称：DS18B20_Start
+ * 函 数 说 明：DS18B20开始温度转换
+ * 函 数 形 参：无
+ * 函 数 返 回：无
+ * 作       者：LC
+ * 备       注：无
+******************************************************************/
+void DS18B20_Start(void)
+{                                                                  
+        DS18B20_Check();                //查询是否有设备应答
+        DS18B20_Write_Byte(0xcc);   //对总线上所有设备进行寻址
+        DS18B20_Write_Byte(0x44);   //启动温度转换
+} 
+
+/******************************************************************
+ * 函 数 名 称：DS18B20_GetTemperture
+ * 函 数 说 明：从ds18b20得到温度值
+ * 函 数 形 参：无
+ * 函 数 返 回：温度数据
+ * 作       者：LC
+ * 备       注：无
+******************************************************************/
+float DS18B20_GetTemperture(void)
+{
+        uint16_t temp;
+        uint8_t dataL=0,dataH=0;
+        float value;
+        
+        DS18B20_Start();                
+        DS18B20_Check();         
+        DS18B20_Write_Byte(0xcc);//对总线上所有设备进行寻址
+        DS18B20_Write_Byte(0xbe);// 读取数据命令 
+        dataL=DS18B20_Read_Byte(); //LSB   
+        dataH=DS18B20_Read_Byte(); //MSB   
+        temp=(dataH<<8)+dataL;//整合数据
+        
+    
+        if(dataH&0X80)//高位为1，说明是负温度
+        {
+                temp=(~temp)+1;
+                value=temp*(-0.0625);
+        }
+        else
+        {
+                value=temp*0.0625;        
+        }
+        return value;    
+}

Module/Src/emergency_stop.c

+#include "emergency_stop.h"
+#include "stm32f10x.h"
+#include "uart_log.h"
+
+// EXTI线2中断服务例程
+void Emergency_Stop_Interrupt(void) {
+	  Serial_Print("Emergency_Stop_Interrupt\n");
+			 // PE2 急停按钮
+    if (EXTI->PR & EXTI_PR_PR2) {
+        if (GPIOE->IDR & (1 << 2)) {  // 检测PE2的上升沿
+            Serial_Print("PE2: 抬起 (急停按钮 - 高电平)\n");
+        } else {  // 检测PD14的下降沿
+            Serial_Print("PE2: 按下 (急停按钮 - 低电平)\n");
+        }
+        // 清除中断标志位
+        EXTI->PR = EXTI_PR_PR2;
+    }
+}

Module/Src/onewire.c

+#include "onewire.h"
+#include "common.h"
+
+
+// 初始化 One-Wire 总线 (PD12)
+void Onewire_Init(void) {
+
+    // 设置高电平
+    ONEWIRE_PORT->BSRR = ONEWIRE_PIN;
+}
+
+// 设置引脚为输出模式
+void Onewire_Pin_Output(void) {
+    // 设置PD12为推挽输出模式
+    GPIOD->CRH &= ~(0xF << 16);   // 清除PD12的配置
+    GPIOD->CRH |= (0x3 << 16);    // 设置为推挽输出模式
+}
+
+// 设置引脚为输入模式
+void Onewire_Pin_Input(void) {
+    // 设置PD12为浮空输入模式
+    GPIOD->CRH &= ~(0xF << 16);   // 清除PD12的配置
+    GPIOD->CRH |= (0x4 << 16);    // 设置为浮空输入模式
+}
+
+// 复位 One-Wire 总线并检测传感器是否存在
+uint8_t Onewire_Reset(void) {
+    uint8_t response = 0;
+
+    // 拉低总线 480 微秒
+    Onewire_Pin_Output();
+    ONEWIRE_PORT->BRR = ONEWIRE_PIN;  // 拉低
+    Delay(480, 'u');
+
+    // 释放总线，并等待响应
+    Onewire_Pin_Input();
+    Delay(60, 'u');
+
+    // 检测传感器响应
+    response = (ONEWIRE_PORT->IDR & ONEWIRE_PIN) ? 1 : 0;
+
+    // 等待 420 微秒
+    Delay(420, 'u');
+
+    return !response;  // 返回响应信号，0 表示设备存在
+}
+
+// 向 One-Wire 设备发送一位数据
+void Onewire_SendBit(unsigned char Bit) {
+    Onewire_Pin_Output();  // 设置为输出模式
+
+    if (Bit) {
+        ONEWIRE_PORT->BRR = ONEWIRE_PIN;  // 拉低 1 微秒
+        Delay(1, 'u');
+        Onewire_Pin_Input();  // 释放总线
+        Delay(60, 'u');  // 保持高电平 60 微秒
+    } else {
+        ONEWIRE_PORT->BRR = ONEWIRE_PIN;  // 拉低 60 微秒
+        Delay(60, 'u');
+        Onewire_Pin_Input();  // 释放总线
+    }
+}
+
+// 从 One-Wire 设备接收一位数据
+unsigned char Onewire_ReceiveBit(void) {
+    unsigned char Bit = 0;
+
+    Onewire_Pin_Output();  // 设置为输出模式
+    ONEWIRE_PORT->BRR = ONEWIRE_PIN;  // 拉低 1 微秒
+    Delay(1, 'u');
+
+    Onewire_Pin_Input();  // 释放总线
+    Delay(14, 'u');
+
+    // 读取数据
+    if (ONEWIRE_PORT->IDR & ONEWIRE_PIN) {
+        Bit = 1;
+    }
+
+    Delay(45, 'u');  // 等待剩余时间
+
+    return Bit;
+}
+
+// 向 One-Wire 设备发送一个字节数据
+void Onewire_SendByte(unsigned char Byte) {
+    for (unsigned char i = 0; i < 8; i++) {
+        Onewire_SendBit(Byte & 0x01);  // 发送每一位
+        Byte >>= 1;
+    }
+}
+
+// 从 One-Wire 设备接收一个字节数据
+unsigned char Onewire_ReceiveByte(void) {
+    unsigned char Byte = 0;
+
+    for (unsigned char i = 0; i < 8; i++) {
+        Byte >>= 1;
+        if (Onewire_ReceiveBit()) {
+            Byte |= 0x80;  // 设置最高位
+        }
+    }
+
+    return Byte;
+}

Module/Src/parking_sensor.c

+#include "parking_sensor.h"
+#include "common.h"
+#include "uart_log.h"
+// 全局变量
+volatile uint32_t pulse_time = 0;     // 脉宽时间
+volatile double distance_cm = 0.0;      // 距离
+volatile uint8_t capture_state = 0;   // 捕获状态标志
+
+volatile uint8_t last_pd14_state = 0;  // 上一次 PD14 的状态
+
+// 动态配置 PE0 - PE15 引脚
+void Configure_PE_Pin(uint8_t pin, uint8_t mode) {
+    // 根据引脚号选择配置寄存器
+    if (pin < 8) {
+        // 配置低 8 位（PE0 - PE7）
+        GPIOE->CRL &= ~(0xF << (pin * 4));  // 清除该引脚的配置
+        GPIOE->CRL |= (mode << (pin * 4));  // 设置该引脚的模式
+    } else {
+        // 配置高 8 位（PE8 - PE15）
+        GPIOE->CRH &= ~(0xF << ((pin - 8) * 4));  // 清除该引脚的配置
+        GPIOE->CRH |= (mode << ((pin - 8) * 4));  // 设置该引脚的模式
+    }
+}
+
+// 发送触发信号
+void SendTriggerSignal(void) {
+    GPIOE->BSRR = (1 << 14);   // 设置 PE14 为高电平
+    Delay(25, 'u');            // 延时 10 微秒
+    GPIOE->BRR = (1 << 14);    // 设置 PE14 为低电平
+}
+
+// 初始化 TIM2 捕获模式
+void TIM2_Capture_Init(void)
+{
+// 使能TIM2时钟
+    RCC->APB1ENR |= RCC_APB1ENR_TIM2EN;
+
+    // 设置预分频器，使TIM2计数频率为1MHz
+    TIM2->PSC = 72 - 1;  // 72MHz / 72 = 1MHz
+
+    // 设置自动重装载寄存器
+    TIM2->ARR = 0xFFFF;
+
+    // 选择计数模式
+    TIM2->CR1 &= ~TIM_CR1_DIR;
+
+    // 使能TIM2
+    //TIM2->CR1 |= TIM_CR1_CEN;
+}
+
+// 计算距离，不考虑温度校正
+double CalculateDistance()
+{
+    const double soundSpeed = 340.0; // 固定声速 = 340 m/s
+    const double timeToDistanceFactor = soundSpeed / 2 / 10000000.0; // 转换因子（米/us）
+
+    return pulse_time * timeToDistanceFactor * 100; // 返回距离（cm）
+}
+
+
+// TIM2 中断服务程序，捕获脉宽
+void Parking_Sensor_Interruption(void) {
+    uint32_t end_time;
+    uint8_t pd14_level = (GPIOD->IDR & GPIO_IDR_IDR14) ? 1 : 0;
+    Serial_Printf("pd14_level: %u\n", pd14_level);
+
+    if (pd14_level != last_pd14_state) {  // 检测到电平变化
+        if (pd14_level == 1 && capture_state == 0) {  // 上升沿
+            TIM2->CNT = 0;               // 清零计数器
+            TIM2->CR1 |= TIM_CR1_CEN;    // 启动计数器
+            capture_state = 1;           // 标记上升沿已捕获，等待下降沿
+        } else if (pd14_level == 0 && capture_state == 1) { // 下降沿且上升沿已捕获
+            end_time = TIM2->CNT;        // 读取当前计数器值作为脉宽时间
+            pulse_time = end_time;       // 记录脉宽时间
+            TIM2->CR1 &= ~TIM_CR1_CEN;   // 关闭计数器
+            TIM2->CNT = 0;               // 清零计数器
+            capture_state = 0;           // 重置捕获状态
+
+            // 计算距离
+            distance_cm = CalculateDistance();
+
+            // 打印距离信息
+            Serial_Printf("EXTI14_IRQHandler Pulse Time: %u us, Distance: %.5f cm\n", pulse_time, distance_cm);
+        }
+        last_pd14_state = pd14_level;
+    }
+}

Module/Src/parking_sensor.c.orig

+#include "parking_sensor.h"
+#include "common.h"
+#include "uart_log.h"
+// 全局变量
+volatile uint32_t pulse_time = 0;     // 脉宽时间
+volatile double distance_cm = 0.0;      // 距离
+volatile uint8_t capture_state = 0;   // 捕获状态标志
+
+volatile uint8_t last_pd14_state = 0;  // 上一次 PD14 的状态
+
+int HH = 1000000;
+// 动态配置 PE0 - PE15 引脚
+void Configure_PE_Pin(uint8_t pin, uint8_t mode) {
+    // 使能 GPIOE 时钟
+    RCC->APB2ENR |= RCC_APB2ENR_IOPEEN;
+    // 根据引脚号选择配置寄存器
+    if (pin < 8) {
+        // 配置低 8 位（PE0 - PE7）
+        GPIOE->CRL &= ~(0xF << (pin * 4));  // 清除该引脚的配置
+        GPIOE->CRL |= (mode << (pin * 4));  // 设置该引脚的模式
+    } else {
+        // 配置高 8 位（PE8 - PE15）
+        GPIOE->CRH &= ~(0xF << ((pin - 8) * 4));  // 清除该引脚的配置
+        GPIOE->CRH |= (mode << ((pin - 8) * 4));  // 设置该引脚的模式
+    }
+}
+
+// 发送触发信号
+void SendTriggerSignal(void) {
+    GPIOE->BSRR = (1 << 14);   // 设置 PE14 为高电平
+    Delay(15, 'u');            // 延时 10 微秒
+    GPIOE->BRR = (1 << 14);    // 设置 PE14 为低电平
+}
+
+// 初始化 TIM2 捕获模式
+void TIM2_Capture_Init(void)
+{
+// 使能TIM2时钟
+    RCC->APB1ENR |= RCC_APB1ENR_TIM2EN;
+
+    // 设置预分频器，使TIM2计数频率为1MHz
+    TIM2->PSC = 72 - 1;  // 72MHz / 72 = 1MHz
+
+    // 设置自动重装载寄存器
+    TIM2->ARR = 0xFFFF;
+
+    // 选择计数模式
+    TIM2->CR1 &= ~TIM_CR1_DIR;  // 向上计数
+
+    // 使能TIM2
+    TIM2->CR1 |= TIM_CR1_CEN;
+}
+
+// 计算距离，不考虑温度校正
+double CalculateDistance()
+{
+    const double soundSpeed = 340.0; // 固定声速 = 340 m/s
+    const double timeToDistanceFactor = soundSpeed / 2 / 10000000.0; // 转换因子（米/us）
+
+    return pulse_time * timeToDistanceFactor * 100; // 返回距离（cm）
+}
+
+// TIM2 中断服务程序，捕获脉宽
+void Parking_Sensor_Interruption(void)
+{
+    static uint32_t start_time = 0;
+    uint32_t end_time;
+	volatile uint32_t idr_value = GPIOD->IDR;
+
+uint8_t pd14_state = ((idr_value & (1 << 14)) != 0) ? 1 : 0;
+	
+    Serial_Printf("PD14: %u\n", pd14_state);
+
+    if (pd14_state  != last_pd14_state)  // 检测到电平变化
+    {
+        if (pd14_state  && capture_state == 0 )  // 上升沿
+        {
+            start_time = TIM2->CNT;           // 记录上升沿时间
+            capture_state = 1;                   // 标记上升沿已捕获
+        }
+        else {
+            end_time = TIM2->CNT;             // 记录下降沿时间
+            pulse_time = (end_time >= start_time) ? (end_time - start_time) : (0xFFFF - start_time + end_time + 1);
+            Serial_Printf("下降沿: %u \n", pulse_time);
+
+            capture_state = 2;                   // 标记捕获完成
+
+            // 计算距离
+            distance_cm = CalculateDistance();
+
+            // 打印距离信息
+            Serial_Printf("EXTI14_IRQHandler Pulse Time: %u, Distance: %.5f cm\n", pulse_time, distance_cm);
+
+        }
+        last_pd14_state = pd14_state ;
+
+    }
+}
\ No newline at end of file

Module/Src/photoelectric_switch.c

+#include "stm32f10x.h"  // 包含STM32F103ZET6的标准库
+#include "photoelectric_switch.h"
+#include "uart_log.h"
+
+void Photoelectric_Switch_Interrupt(void) {
+    if (EXTI->PR & EXTI_PR_PR9) { // 检查是否是中断线9触发的中断（PB9）
+        if (GPIOB->IDR & (1 << 9)) {  // 检测PB9的上升沿  
+				   Serial_Printf("PB9: 物体遮挡 (NPN 传感器 - 高电平)\n");
+        } else {  // 检测PB9的下降沿
+						Serial_Printf("PB9: 物体移开 (NPN 传感器 - 低电平)\n");
+        }
+        // 清除中断标志位
+        EXTI->PR = EXTI_PR_PR9;
+    }
+
+    if (EXTI->PR & EXTI_PR_PR0) { // 检查是否是中断线0触发的中断（PE0）
+        if (GPIOE->IDR & (1 << 0)) {  // 检测PE0的上升沿
+					 Serial_Printf("PE0: 物体遮挡 (NPN 传感器 - 高电平)\n");
+
+        } else {  // 检测PE0的下降沿
+						Serial_Printf("PE0: 物体移开 (NPN 传感器 - 低电平)\n");
+        }
+        // 清除中断标志位
+        EXTI->PR = EXTI_PR_PR0;
+    }
+}

Module/Src/photoelectric_switch.c.orig

+#include "stm32f10x.h"  // 包含STM32F103ZET6的标准库
+#include "photoelectric_switch.h"
+#include "uart_log.h"
+
+void Photoelectric_Switch_Interrupt(void) {
+    if (EXTI->PR & EXTI_PR_PR9) { // 检查是否是中断线9触发的中断（PB9）
+        if (GPIOB->IDR & (1 << 9)) {  // 检测PB9的上升沿  
+				   Serial_Printf("PB9: 物体遮挡 (NPN 传感器 - 高电平)\r\n");
+
+        } else {  // 检测PB9的下降沿
+									   Serial_Printf("PB9: 物体移开 (NPN 传感器 - 低电平)\r\n");
+        }
+        // 清除中断标志位
+        EXTI->PR = EXTI_PR_PR9;
+    }
+
+    if (EXTI->PR & EXTI_PR_PR0) { // 检查是否是中断线0触发的中断（PE0）
+        if (GPIOE->IDR & (1 << 0)) {  // 检测PE0的上升沿
+									   Serial_Printf("PE0: 物体遮挡 (NPN 传感器 - 高电平)\r\n");
+
+        } else {  // 检测PE0的下降沿
+														   Serial_Printf("PE0: 物体移开 (NPN 传感器 - 低电平)\r\n");
+
+        }
+        // 清除中断标志位
+        EXTI->PR = EXTI_PR_PR0;
+    }
+}

Module/Src/pneumatic_solenoid.c

+#include  "pneumatic_solenoid.h"
+#include "stm32f10x.h"
+#include "uart_log.h"
+
+
+//控制气动电磁阀的高低电平
+void Pneumatic_Solenoid_Control(uint8_t index,unsigned char bitValue) {
+    switch (index) {
+    case 0 :
+		    if (bitValue != 0) {
+            // 如果bitValue不为0，设置PF13为高电平
+            GPIOF->ODR |= (1 << 13);
+        } else {
+            // 如果bitValue为0，设置PF13为低电平
+            GPIOF->ODR &= ~(1 << 13);
+        }
+        break;
+    case 0x01:
+        if (bitValue != 0) {
+            // 如果bitValue不为0，设置PF14为高电平
+            GPIOF->ODR |= (1 << 14);
+        } else {
+            // 如果bitValue为0，设置PF14为低电平
+            GPIOF->ODR &= ~(1 << 14);
+        }
+        break;
+    case 0x02:
+        if (bitValue != 0) {
+            // 如果bitValue不为0，设置PF15为高电平
+            GPIOF->ODR |= (1 << 15);
+        } else {
+            // 如果bitValue为0，设置PF15为低电平
+            GPIOF->ODR &= ~(1 << 15);
+        }
+        break;
+	  case 0x03:
+			  if (bitValue != 0) {
+            // 如果bitValue不为0，设置PG0为高电平
+            GPIOG->ODR |= (1 << 0);
+        } else {
+            // 如果bitValue为0，设置PG0为低电平
+            GPIOG->ODR &= ~(1 << 0);
+        }
+
+        break;
+	  case 0x04:
+		   if (bitValue != 0) {
+            // 如果bitValue不为0，设置PG1为高电平
+            GPIOG->ODR |= (1 << 1);
+        } else {
+            // 如果bitValue为0，设置PG1为低电平
+            GPIOG->ODR &= ~(1 << 1);
+        }
+
+        break;
+		case 0x05:
+	     if (bitValue != 0) {
+            // 如果bitValue不为0，设置PE7为高电平
+            GPIOE->ODR |= (1 << 7);
+        } else {
+            // 如果bitValue为0，设置PE7为低电平
+            GPIOE->ODR &= ~(1 << 7);
+        }
+
+        break;	 
+	   case 0x06:
+		    if (bitValue != 0) {
+            // 如果bitValue不为0，设置PE8为高电平
+            GPIOE->ODR |= (1 << 8);
+        } else {
+            // 如果bitValue为0，设置PE8为低电平
+            GPIOE->ODR &= ~(1 << 8);
+        }
+
+        break;
+    default : 
+			Serial_Print("不存在阀门! \n");
+        break;
+    }
+}
+
+// 查询气动电磁阀的电平
+unsigned char find_Pneumatic_Solenoid(uint8_t index) {
+    switch (index) {
+        case 0:
+            return (GPIOF->IDR & (1 << 13)) ? 1 : 0;
+        case 1:
+            return (GPIOF->IDR & (1 << 14)) ? 1 : 0;
+        case 2:
+            return (GPIOF->IDR & (1 << 15)) ? 1 : 0;
+        case 3:
+            return (GPIOG->IDR & (1 << 0)) ? 1 : 0;
+        case 4:
+            return (GPIOG->IDR & (1 << 1)) ? 1 : 0;
+        case 5:
+            return (GPIOE->IDR & (1 << 7)) ? 1 : 0;
+        case 6:
+            return (GPIOE->IDR & (1 << 8)) ? 1 : 0;
+        default:
+            Serial_Print("不存在阀门! \n");
+            return 0;
+    }
+}

Module/Src/pneumatic_solenoid.c.orig

+#include  "pneumatic_solenoid.h"
+#include "stm32f10x.h"
+
+void Pneumatic_Solenoid_Init(void) {
+
+    RCC->APB2ENR |= RCC_APB2ENR_IOPFEN; // 启用GPIOF时钟
+    RCC->APB2ENR |= RCC_APB2ENR_IOPGEN; // 启用GPIOG时钟
+    RCC->APB2ENR |= RCC_APB2ENR_IOPEEN; // 启用GPIOE时钟
+
+    // 配置 PF13, PF14, PF15 为复用推挽输出 (50 MHz)
+    GPIOF->CRH &= ~(0xF << 4*5); // 清空 PF13 配置 (位20-23)
+    GPIOF->CRH |= (0xB << 4*5);  // 配置 PF13 为复用推挽输出
+
+    GPIOF->CRH &= ~(0xF << 4*6); // 清空 PF14 配置 (位24-27)
+    GPIOF->CRH |= (0xB << 4*6);  // 配置 PF14 为复用推挽输出
+
+    GPIOF->CRH &= ~(0xF << 4*7); // 清空 PF15 配置 (位28-31)
+    GPIOF->CRH |= (0xB << 4*7);  // 配置 PF15 为复用推挽输出
+
+    // 配置 PG0, PG1 为复用推挽输出 (50 MHz)
+    GPIOG->CRL &= ~(0xF << 4*0); // 清空 PG0 配置 (位0-3)
+    GPIOG->CRL |= (0xB << 4*0);  // 配置 PG0 为复用推挽输出
+
+    GPIOG->CRL &= ~(0xF << 4*1); // 清空 PG1 配置 (位4-7)
+    GPIOG->CRL |= (0xB << 4*1);  // 配置 PG1 为复用推挽输出
+
+    // 配置 PE7, PE8 为复用推挽输出 (50 MHz)
+    GPIOE->CRH &= ~(0xF << 4*1); // 清空 PE7 配置 (位20-23)
+    GPIOE->CRH |= (0xB << 4*1);  // 配置 PE7 为复用推挽输出
+
+    GPIOE->CRH &= ~(0xF << 4*2); // 清空 PE8 配置 (位24-27)
+    GPIOE->CRH |= (0xB << 4*2);  // 配置 PE8 为复用推挽输出
+
+}
+//控制气动电磁阀的高低电平
+void Pneumatic_Solenoid_Control(uint8_t index,unsigned char bitValue) {
+
+
+    switch (index) {
+    case 0 :
+
+        break;
+    case 0x01:
+
+        break;
+   case 0x02:
+
+        break;
+	    case 0x03:
+
+        break;
+			   case 0x04:
+
+        break;
+				   case 0x05:
+
+        break;	 
+					 	   case 0x06:
+
+        break;
+    default : /* 可选的 */
+        statement(s);
+    }
+
+
+
+
+}
+
+//查询气动电磁阀的电平
+unsigned char find_Pneumatic_Solenoid(uint8_t index);

Module/Src/step_motor.c → Module/Src/rotate_motor.c

-#include "step_motor.h"
+#include "rotate_motor.h"
 #include "stm32f10x.h"
 #include "stm32f10x.h"
-// 初始化步进电机控制
-void StepperMotor_Init(void){
-	    // 使能 GPIOC 和 GPIOF 的时钟
-    RCC->APB2ENR |= RCC_APB2ENR_IOPCEN;
-    RCC->APB2ENR |= RCC_APB2ENR_IOPFEN;
-
-    // 使能 AFIO 时钟，用于重映射
-    RCC->APB2ENR |= RCC_APB2ENR_AFIOEN;
-
-    // 配置 PC6 引脚为复用推挽输出 (50 MHz)
-    GPIOC->CRL &= ~(0xF << 24); // 清空 PC6 配置
-    GPIOC->CRL |= (0xB << 24);  // 配置为复用推挽输出 (0xB = 1011)
-
-    // 配置 PC5 为通用推挽输出 (方向)
-    GPIOC->CRL &= ~(0xF << 20); // 清空 PC5 配置
-    GPIOC->CRL |= (0x3 << 20);  // 配置为通用推挽输出 (0x3 = 0011)
-
-    // 配置 PF11 为通用推挽输出 (使能)
-    GPIOF->CRH &= ~(0xF <<12); // 清空 PF11 配置
-    GPIOF->CRH |= (0x3 << 12);  // 配置为通用推挽输出 (0x3 = 0011)
-
-    // 重映射 TIM3_CH1 到 PC6
-    AFIO->MAPR |= AFIO_MAPR_TIM3_REMAP_FULLREMAP;
-	
-}
+#include "common.h"
 
 
 // 初始化定时器 TIM3 函数
 // 初始化定时器 TIM3 函数
-void TIM3_Init(uint16_t &psc,uint16_t &arr);
+void TIM3_CH1_Init(uint16_t psc,uint16_t arr){
     // 使能 TIM3 时钟
     // 使能 TIM3 时钟
     RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;
     RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;
 
 
@@ -49,21 +25,10 @@ void TIM3_Init(uint16_t &psc,uint16_t &arr);
 }
 }
 
 
 
 
-//f定时器输出频率 系统时钟/(PSC+1)*(ARR+1)
-void Timer_Frequency(int &frequency, StepMotor *stepMotor) {
-    // 预先计算 psc 和 arr
-    int psc_plus_1 = stepMotor->psc + 1;
-    int arr_plus_1 = stepMotor->arr + 1;
-    
-    // 简化并避免除法的额外开销
-    frequency = 72000000 / (psc_plus_1 * arr_plus_1);
-}
-
-
 // 设置方向
 // 设置方向
 // 设置方向函数
 // 设置方向函数
-void Set_Direction(int direction) {
-    if (direction) {
+void Rotate_SetDirection(int direction){
+    if (direction){
         GPIOC->ODR |= (1 << 5);   // 设置高电平 (顺时针方向)
         GPIOC->ODR |= (1 << 5);   // 设置高电平 (顺时针方向)
     } else {
     } else {
         GPIOC->ODR &= ~(1 << 5);  // 设置低电平 (逆时针方向)
         GPIOC->ODR &= ~(1 << 5);  // 设置低电平 (逆时针方向)
@@ -71,8 +36,9 @@ void Set_Direction(int direction) {
 }
 }
 
 
 
 
+
 // 使能控制函数 
 // 使能控制函数 
-void Enable_Stepper(bool enable) {
+void Rotate_Enable_Rotate(bool enable) {
     if (enable) {
     if (enable) {
         GPIOF->ODR &= ~(1 << 11);  // 设置低电平 (使能步进电机)
         GPIOF->ODR &= ~(1 << 11);  // 设置低电平 (使能步进电机)
     } else {
     } else {
@@ -92,7 +58,7 @@ void Set_PWM_Frequency(uint32_t frequency) {
 
 
 
 
 // 梯形加速函数
 // 梯形加速函数
-void StepMotor_Accelerate(uint32_t targetRPM, uint32_t acceleration) {
+void RotateMotor_Accelerate(uint32_t targetRPM, uint32_t acceleration) {
     uint32_t currentRPM = 0;
     uint32_t currentRPM = 0;
     uint32_t deltaRPM = (acceleration / 60000) * 10; // 10ms内的速度增量
     uint32_t deltaRPM = (acceleration / 60000) * 10; // 10ms内的速度增量
 
 
@@ -111,7 +77,7 @@ void StepMotor_Accelerate(uint32_t targetRPM, uint32_t acceleration) {
         }
         }
 
 
         // 延时 10ms，每次迭代增加速度				
         // 延时 10ms，每次迭代增加速度				
-        Delay(10);
+				Delay(10, 'm');
     }
     }
 
 
     // 达到目标速度，保持目标速度的PWM频率
     // 达到目标速度，保持目标速度的PWM频率
@@ -119,8 +85,10 @@ void StepMotor_Accelerate(uint32_t targetRPM, uint32_t acceleration) {
     Set_PWM_Frequency(finalFrequency);
     Set_PWM_Frequency(finalFrequency);
 }
 }
 
 
+
+
 // 梯形减速函数：将当前转速逐步减速为 0
 // 梯形减速函数：将当前转速逐步减速为 0
-void StepMotor_Decelerate(uint32_t currentRPM, uint32_t deceleration) {
+void RotateMotor_Decelerate(uint32_t currentRPM, uint32_t deceleration) {
     uint32_t deltaRPM = (deceleration / 60000) * 10;  // 10ms 内的速度减量
     uint32_t deltaRPM = (deceleration / 60000) * 10;  // 10ms 内的速度减量
 
 
     while (currentRPM > 0) {
     while (currentRPM > 0) {
@@ -135,42 +103,36 @@ void StepMotor_Decelerate(uint32_t currentRPM, uint32_t deceleration) {
             currentRPM = 0; 
             currentRPM = 0; 
         }
         }
 
 
-        Delay(10);
+				Delay(10, 'm');
     }
     }
 
 
     Set_PWM_Frequency(0);
     Set_PWM_Frequency(0);
 }
 }
 
 
-void Delay(uint32_t delay) {
-    for (volatile uint32_t i = 0; i < delay * 1000; i++) {
-       __NOP();  // 空操作，用于延时
-    }
-}
-
-void Update_Motor_Status(StepMotor *motor, SpeedStatus status, uint32_t targetSpeed, uint32_t acceleration) {
-    motor->speedStatus = status; // 更新电机的速度状态
-    motor->desSpeed = targetSpeed; // 更新目标速度
-    motor->acceleration = acceleration; // 更新加速度
+void Update_Motor_Status(RotateMotor *motor, SpeedStatus status, uint32_t targetSpeed, uint32_t acceleration) {
+    motor->base.speedStatus = status; // 更新电机的速度状态
+    motor->base.desSpeed= targetSpeed; // 更新目标速度
+    motor->base.acceleration = acceleration; // 更新加速度
 
 
     switch (status) {
     switch (status) {
         case SPEED_ACC:
         case SPEED_ACC:
             // 加速过程 
             // 加速过程 
-            StepMotor_Accelerate(targetSpeed, acceleration);
+            RotateMotor_Accelerate(targetSpeed, acceleration);
             break;
             break;
 
 
         case SPEED_DEC:
         case SPEED_DEC:
             // 减速过程
             // 减速过程
-            StepMotor_Decelerate(motor->curSpeed, acceleration);
+            RotateMotor_Decelerate(motor->base.curSpeed, acceleration);
             break;
             break;
 
 
         case SPEED_NONE:
         case SPEED_NONE:
             // 匀速，保持当前速度
             // 匀速，保持当前速度
-            Set_PWM_Frequency((motor->curSpeed * STEPMOTOR_PULSEPERROUND) / 60);
+            Set_PWM_Frequency((motor->base.curSpeed * STEPMOTOR_PULSEPERROUND) / 60);
             break;
             break;
 
 
         case SPEED_STOP:
         case SPEED_STOP:
             // 停止电机
             // 停止电机
-            motor->curSpeed = 0;
+            motor->base.curSpeed = 0;
             Set_PWM_Frequency(0); // 关闭PWM
             Set_PWM_Frequency(0); // 关闭PWM
             break;
             break;
 
 

Module/Src/temperature_sensor.c

+#include  "temperature_sensor.h"
+#include  "onewire.h"
+#include "uart_log.h"
+#include <stddef.h>  // 引入 size_t 类型定义
+#define CRC8_POLYNOMIAL 0x31
+
+uint8_t crc8(const uint8_t *buf, size_t len) {
+    uint8_t crc = 0;
+    for (size_t pos = 0; pos < len; ++pos) {
+        crc ^= buf[pos];
+        for (uint8_t bit = 8; bit; --bit) {
+            if (crc & 0x80) {
+                crc = (crc << 1) ^ CRC8_POLYNOMIAL;
+            } else {
+                crc = (crc << 1);
+            }
+        }
+    }
+    return crc;
+}
+
+void TemperatureSensor_ConvertT(void) {
+    Onewire_Init();  // 初始化 One-Wire 总线
+    if (!Onewire_Reset()) {  // 复位总线并检查是否有设备响应
+        Serial_Printf("No device detected.\n");
+        return;
+    }
+
+    // 跳过 ROM
+    Onewire_SendByte(0xCC);
+
+    // 启动温度转换
+    Onewire_SendByte(0x44);  // 启动温度转换命令
+}
+
+float TemperatureSensor_ReadT(void) {
+    // uint8_t rom_address[8];  // 存储ROM地址  如果不需要，可以移除这一行
+    uint8_t scratchpad[9];   // 存储Scratchpad数据
+    uint8_t crc_result;
+    int16_t Temp;
+    float temperature;
+
+    Onewire_Init();  // 初始化 One-Wire 总线
+    if (!Onewire_Reset()) {  // 复位总线并检查是否有设备响应
+        Serial_Printf("No device detected.\n");
+        return -1.0;
+    }
+
+    // 跳过 ROM
+    Onewire_SendByte(0xCC);
+
+    // 读取 Scratchpad
+    Onewire_SendByte(0xBE);
+
+    // 读取 Scratchpad 数据
+    for (int i = 0; i < 9; i++) {
+        scratchpad[i] = Onewire_ReceiveByte();
+    }
+
+    // 计算 CRC 并验证
+    crc_result = crc8(scratchpad, 8);
+    if (crc_result != scratchpad[8]) {
+        Serial_Printf("CRC error.\n");
+        return -1.0;
+    }
+
+    // 提取温度数据
+    uint8_t TLSB = scratchpad[0];  // 低字节
+    uint8_t TMSB = scratchpad[1];  // 高字节
+
+    Temp = (TMSB << 8) | TLSB;  // 合并两个字节
+    temperature = Temp / 16.0;   // 计算实际温度
+
+    Serial_Printf("TLSB: %02X, TMSB: %02X, Temp: %d, Temperature: %.2f C\n",
+                  TLSB, TMSB, Temp, temperature);
+
+    return temperature;
+}

Module/Src/uart_log.c

+//#include "uart_log.h"
+//#include <stdarg.h>
+//#include <string.h>
+//#include <stdio.h>  // 包含<stdio.h>头文件
+
+//// 缓冲区大小
+//#define SERIAL_BUFFER_SIZE 128
+
+//// USART1 GPIO初始化
+//void USART1_GPIO_Init(void) {
+//    // 使能GPIOA和USART1时钟
+//    RCC->APB2ENR |= RCC_APB2ENR_IOPAEN | RCC_APB2ENR_USART1EN;
+//    GPIOA->CRH &= ~(0xF << 4);  // 清除PA9配置
+//    GPIOA->CRH |= (0xB << 4);   // 配置PA9为复用功能推挽输出
+
+//    GPIOA->CRH &= ~(0xF << 8);  // 清除PA10配置
+//    GPIOA->CRH |= (0x4 << 8);   // 配置PA10为浮空输入（接收器）
+//}
+
+//// USART1初始化
+//void USART1_Init(void) {
+
+//    // 设置波特率
+//	  USART1->BRR =0x1D4C;
+//    // 配置USART1
+//    USART1->CR1 = USART_CR1_UE | USART_CR1_TE | USART_CR1_RE; // 使能USART1、发送器和接收器
+//    USART1->CR2 = 0; // 不使用流控制
+//    USART1->CR3 = 0; // 不使用额外功能
+//}
+
+//// 发送一个字符
+//void USART1_SendChar(char ch) {
+//    while (!(USART1->SR & USART_SR_TXE)); // 等待发送缓冲区为空
+//    USART1->DR = (ch & 0xFF); // 发送字符
+//}
+
+//// 发送字符串
+//void USART1_SendString(const char *str) {
+//    while (*str) {
+//        USART1_SendChar(*str++);
+//    }
+//}
+
+//// 格式化字符串并发送
+//void USART1_SendFormatted(const char *format, ...) {
+//    char buffer[SERIAL_BUFFER_SIZE];
+//    va_list args;
+//    va_start(args, format);
+//    vsnprintf(buffer, sizeof(buffer), format, args);
+//    va_end(args);
+//    USART1_SendString(buffer);
+//}
+
+//// 初始化串口日志
+//void Serial_Init(void) {
+//    USART1_GPIO_Init();
+//    USART1_Init();
+//}
+
+//// 打印字符串
+//void Serial_Print(const char *str) {
+//    USART1_SendString(str);
+//}
+
+//// 打印字符
+//void Serial_Write(char ch) {
+//    USART1_SendChar(ch);
+//}
+
+//// 打印格式化字符串
+//void Serial_Printf(const char *format, ...) {
+//    va_list args;
+//    va_start(args, format);
+//    USART1_SendFormatted(format, args);
+//    va_end(args);
+//}
 #include "uart_log.h"
 #include "uart_log.h"
 #include <stdarg.h>
 #include <stdarg.h>
 #include <string.h>
 #include <string.h>
 #include <stdio.h>  // 包含<stdio.h>头文件
 #include <stdio.h>  // 包含<stdio.h>头文件
 
 
-// 缓冲区大小
 #define SERIAL_BUFFER_SIZE 128
 #define SERIAL_BUFFER_SIZE 128
 
 
-// USART1 GPIO初始化
 void USART1_GPIO_Init(void) {
 void USART1_GPIO_Init(void) {
-    // 使能GPIOA和USART1时钟
     RCC->APB2ENR |= RCC_APB2ENR_IOPAEN | RCC_APB2ENR_USART1EN;
     RCC->APB2ENR |= RCC_APB2ENR_IOPAEN | RCC_APB2ENR_USART1EN;
-    GPIOA->CRH &= ~(0xF << 20);
-    GPIOA->CRH |= (0xB << 20);  
-
-    GPIOA->CRH &= ~(0xF << 24);  // 清除模式控制位
-    GPIOA->CRH |= (0x4 << 24);   // 设置为浮空输入
+    GPIOA->CRH &= ~(0xF << 4);
+    GPIOA->CRH |= (0xB << 4);
+    GPIOA->CRH &= ~(0xF << 8);
+    GPIOA->CRH |= (0x4 << 8);
 }
 }
 
 
-// USART1初始化
 void USART1_Init(void) {
 void USART1_Init(void) {
-    // 设置波特率
-    uint32_t BRR = (uint32_t)(SystemCoreClock / 16 / 115200);
-    USART1->BRR = BRR;
-
-    // 配置USART1
-    USART1->CR1 = USART_CR1_UE | USART_CR1_TE | USART_CR1_RE; // 使能USART1、发送器和接收器
-    USART1->CR2 = 0; // 不使用流控制
-    USART1->CR3 = 0; // 不使用额外功能
+    USART1->BRR = 0x1D4C;
+    USART1->CR1 = USART_CR1_UE | USART_CR1_TE | USART_CR1_RE;
+    USART1->CR2 = 0;
+    USART1->CR3 = 0;
 }
 }
 
 
-// 发送一个字符
 void USART1_SendChar(char ch) {
 void USART1_SendChar(char ch) {
-    while (!(USART1->SR & USART_SR_TXE)); // 等待发送缓冲区为空
-    USART1->DR = (ch & 0xFF); // 发送字符
+    while (!(USART1->SR & USART_SR_TXE));
+    USART1->DR = (ch & 0xFF);
 }
 }
 
 
-// 发送字符串
 void USART1_SendString(const char *str) {
 void USART1_SendString(const char *str) {
     while (*str) {
     while (*str) {
         USART1_SendChar(*str++);
         USART1_SendChar(*str++);
     }
     }
 }
 }
 
 
-// 格式化字符串并发送
-void USART1_SendFormatted(const char *format, ...) {
-    char buffer[SERIAL_BUFFER_SIZE];
-    va_list args;
-    va_start(args, format);
-    vsnprintf(buffer, sizeof(buffer), format, args);
-    va_end(args);
-    USART1_SendString(buffer);
-}
-
-// 初始化串口日志
 void Serial_Init(void) {
 void Serial_Init(void) {
     USART1_GPIO_Init();
     USART1_GPIO_Init();
     USART1_Init();
     USART1_Init();
 }
 }
 
 
-// 打印字符串
 void Serial_Print(const char *str) {
 void Serial_Print(const char *str) {
     USART1_SendString(str);
     USART1_SendString(str);
 }
 }
 
 
-// 打印字符
 void Serial_Write(char ch) {
 void Serial_Write(char ch) {
     USART1_SendChar(ch);
     USART1_SendChar(ch);
 }
 }
 
 
-// 打印格式化字符串
 void Serial_Printf(const char *format, ...) {
 void Serial_Printf(const char *format, ...) {
+    char buffer[SERIAL_BUFFER_SIZE];
     va_list args;
     va_list args;
+
     va_start(args, format);
     va_start(args, format);
-    USART1_SendFormatted(format, args);
+    vsnprintf(buffer, sizeof(buffer), format, args);
     va_end(args);
     va_end(args);
+
+    USART1_SendString(buffer);
 }
 }
 
 
 
 

Module/Src/walking_motor.c

+#include "walking_motor.h"
+#include "common.h"
+#include "stm32f10x.h"
+
+
+// 初始化定时器 TIM3 函数
+void TIM3_CH2_Init(uint16_t psc,uint16_t arr){
+    // 使能 TIM3 时钟
+    RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;
+
+    // 设置预分频器为 72-1，使时钟频率为 1 MHz (72 MHz / 72)
+    TIM3->PSC = psc;//72 - 1;
+
+    // 设置自动重装载值为 1000 - 1，对应于 1 毫秒 (1 MHz * 1 ms)
+    TIM3->ARR =arr;//1000 - 1;
+
+    // 配置 TIM3 通道 1 为 PWM 模式 1
+    TIM3->CCMR1  &= ~TIM_CCMR1_OC2M;                           // 清空模式位
+    TIM3->CCMR1  |= TIM_CCMR1_OC2M_1   | TIM_CCMR1_OC2M_2;       // PWM 模式1
+
+    TIM3->CCER |= TIM_CCER_CC2E;                              // 使能通道 1 输出
+    TIM3->CCR2  = 500;                                         // 设置占空比为 50%
+	
+	
+
+    // 使能 TIM3
+    TIM3->CR1 |= TIM_CR1_CEN;
+}
+
+
+// 设置方向
+// 设置方向函数
+void Walking_SetDirection(int direction){
+    if (direction){
+        GPIOC->ODR |= (1 << 5);   // 设置高电平 (顺时针方向)
+    } else {
+        GPIOC->ODR &= ~(1 << 5);  // 设置低电平 (逆时针方向)
+    }
+}
+
+
+
+// 使能控制函数 
+void Walking_Enable_Rotate(bool enable) {
+    if (enable) {
+        GPIOF->ODR &= ~(1 << 11);  // 设置低电平 (使能步进电机)
+    } else {
+        GPIOF->ODR |= (1 << 11);   // 设置高电平 (关闭步进电机)
+    }
+}
+
+// 设置PWM频率
+void Walking_Set_PWM_Frequency(uint32_t frequency) {
+    // 计算ARR值
+    uint32_t arr_value = (SYSCLK_FREQUENCY / ((TIM3->PSC + 1) * frequency)) - 1;
+
+    // 更新自动重装载寄存器
+    TIM3->ARR = arr_value;
+    TIM3->CCR2 = arr_value / 2;  // 保持50%占空比
+}
+
+
+// 梯形加速函数
+void WalkingMotor_Accelerate(uint32_t targetRPM, uint32_t acceleration) {
+    uint32_t currentRPM = 0;
+    uint32_t deltaRPM = (acceleration / 60000) * 10; // 10ms内的速度增量
+
+    while (currentRPM < targetRPM) {
+			if (currentRPM == 0) {
+        currentRPM = 100;
+      }
+        // 更新PWM频率
+        uint32_t pwmFrequency = (currentRPM * STEPMOTOR_PULSEPERROUND) / 60;
+        Walking_Set_PWM_Frequency(pwmFrequency);
+
+        // 每次加速的增量
+        currentRPM += deltaRPM;
+        if (currentRPM > targetRPM) {
+            currentRPM = targetRPM;  // 防止超过目标速度
+        }
+
+        // 延时 10ms，每次迭代增加速度				
+				Delay(10, 'm');
+    }
+
+    // 达到目标速度，保持目标速度的PWM频率
+    uint32_t finalFrequency = (targetRPM * STEPMOTOR_PULSEPERROUND) / 60;
+    Walking_Set_PWM_Frequency(finalFrequency);
+}
+
+// 梯形减速函数：将当前转速逐步减速为 0
+void WalkingMotor_Decelerate(uint32_t currentRPM, uint32_t deceleration) {
+    uint32_t deltaRPM = (deceleration / 60000) * 10;  // 10ms 内的速度减量
+
+    while (currentRPM > 0) {
+        // 计算 PWM 频率
+        uint32_t pwmFrequency = (currentRPM * STEPMOTOR_PULSEPERROUND) / 60;
+        Walking_Set_PWM_Frequency(pwmFrequency);  // 更新PWM频率以调整电机速度
+
+        // 每次减速的增量
+        if (currentRPM > deltaRPM) {
+            currentRPM -= deltaRPM;  // 减速
+        } else {
+            currentRPM = 0; 
+        }
+
+				Delay(10, 'm');
+    }
+
+    Walking_Set_PWM_Frequency(0);
+}
+
+void Walking_Update_Motor_Status(WalkingMotor *motor, SpeedStatus status, uint32_t targetSpeed, uint32_t acceleration) {
+    motor->base.speedStatus = status; // 更新电机的速度状态
+    motor->base.desSpeed = targetSpeed; // 更新目标速度
+    motor->base.acceleration = acceleration; // 更新加速度
+
+    switch (status) {
+        case SPEED_ACC:
+            // 加速过程 
+            WalkingMotor_Accelerate(targetSpeed, acceleration);
+            break;
+
+        case SPEED_DEC:
+            // 减速过程
+            WalkingMotor_Decelerate(motor->base.curSpeed, acceleration);
+            break;
+
+        case SPEED_NONE:
+            // 匀速，保持当前速度
+            Walking_Set_PWM_Frequency((motor->base.curSpeed * STEPMOTOR_PULSEPERROUND) / 60);
+            break;
+
+        case SPEED_STOP:
+            // 停止电机
+            motor->base.curSpeed = 0;
+            Walking_Set_PWM_Frequency(0); // 关闭PWM
+            break;
+
+        default:
+            break;
+    }
+}
+
+

MotorControl.uvoptx

@@ -127,7 +127,7 @@
         <tRSysVw>1</tRSysVw>
         <tRSysVw>1</tRSysVw>
         <sRunDeb>0</sRunDeb>
         <sRunDeb>0</sRunDeb>
         <sLrtime>0</sLrtime>
         <sLrtime>0</sLrtime>
-        <nTsel>1</nTsel>
+        <nTsel>11</nTsel>
         <sDll></sDll>
         <sDll></sDll>
         <sDllPa></sDllPa>
         <sDllPa></sDllPa>
         <sDlgDll></sDlgDll>
         <sDlgDll></sDlgDll>
@@ -138,16 +138,130 @@
         <tDlgDll></tDlgDll>
         <tDlgDll></tDlgDll>
         <tDlgPa></tDlgPa>
         <tDlgPa></tDlgPa>
         <tIfile></tIfile>
         <tIfile></tIfile>
-        <pMon>BIN\UL2CM3.DLL</pMon>
+        <pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
       </DebugOpt>
       </DebugOpt>
       <TargetDriverDllRegistry>
       <TargetDriverDllRegistry>
         <SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
           <Number>0</Number>
+          <Key>ARMRTXEVENTFLAGS</Key>
+          <Name>-L70 -Z18 -C0 -M0 -T1</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>DLGTARM</Key>
+          <Name>(1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ARMDBGFLAGS</Key>
+          <Name></Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>DLGUARM</Key>
+          <Name>(105=-1,-1,-1,-1,0)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ST-LINKIII-KEIL_SWO</Key>
+          <Name>-U6&amp;11FA2B28&amp;0&amp;4 -I0 -O206 -S1 -C0 -A0 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8004 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_512.FLM -FS08000000 -FL080000 -FP0($$Device:STM32F103ZE$Flash/STM32F10x_512.FLM)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
           <Key>UL2CM3</Key>
           <Key>UL2CM3</Key>
           <Name>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_512 -FS08000000 -FL080000 -FP0($$Device:STM32F103ZE$Flash/STM32F10x_512.FLM))</Name>
           <Name>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_512 -FS08000000 -FL080000 -FP0($$Device:STM32F103ZE$Flash/STM32F10x_512.FLM))</Name>
         </SetRegEntry>
         </SetRegEntry>
       </TargetDriverDllRegistry>
       </TargetDriverDllRegistry>
-      <Breakpoint/>
+      <Breakpoint>
+        <Bp>
+          <Number>0</Number>
+          <Type>0</Type>
+          <LineNumber>81</LineNumber>
+          <EnabledFlag>1</EnabledFlag>
+          <Address>134226530</Address>
+          <ByteObject>0</ByteObject>
+          <HtxType>0</HtxType>
+          <ManyObjects>0</ManyObjects>
+          <SizeOfObject>0</SizeOfObject>
+          <BreakByAccess>0</BreakByAccess>
+          <BreakIfRCount>1</BreakIfRCount>
+          <Filename>D:\宓屽叆寮?mcu\Motor_Control\Module\Src\parking_sensor.c</Filename>
+          <ExecCommand></ExecCommand>
+          <Expression>\\MotorControl\Module/Src/parking_sensor.c\81</Expression>
+        </Bp>
+        <Bp>
+          <Number>1</Number>
+          <Type>0</Type>
+          <LineNumber>86</LineNumber>
+          <EnabledFlag>1</EnabledFlag>
+          <Address>134226552</Address>
+          <ByteObject>0</ByteObject>
+          <HtxType>0</HtxType>
+          <ManyObjects>0</ManyObjects>
+          <SizeOfObject>0</SizeOfObject>
+          <BreakByAccess>0</BreakByAccess>
+          <BreakIfRCount>1</BreakIfRCount>
+          <Filename>D:\宓屽叆寮?mcu\Motor_Control\Module\Src\parking_sensor.c</Filename>
+          <ExecCommand></ExecCommand>
+          <Expression>\\MotorControl\Module/Src/parking_sensor.c\86</Expression>
+        </Bp>
+        <Bp>
+          <Number>2</Number>
+          <Type>0</Type>
+          <LineNumber>84</LineNumber>
+          <EnabledFlag>1</EnabledFlag>
+          <Address>134226544</Address>
+          <ByteObject>0</ByteObject>
+          <HtxType>0</HtxType>
+          <ManyObjects>0</ManyObjects>
+          <SizeOfObject>0</SizeOfObject>
+          <BreakByAccess>0</BreakByAccess>
+          <BreakIfRCount>1</BreakIfRCount>
+          <Filename>D:\宓屽叆寮?mcu\Motor_Control\Module\Src\parking_sensor.c</Filename>
+          <ExecCommand></ExecCommand>
+          <Expression>\\MotorControl\Module/Src/parking_sensor.c\84</Expression>
+        </Bp>
+        <Bp>
+          <Number>3</Number>
+          <Type>0</Type>
+          <LineNumber>92</LineNumber>
+          <EnabledFlag>1</EnabledFlag>
+          <Address>134226578</Address>
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+          <HtxType>0</HtxType>
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+          <BreakByAccess>0</BreakByAccess>
+          <BreakIfRCount>1</BreakIfRCount>
+          <Filename>D:\宓屽叆寮?mcu\Motor_Control\Module\Src\parking_sensor.c</Filename>
+          <ExecCommand></ExecCommand>
+          <Expression>\\MotorControl\Module/Src/parking_sensor.c\92</Expression>
+        </Bp>
+        <Bp>
+          <Number>4</Number>
+          <Type>0</Type>
+          <LineNumber>94</LineNumber>
+          <EnabledFlag>1</EnabledFlag>
+          <Address>134226618</Address>
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+          <HtxType>0</HtxType>
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+          <BreakByAccess>0</BreakByAccess>
+          <BreakIfRCount>1</BreakIfRCount>
+          <Filename>D:\宓屽叆寮?mcu\Motor_Control\Module\Src\parking_sensor.c</Filename>
+          <ExecCommand></ExecCommand>
+          <Expression>\\MotorControl\Module/Src/parking_sensor.c\94</Expression>
+        </Bp>
+      </Breakpoint>
+      <MemoryWindow1>
+        <Mm>
+          <WinNumber>1</WinNumber>
+          <SubType>0</SubType>
+          <ItemText>0x08002DB6</ItemText>
+          <AccSizeX>0</AccSizeX>
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+      </MemoryWindow1>
       <Tracepoint>
       <Tracepoint>
         <THDelay>0</THDelay>
         <THDelay>0</THDelay>
       </Tracepoint>
       </Tracepoint>
@@ -159,7 +273,7 @@
         <aSer1>0</aSer1>
         <aSer1>0</aSer1>
         <aSer2>0</aSer2>
         <aSer2>0</aSer2>
         <aPa>0</aPa>
         <aPa>0</aPa>
-        <viewmode>0</viewmode>
+        <viewmode>1</viewmode>
         <vrSel>0</vrSel>
         <vrSel>0</vrSel>
         <aSym>0</aSym>
         <aSym>0</aSym>
         <aTbox>0</aTbox>
         <aTbox>0</aTbox>
@@ -223,47 +337,346 @@
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       <Focus>0</Focus>
       <tvExpOptDlg>0</tvExpOptDlg>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <bDave2>0</bDave2>
-      <PathWithFileName>.\Module\Inc\StepMotor.h</PathWithFileName>
-      <FilenameWithoutPath>StepMotor.h</FilenameWithoutPath>
+      <PathWithFileName>.\Module\Inc\uart_log.h</PathWithFileName>
+      <FilenameWithoutPath>uart_log.h</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
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       <GroupNumber>2</GroupNumber>
       <GroupNumber>2</GroupNumber>
       <FileNumber>3</FileNumber>
       <FileNumber>3</FileNumber>
-      <FileType>5</FileType>
+      <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
       <Focus>0</Focus>
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       <bDave2>0</bDave2>
       <bDave2>0</bDave2>
-      <PathWithFileName>.\Module\Inc\uart_log.h</PathWithFileName>
-      <FilenameWithoutPath>uart_log.h</FilenameWithoutPath>
+      <PathWithFileName>.\Module\Src\uart_log.c</PathWithFileName>
+      <FilenameWithoutPath>uart_log.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
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       <GroupNumber>2</GroupNumber>
       <GroupNumber>2</GroupNumber>
       <FileNumber>4</FileNumber>
       <FileNumber>4</FileNumber>
-      <FileType>1</FileType>
+      <FileType>5</FileType>
       <tvExp>0</tvExp>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
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       <bDave2>0</bDave2>
       <bDave2>0</bDave2>
-      <PathWithFileName>.\Module\Src\StepMotor.c</PathWithFileName>
-      <FilenameWithoutPath>StepMotor.c</FilenameWithoutPath>
+      <PathWithFileName>.\Module\Inc\walking_motor.h</PathWithFileName>
+      <FilenameWithoutPath>walking_motor.h</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
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     <File>
     <File>
       <GroupNumber>2</GroupNumber>
       <GroupNumber>2</GroupNumber>
       <FileNumber>5</FileNumber>
       <FileNumber>5</FileNumber>
+      <FileType>5</FileType>
+      <tvExp>0</tvExp>
+      <Focus>0</Focus>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>.\Module\Inc\rotate_motor.h</PathWithFileName>
+      <FilenameWithoutPath>rotate_motor.h</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
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       <bDave2>0</bDave2>
       <bDave2>0</bDave2>
-      <PathWithFileName>.\Module\Src\uart_log.c</PathWithFileName>
-      <FilenameWithoutPath>uart_log.c</FilenameWithoutPath>
+      <PathWithFileName>.\Module\Src\rotate_motor.c</PathWithFileName>
+      <FilenameWithoutPath>rotate_motor.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
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+      <bDave2>0</bDave2>
+      <PathWithFileName>.\Module\Inc\pneumatic_solenoid.h</PathWithFileName>
+      <FilenameWithoutPath>pneumatic_solenoid.h</FilenameWithoutPath>
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+      <bDave2>0</bDave2>
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MotorControl.uvprojx

@@ -147,7 +147,7 @@
             <RestoreSysVw>1</RestoreSysVw>
             <RestoreSysVw>1</RestoreSysVw>
           </Target>
           </Target>
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           <RunDebugAfterBuild>0</RunDebugAfterBuild>
-          <TargetSelection>1</TargetSelection>
+          <TargetSelection>11</TargetSelection>
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             <CpuDll></CpuDll>
             <CpuDll></CpuDll>
             <CpuDllArguments></CpuDllArguments>
             <CpuDllArguments></CpuDllArguments>
@@ -161,7 +161,7 @@
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             <PeripheralDll></PeripheralDll>
             <PeripheralDllArguments></PeripheralDllArguments>
             <PeripheralDllArguments></PeripheralDllArguments>
             <InitializationFile></InitializationFile>
             <InitializationFile></InitializationFile>
-            <Driver>BIN\UL2CM3.DLL</Driver>
+            <Driver>STLink\ST-LINKIII-KEIL_SWO.dll</Driver>
           </TargetDlls>
           </TargetDlls>
         </DebugOption>
         </DebugOption>
         <Utilities>
         <Utilities>
@@ -419,24 +419,139 @@
           <GroupName>Module</GroupName>
           <GroupName>Module</GroupName>
           <Files>
           <Files>
             <File>
             <File>
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+              <FileName>uart_log.h</FileName>
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               <FileType>5</FileType>
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+              <FilePath>.\Module\Inc\uart_log.h</FilePath>
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             </File>
             <File>
             <File>
-              <FileName>uart_log.h</FileName>
+              <FileName>uart_log.c</FileName>
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+              <FilePath>.\Module\Src\uart_log.c</FilePath>
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               <FileType>5</FileType>
               <FileType>5</FileType>
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+              <FilePath>.\Module\Inc\walking_motor.h</FilePath>
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+              <FileType>5</FileType>
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             <File>
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               <FileType>1</FileType>
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+              <FilePath>.\Module\Src\rotate_motor.c</FilePath>
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             </File>
             <File>
             <File>
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+              <FileName>pneumatic_solenoid.h</FileName>
+              <FileType>5</FileType>
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+            </File>
+            <File>
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               <FileType>1</FileType>
               <FileType>1</FileType>
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+              <FilePath>.\Module\Src\pneumatic_solenoid.c</FilePath>
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+              <FileName>parking_sensor.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\Module\Src\parking_sensor.c</FilePath>
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+              <FileType>5</FileType>
+              <FilePath>.\Module\Inc\parking_sensor.h</FilePath>
+            </File>
+            <File>
+              <FileName>common.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\Module\Src\common.c</FilePath>
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+            <File>
+              <FileName>distance_switch.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>.\Module\Inc\distance_switch.h</FilePath>
+            </File>
+            <File>
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+              <FileType>1</FileType>
+              <FilePath>.\Module\Src\distance_switch.c</FilePath>
+            </File>
+            <File>
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+              <FileType>5</FileType>
+              <FilePath>.\Module\Inc\photoelectric_switch.h</FilePath>
+            </File>
+            <File>
+              <FileName>photoelectric_switch.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\Module\Src\photoelectric_switch.c</FilePath>
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+            <File>
+              <FileName>temperature_sensor.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>.\Module\Inc\temperature_sensor.h</FilePath>
+            </File>
+            <File>
+              <FileName>onewire.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>.\Module\Inc\onewire.h</FilePath>
+            </File>
+            <File>
+              <FileName>onewire.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\Module\Src\onewire.c</FilePath>
+            </File>
+            <File>
+              <FileName>temperature_sensor.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\Module\Src\temperature_sensor.c</FilePath>
+            </File>
+            <File>
+              <FileName>emergency_stop.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>.\Module\Inc\emergency_stop.h</FilePath>
+            </File>
+            <File>
+              <FileName>emergency_stop.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\Module\Src\emergency_stop.c</FilePath>
+            </File>
+            <File>
+              <FileName>buzzer.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>.\Module\Inc\buzzer.h</FilePath>
+            </File>
+            <File>
+              <FileName>buzzer.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\Module\Src\buzzer.c</FilePath>
+            </File>
+            <File>
+              <FileName>motor_common.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>.\Module\Inc\motor_common.h</FilePath>
+            </File>
+            <File>
+              <FileName>walking_motor.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\Module\Src\walking_motor.c</FilePath>
+            </File>
+            <File>
+              <FileName>ds18b20.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>.\Module\Inc\ds18b20.h</FilePath>
+            </File>
+            <File>
+              <FileName>ds18b20.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\Module\Src\ds18b20.c</FilePath>
             </File>
             </File>
           </Files>
           </Files>
         </Group>
         </Group>

Objects/ExtDll.iex

+[EXTDLL]
+Count=0

Objects/MotorControl.build_log.htm

@@ -17,24 +17,46 @@ Library Manager: ArmAr.exe V5.05 update 1 (build 106)
 Hex Converter:   FromElf.exe V5.05 update 1 (build 106)
 Hex Converter:   FromElf.exe V5.05 update 1 (build 106)
 CPU DLL:         SARMCM3.DLL V5.14.0.0
 CPU DLL:         SARMCM3.DLL V5.14.0.0
 Dialog DLL:      DCM.DLL V1.13.1.0
 Dialog DLL:      DCM.DLL V1.13.1.0
-Target DLL:      UL2CM3.DLL V1.155.0.0
+Target DLL:      STLink\ST-LINKIII-KEIL_SWO.dll V2.0.14.0_KEIL
 Dialog DLL:      TCM.DLL V1.14.4.0
 Dialog DLL:      TCM.DLL V1.14.4.0
  
  
 <h2>Project:</h2>
 <h2>Project:</h2>
 D:\Ƕʽ\mcu\Motor_Control\MotorControl.uvprojx
 D:\Ƕʽ\mcu\Motor_Control\MotorControl.uvprojx
-Project File Date:  09/25/2024
+Project File Date:  10/28/2024
 
 
 <h2>Output:</h2>
 <h2>Output:</h2>
 Build target 'PWM'
 Build target 'PWM'
 compiling main.c...
 compiling main.c...
+.\Module\Inc\parking_sensor.h(25): warning:  #1295-D: Deprecated declaration CalculateDistance - give arg types
+  double CalculateDistance();
+main.c: 1 warning, 0 errors
 compiling uart_log.c...
 compiling uart_log.c...
-compiling step_motor.c...
+compiling rotate_motor.c...
+compiling pneumatic_solenoid.c...
+compiling parking_sensor.c...
+.\Module\Inc\parking_sensor.h(25): warning:  #1295-D: Deprecated declaration CalculateDistance - give arg types
+  double CalculateDistance();
+Module\Src\parking_sensor.c: 1 warning, 0 errors
+compiling common.c...
+.\Module\Inc\parking_sensor.h(25): warning:  #1295-D: Deprecated declaration CalculateDistance - give arg types
+  double CalculateDistance();
+Module\Src\common.c(109): warning:  #61-D: integer operation result is out of range
+      GPIOE->CRL &= ~(0xF << (4*7)); // 清空 PE7 配置 (?0-23)
+Module\Src\common.c: 2 warnings, 0 errors
+compiling distance_switch.c...
+compiling photoelectric_switch.c...
+compiling onewire.c...
+compiling temperature_sensor.c...
+compiling emergency_stop.c...
+compiling buzzer.c...
+compiling walking_motor.c...
+compiling ds18b20.c...
 assembling startup_stm32f10x_hd.s...
 assembling startup_stm32f10x_hd.s...
 compiling system_stm32f10x.c...
 compiling system_stm32f10x.c...
 linking...
 linking...
-Program Size: Code=1196 RO-data=336 RW-data=20 ZI-data=1636  
+Program Size: Code=12812 RO-data=916 RW-data=20 ZI-data=1636  
 FromELF: creating hex file...
 FromELF: creating hex file...
-".\Objects\MotorControl.axf" - 0 Error(s), 0 Warning(s).
+".\Objects\MotorControl.axf" - 0 Error(s), 4 Warning(s).
 
 
 <h2>Software Packages used:</h2>
 <h2>Software Packages used:</h2>
 
 
@@ -53,10 +75,10 @@ Package Vendor: Keil
 <h2>Collection of Component Files used:</h2>
 <h2>Collection of Component Files used:</h2>
 
 
    * Component: Keil::Device:Startup:1.0.0
    * Component: Keil::Device:Startup:1.0.0
-      Source file:   Device\Source\ARM\startup_stm32f10x_hd.s
-      Source file:   Device\Source\ARM\STM32F1xx_OPT.s
       Source file:   Device\Source\system_stm32f10x.c
       Source file:   Device\Source\system_stm32f10x.c
       Include file:  RTE_Driver\Config\RTE_Device.h
       Include file:  RTE_Driver\Config\RTE_Device.h
+      Source file:   Device\Source\ARM\STM32F1xx_OPT.s
+      Source file:   Device\Source\ARM\startup_stm32f10x_hd.s
 </pre>
 </pre>
 </body>
 </body>
 </html>
 </html>

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+:103270005BB84FEA410C5FEA5C5CF6D14FF00000AE
+:10328000014970470000FF070000F87F0EF1020EB1
+:103290002EF0030E5EF8046B364205D4012A43EB90
+:1032A000030515F5001F12D8012841EB010C1CF590
+:1032B000001F0CD80ED14FEAD17C15F5001F0CEB86
+:1032C0004C0C0CF1020C08BF4CEBD37C04E04FF02B
+:1032D000080C01E04FEAD37C0CEB4C0526FA05F60E
+:1032E00006F00706B6F1040C06D20EEB860CBDE81C
+:1032F00070404CF0010C6047DFE80CF0090B020253
+:103300004FF000414FF00000A1F5002170BD1946BB
+:103310001046012851EB010418BFD4F5001484BFF6
+:10332000002001F0004170BD0808A0F500114FEA2F
+:1033300031017047FDF73FBCFDF774BD0000000090
+:103340000100000000009F240000000000000000B9
+:10335000E803E8034700E703000000000000000066
+:1033600030313233343536373839414243444546BB
+:1033700040305800303132333435363738396162B5
+:1033800063646566403078000400000800000000B7
+:1033900000000002000100001030313233343536B5
+:1033A0003738396162636465667870003031323372
+:1033B0003435363738394142434445465850000089
+:1033C00002400000000000A00000000005400000D6
+:1033D000000000C8000000000C4000000000409CFD
+:1033E00000000000194000000020BCBE00000000EA
+:1033F00034400000BFC91B8E00000004B54000002F
+:10340000504BCFD06607E2CF010000006C410000B6
+:103410003E8251AADFEEA73401000000D94200002D
+:10342000DCB5A0E23A301F97FFFFFFFFB445000074
+:10343000FD25A0C8E9A3C14FFFFFFFFFFF3F00002C
+:103440000000008000000000FF3F0000000000803E
+:1034500000000000A035000800000020140000005B
+:103460006C010008B4350008140000206406000058
+:10347000880100081C00000043000000F8FFFFFF67
+:103480000C0000000E0000000F0000002E000000E5
+:103490001001000043000000F8FFFFFF0040404023
+:1034A0004040404040404141414141404040404017
+:1034B00040404040404040404040404040050202C3
+:1034C0000202020202020202020202020220202082
+:1034D00020202020202020020202020202029090DE
+:1034E00090909090101010101010101010101010DC
+:1034F0001010101010101010020202020202888830
+:10350000888888880808080808080808080808083B
+:103510000808080808080808020202024000000023
+:10352000000000000000000000000000000000009B
+:10353000000000000000000000000000000000008B
+:10354000000000000000000000000000000000007B
+:10355000000000000000000000000000000000006B
+:10356000000000000000000000000000000000005B
+:10357000000000000000000000000000000000004B
+:10358000000000000000000000000000000000003B
+:10359000000000000000000000000000000000002B
+:1035A000000000000000000000000000000000001B
+:0435B0000000000017
 :0400000508000131BD
 :0400000508000131BD
 :00000001FF
 :00000001FF

Objects/MotorControl.htm

@@ -3,16 +3,16 @@
 <title>Static Call Graph - [.\Objects\MotorControl.axf]</title></head>
 <title>Static Call Graph - [.\Objects\MotorControl.axf]</title></head>
 <body><HR>
 <body><HR>
 <H1>Static Call Graph for image .\Objects\MotorControl.axf</H1><HR>
 <H1>Static Call Graph for image .\Objects\MotorControl.axf</H1><HR>
-<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5050106: Last Updated: Fri Sep 27 17:15:38 2024
+<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5050106: Last Updated: Tue Oct 29 18:48:51 2024
 <BR><P>
 <BR><P>
-<H3>Maximum Stack Usage =         28 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)</H3><H3>
+<H3>Maximum Stack Usage =        336 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)</H3><H3>
 Call chain for Maximum Stack Depth:</H3>
 Call chain for Maximum Stack Depth:</H3>
-SystemInit &rArr; SetSysClock &rArr; SetSysClockTo72
+__rt_entry_main &rArr; main &rArr; StateMachineHandler &rArr; Parking_Sensor_Interruption &rArr; Serial_Printf &rArr; vsnprintf &rArr; _printf_char_common &rArr; __printf
 <P>
 <P>
 <H3>
 <H3>
 Functions with no stack information
 Functions with no stack information
 </H3><UL>
 </H3><UL>
- <LI><a href="#[64]">__user_initial_stackheap</a>
+ <LI><a href="#[ab]">__user_initial_stackheap</a>
 </UL>
 </UL>
 </UL>
 </UL>
 <P>
 <P>
@@ -50,13 +50,13 @@ Function Pointers
  <LI><a href="#[4f]">DMA2_Channel3_IRQHandler</a> from startup_stm32f10x_hd.o(.text) referenced from startup_stm32f10x_hd.o(RESET)
  <LI><a href="#[4f]">DMA2_Channel3_IRQHandler</a> from startup_stm32f10x_hd.o(.text) referenced from startup_stm32f10x_hd.o(RESET)
  <LI><a href="#[50]">DMA2_Channel4_5_IRQHandler</a> from startup_stm32f10x_hd.o(.text) referenced from startup_stm32f10x_hd.o(RESET)
  <LI><a href="#[50]">DMA2_Channel4_5_IRQHandler</a> from startup_stm32f10x_hd.o(.text) referenced from startup_stm32f10x_hd.o(RESET)
  <LI><a href="#[12]">DebugMon_Handler</a> from startup_stm32f10x_hd.o(.text) referenced from startup_stm32f10x_hd.o(RESET)
  <LI><a href="#[12]">DebugMon_Handler</a> from startup_stm32f10x_hd.o(.text) referenced from startup_stm32f10x_hd.o(RESET)
- <LI><a href="#[1b]">EXTI0_IRQHandler</a> from startup_stm32f10x_hd.o(.text) referenced from startup_stm32f10x_hd.o(RESET)
- <LI><a href="#[3d]">EXTI15_10_IRQHandler</a> from startup_stm32f10x_hd.o(.text) referenced from startup_stm32f10x_hd.o(RESET)
+ <LI><a href="#[1b]">EXTI0_IRQHandler</a> from common.o(i.EXTI0_IRQHandler) referenced from startup_stm32f10x_hd.o(RESET)
+ <LI><a href="#[3d]">EXTI15_10_IRQHandler</a> from common.o(i.EXTI15_10_IRQHandler) referenced from startup_stm32f10x_hd.o(RESET)
  <LI><a href="#[1c]">EXTI1_IRQHandler</a> from startup_stm32f10x_hd.o(.text) referenced from startup_stm32f10x_hd.o(RESET)
  <LI><a href="#[1c]">EXTI1_IRQHandler</a> from startup_stm32f10x_hd.o(.text) referenced from startup_stm32f10x_hd.o(RESET)
- <LI><a href="#[1d]">EXTI2_IRQHandler</a> from startup_stm32f10x_hd.o(.text) referenced from startup_stm32f10x_hd.o(RESET)
+ <LI><a href="#[1d]">EXTI2_IRQHandler</a> from common.o(i.EXTI2_IRQHandler) referenced from startup_stm32f10x_hd.o(RESET)
  <LI><a href="#[1e]">EXTI3_IRQHandler</a> from startup_stm32f10x_hd.o(.text) referenced from startup_stm32f10x_hd.o(RESET)
  <LI><a href="#[1e]">EXTI3_IRQHandler</a> from startup_stm32f10x_hd.o(.text) referenced from startup_stm32f10x_hd.o(RESET)
  <LI><a href="#[1f]">EXTI4_IRQHandler</a> from startup_stm32f10x_hd.o(.text) referenced from startup_stm32f10x_hd.o(RESET)
  <LI><a href="#[1f]">EXTI4_IRQHandler</a> from startup_stm32f10x_hd.o(.text) referenced from startup_stm32f10x_hd.o(RESET)
- <LI><a href="#[2c]">EXTI9_5_IRQHandler</a> from startup_stm32f10x_hd.o(.text) referenced from startup_stm32f10x_hd.o(RESET)
+ <LI><a href="#[2c]">EXTI9_5_IRQHandler</a> from common.o(i.EXTI9_5_IRQHandler) referenced from startup_stm32f10x_hd.o(RESET)
  <LI><a href="#[19]">FLASH_IRQHandler</a> from startup_stm32f10x_hd.o(.text) referenced from startup_stm32f10x_hd.o(RESET)
  <LI><a href="#[19]">FLASH_IRQHandler</a> from startup_stm32f10x_hd.o(.text) referenced from startup_stm32f10x_hd.o(RESET)
  <LI><a href="#[45]">FSMC_IRQHandler</a> from startup_stm32f10x_hd.o(.text) referenced from startup_stm32f10x_hd.o(RESET)
  <LI><a href="#[45]">FSMC_IRQHandler</a> from startup_stm32f10x_hd.o(.text) referenced from startup_stm32f10x_hd.o(RESET)
  <LI><a href="#[d]">HardFault_Handler</a> from startup_stm32f10x_hd.o(.text) referenced from startup_stm32f10x_hd.o(RESET)
  <LI><a href="#[d]">HardFault_Handler</a> from startup_stm32f10x_hd.o(.text) referenced from startup_stm32f10x_hd.o(RESET)
@@ -104,141 +104,309 @@ Function Pointers
  <LI><a href="#[29]">USB_LP_CAN1_RX0_IRQHandler</a> from startup_stm32f10x_hd.o(.text) referenced from startup_stm32f10x_hd.o(RESET)
  <LI><a href="#[29]">USB_LP_CAN1_RX0_IRQHandler</a> from startup_stm32f10x_hd.o(.text) referenced from startup_stm32f10x_hd.o(RESET)
  <LI><a href="#[10]">UsageFault_Handler</a> from startup_stm32f10x_hd.o(.text) referenced from startup_stm32f10x_hd.o(RESET)
  <LI><a href="#[10]">UsageFault_Handler</a> from startup_stm32f10x_hd.o(.text) referenced from startup_stm32f10x_hd.o(RESET)
  <LI><a href="#[15]">WWDG_IRQHandler</a> from startup_stm32f10x_hd.o(.text) referenced from startup_stm32f10x_hd.o(RESET)
  <LI><a href="#[15]">WWDG_IRQHandler</a> from startup_stm32f10x_hd.o(.text) referenced from startup_stm32f10x_hd.o(RESET)
- <LI><a href="#[53]">__main</a> from __main.o(!!!main) referenced from startup_stm32f10x_hd.o(.text)
+ <LI><a href="#[56]">__main</a> from __main.o(!!!main) referenced from startup_stm32f10x_hd.o(.text)
+ <LI><a href="#[55]">_get_lc_ctype</a> from lc_ctype_c.o(locale$$code) referenced from rt_ctype_table.o(.text)
+ <LI><a href="#[54]">_printf_input_char</a> from _printf_char_common.o(.text) referenced from _printf_char_common.o(.text)
+ <LI><a href="#[53]">_snputc</a> from _snputc.o(.text) referenced from vsnprintf.o(.text)
 </UL>
 </UL>
 <P>
 <P>
 <H3>
 <H3>
 Global Symbols
 Global Symbols
 </H3>
 </H3>
-<P><STRONG><a name="[53]"></a>__main</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, __main.o(!!!main))
-<BR><BR>[Calls]<UL><LI><a href="#[55]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_entry
-<LI><a href="#[54]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__scatterload
+<P><STRONG><a name="[56]"></a>__main</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, __main.o(!!!main))
+<BR><BR>[Calls]<UL><LI><a href="#[58]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_entry
+<LI><a href="#[57]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__scatterload
 </UL>
 </UL>
 
 
-<P><STRONG><a name="[54]"></a>__scatterload</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __scatter.o(!!!scatter))
-<BR><BR>[Called By]<UL><LI><a href="#[53]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__main
+<P><STRONG><a name="[57]"></a>__scatterload</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __scatter.o(!!!scatter))
+<BR><BR>[Called By]<UL><LI><a href="#[56]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__main
 </UL>
 </UL>
 
 
-<P><STRONG><a name="[56]"></a>__scatterload_rt2</STRONG> (Thumb, 44 bytes, Stack size unknown bytes, __scatter.o(!!!scatter), UNUSED)
-<BR><BR>[Calls]<UL><LI><a href="#[55]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_entry
+<P><STRONG><a name="[59]"></a>__scatterload_rt2</STRONG> (Thumb, 44 bytes, Stack size unknown bytes, __scatter.o(!!!scatter), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[58]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_entry
 </UL>
 </UL>
 
 
-<P><STRONG><a name="[70]"></a>__scatterload_rt2_thumb_only</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __scatter.o(!!!scatter), UNUSED)
+<P><STRONG><a name="[e0]"></a>__scatterload_rt2_thumb_only</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __scatter.o(!!!scatter), UNUSED)
 
 
-<P><STRONG><a name="[71]"></a>__scatterload_null</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __scatter.o(!!!scatter), UNUSED)
+<P><STRONG><a name="[e1]"></a>__scatterload_null</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __scatter.o(!!!scatter), UNUSED)
 
 
-<P><STRONG><a name="[57]"></a>__scatterload_copy</STRONG> (Thumb, 26 bytes, Stack size unknown bytes, __scatter_copy.o(!!handler_copy), UNUSED)
-<BR><BR>[Calls]<UL><LI><a href="#[57]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__scatterload_copy
+<P><STRONG><a name="[5a]"></a>__scatterload_copy</STRONG> (Thumb, 26 bytes, Stack size unknown bytes, __scatter_copy.o(!!handler_copy), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[5a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__scatterload_copy
 </UL>
 </UL>
-<BR>[Called By]<UL><LI><a href="#[57]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__scatterload_copy
+<BR>[Called By]<UL><LI><a href="#[5a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__scatterload_copy
 </UL>
 </UL>
 
 
-<P><STRONG><a name="[72]"></a>__scatterload_zeroinit</STRONG> (Thumb, 28 bytes, Stack size unknown bytes, __scatter_zi.o(!!handler_zi), UNUSED)
+<P><STRONG><a name="[e2]"></a>__scatterload_zeroinit</STRONG> (Thumb, 28 bytes, Stack size unknown bytes, __scatter_zi.o(!!handler_zi), UNUSED)
 
 
-<P><STRONG><a name="[5b]"></a>__rt_lib_init</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit.o(.ARM.Collect$$libinit$$00000000))
-<BR><BR>[Called By]<UL><LI><a href="#[5a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_entry_li
+<P><STRONG><a name="[5b]"></a>_printf_n</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, _printf_n.o(.ARM.Collect$$_printf_percent$$00000001))
+<BR><BR>[Calls]<UL><LI><a href="#[5c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_charcount
 </UL>
 </UL>
 
 
-<P><STRONG><a name="[73]"></a>__rt_lib_init_alloca_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000002E))
+<P><STRONG><a name="[9d]"></a>_printf_percent</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000))
+<BR><BR>[Called By]<UL><LI><a href="#[96]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__printf
+</UL>
 
 
-<P><STRONG><a name="[74]"></a>__rt_lib_init_argv_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000002C))
+<P><STRONG><a name="[5d]"></a>_printf_p</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, _printf_p.o(.ARM.Collect$$_printf_percent$$00000002))
+<BR><BR>[Stack]<UL><LI>Max Depth = 64 + Unknown Stack Size
+<LI>Call Chain = _printf_p &rArr; _printf_hex_ptr &rArr; _printf_longlong_hex &rArr; _printf_int_common &rArr; _printf_post_padding
+</UL>
+<BR>[Calls]<UL><LI><a href="#[5e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_hex_ptr
+</UL>
 
 
-<P><STRONG><a name="[75]"></a>__rt_lib_init_atexit_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000001B))
+<P><STRONG><a name="[5f]"></a>_printf_f</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, _printf_f.o(.ARM.Collect$$_printf_percent$$00000003))
+<BR><BR>[Stack]<UL><LI>Max Depth = 320 + Unknown Stack Size
+<LI>Call Chain = _printf_f &rArr; _printf_fp_dec &rArr; _printf_fp_dec_real &rArr; _fp_digits &rArr; _btod_etento &rArr; _btod_emul &rArr; _e2e
+</UL>
+<BR>[Calls]<UL><LI><a href="#[60]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_fp_dec
+</UL>
 
 
-<P><STRONG><a name="[76]"></a>__rt_lib_init_clock_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000021))
+<P><STRONG><a name="[61]"></a>_printf_e</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, _printf_e.o(.ARM.Collect$$_printf_percent$$00000004))
+<BR><BR>[Stack]<UL><LI>Max Depth = 320 + Unknown Stack Size
+<LI>Call Chain = _printf_e &rArr; _printf_fp_dec &rArr; _printf_fp_dec_real &rArr; _fp_digits &rArr; _btod_etento &rArr; _btod_emul &rArr; _e2e
+</UL>
+<BR>[Calls]<UL><LI><a href="#[60]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_fp_dec
+</UL>
 
 
-<P><STRONG><a name="[77]"></a>__rt_lib_init_cpp_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000032))
+<P><STRONG><a name="[62]"></a>_printf_g</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, _printf_g.o(.ARM.Collect$$_printf_percent$$00000005))
+<BR><BR>[Stack]<UL><LI>Max Depth = 320 + Unknown Stack Size
+<LI>Call Chain = _printf_g &rArr; _printf_fp_dec &rArr; _printf_fp_dec_real &rArr; _fp_digits &rArr; _btod_etento &rArr; _btod_emul &rArr; _e2e
+</UL>
+<BR>[Calls]<UL><LI><a href="#[60]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_fp_dec
+</UL>
 
 
-<P><STRONG><a name="[78]"></a>__rt_lib_init_exceptions_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000030))
+<P><STRONG><a name="[63]"></a>_printf_a</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, _printf_a.o(.ARM.Collect$$_printf_percent$$00000006))
+<BR><BR>[Stack]<UL><LI>Max Depth = 112 + Unknown Stack Size
+<LI>Call Chain = _printf_a &rArr; _printf_fp_hex &rArr; _printf_fp_hex_real &rArr; _printf_fp_infnan &rArr; _printf_post_padding
+</UL>
+<BR>[Calls]<UL><LI><a href="#[64]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_fp_hex
+</UL>
 
 
-<P><STRONG><a name="[79]"></a>__rt_lib_init_fp_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000002))
+<P><STRONG><a name="[e3]"></a>_printf_ll</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, _printf_ll.o(.ARM.Collect$$_printf_percent$$00000007))
 
 
-<P><STRONG><a name="[7a]"></a>__rt_lib_init_fp_trap_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000001F))
+<P><STRONG><a name="[65]"></a>_printf_i</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, _printf_i.o(.ARM.Collect$$_printf_percent$$00000008))
+<BR><BR>[Stack]<UL><LI>Max Depth = 72 + Unknown Stack Size
+<LI>Call Chain = _printf_i &rArr; _printf_int_dec &rArr; _printf_int_common &rArr; _printf_post_padding
+</UL>
+<BR>[Calls]<UL><LI><a href="#[66]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_int_dec
+</UL>
 
 
-<P><STRONG><a name="[7b]"></a>__rt_lib_init_getenv_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000023))
+<P><STRONG><a name="[67]"></a>_printf_d</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, _printf_d.o(.ARM.Collect$$_printf_percent$$00000009))
+<BR><BR>[Stack]<UL><LI>Max Depth = 72 + Unknown Stack Size
+<LI>Call Chain = _printf_d &rArr; _printf_int_dec &rArr; _printf_int_common &rArr; _printf_post_padding
+</UL>
+<BR>[Calls]<UL><LI><a href="#[66]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_int_dec
+</UL>
 
 
-<P><STRONG><a name="[7c]"></a>__rt_lib_init_heap_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000000A))
+<P><STRONG><a name="[68]"></a>_printf_u</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, _printf_u.o(.ARM.Collect$$_printf_percent$$0000000A))
+<BR><BR>[Stack]<UL><LI>Max Depth = 72 + Unknown Stack Size
+<LI>Call Chain = _printf_u &rArr; _printf_int_dec &rArr; _printf_int_common &rArr; _printf_post_padding
+</UL>
+<BR>[Calls]<UL><LI><a href="#[66]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_int_dec
+</UL>
 
 
-<P><STRONG><a name="[7d]"></a>__rt_lib_init_lc_collate_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000011))
+<P><STRONG><a name="[69]"></a>_printf_o</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, _printf_o.o(.ARM.Collect$$_printf_percent$$0000000B))
+<BR><BR>[Stack]<UL><LI>Max Depth = 64 + Unknown Stack Size
+<LI>Call Chain = _printf_o &rArr; _printf_int_oct &rArr; _printf_longlong_oct &rArr; _printf_int_common &rArr; _printf_post_padding
+</UL>
+<BR>[Calls]<UL><LI><a href="#[6a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_int_oct
+</UL>
 
 
-<P><STRONG><a name="[7e]"></a>__rt_lib_init_lc_ctype_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000013))
+<P><STRONG><a name="[6b]"></a>_printf_x</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, _printf_x.o(.ARM.Collect$$_printf_percent$$0000000C))
+<BR><BR>[Stack]<UL><LI>Max Depth = 80 + Unknown Stack Size
+<LI>Call Chain = _printf_x &rArr; _printf_int_hex &rArr; _printf_longlong_hex &rArr; _printf_int_common &rArr; _printf_post_padding
+</UL>
+<BR>[Calls]<UL><LI><a href="#[6c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_int_hex
+</UL>
 
 
-<P><STRONG><a name="[7f]"></a>__rt_lib_init_lc_monetary_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000015))
+<P><STRONG><a name="[6d]"></a>_printf_lli</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, _printf_lli.o(.ARM.Collect$$_printf_percent$$0000000D))
+<BR><BR>[Stack]<UL><LI>Max Depth = 72 + Unknown Stack Size
+<LI>Call Chain = _printf_lli &rArr; _printf_longlong_dec &rArr; _printf_int_common &rArr; _printf_post_padding
+</UL>
+<BR>[Calls]<UL><LI><a href="#[6e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_longlong_dec
+</UL>
 
 
-<P><STRONG><a name="[80]"></a>__rt_lib_init_lc_numeric_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000017))
+<P><STRONG><a name="[6f]"></a>_printf_lld</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, _printf_lld.o(.ARM.Collect$$_printf_percent$$0000000E))
+<BR><BR>[Stack]<UL><LI>Max Depth = 72 + Unknown Stack Size
+<LI>Call Chain = _printf_lld &rArr; _printf_longlong_dec &rArr; _printf_int_common &rArr; _printf_post_padding
+</UL>
+<BR>[Calls]<UL><LI><a href="#[6e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_longlong_dec
+</UL>
 
 
-<P><STRONG><a name="[81]"></a>__rt_lib_init_lc_time_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000019))
+<P><STRONG><a name="[70]"></a>_printf_llu</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, _printf_llu.o(.ARM.Collect$$_printf_percent$$0000000F))
+<BR><BR>[Stack]<UL><LI>Max Depth = 72 + Unknown Stack Size
+<LI>Call Chain = _printf_llu &rArr; _printf_longlong_dec &rArr; _printf_int_common &rArr; _printf_post_padding
+</UL>
+<BR>[Calls]<UL><LI><a href="#[6e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_longlong_dec
+</UL>
+
+<P><STRONG><a name="[71]"></a>_printf_llo</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, _printf_llo.o(.ARM.Collect$$_printf_percent$$00000010))
+<BR><BR>[Stack]<UL><LI>Max Depth = 56 + Unknown Stack Size
+<LI>Call Chain = _printf_llo &rArr; _printf_ll_oct &rArr; _printf_longlong_oct &rArr; _printf_int_common &rArr; _printf_post_padding
+</UL>
+<BR>[Calls]<UL><LI><a href="#[72]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_ll_oct
+</UL>
+
+<P><STRONG><a name="[73]"></a>_printf_llx</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, _printf_llx.o(.ARM.Collect$$_printf_percent$$00000011))
+<BR><BR>[Stack]<UL><LI>Max Depth = 64 + Unknown Stack Size
+<LI>Call Chain = _printf_llx &rArr; _printf_ll_hex &rArr; _printf_longlong_hex &rArr; _printf_int_common &rArr; _printf_post_padding
+</UL>
+<BR>[Calls]<UL><LI><a href="#[74]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_ll_hex
+</UL>
 
 
-<P><STRONG><a name="[82]"></a>__rt_lib_init_preinit_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000004))
+<P><STRONG><a name="[e4]"></a>_printf_l</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, _printf_l.o(.ARM.Collect$$_printf_percent$$00000012))
 
 
-<P><STRONG><a name="[83]"></a>__rt_lib_init_rand_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000000E))
+<P><STRONG><a name="[75]"></a>_printf_c</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, _printf_c.o(.ARM.Collect$$_printf_percent$$00000013))
+<BR><BR>[Stack]<UL><LI>Max Depth = 40 + Unknown Stack Size
+<LI>Call Chain = _printf_c &rArr; _printf_char &rArr; _printf_cs_common &rArr; _printf_str &rArr; _printf_post_padding
+</UL>
+<BR>[Calls]<UL><LI><a href="#[76]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_char
+</UL>
 
 
-<P><STRONG><a name="[84]"></a>__rt_lib_init_return</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000033))
+<P><STRONG><a name="[77]"></a>_printf_s</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, _printf_s.o(.ARM.Collect$$_printf_percent$$00000014))
+<BR><BR>[Stack]<UL><LI>Max Depth = 40 + Unknown Stack Size
+<LI>Call Chain = _printf_s &rArr; _printf_string &rArr; _printf_cs_common &rArr; _printf_str &rArr; _printf_post_padding
+</UL>
+<BR>[Calls]<UL><LI><a href="#[78]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_string
+</UL>
 
 
-<P><STRONG><a name="[85]"></a>__rt_lib_init_signal_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000001D))
+<P><STRONG><a name="[79]"></a>_printf_lc</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, _printf_lc.o(.ARM.Collect$$_printf_percent$$00000015))
+<BR><BR>[Stack]<UL><LI>Max Depth = 88 + Unknown Stack Size
+<LI>Call Chain = _printf_lc &rArr; _printf_wchar &rArr; _printf_lcs_common &rArr; _printf_wctomb &rArr; _wcrtomb &rArr; __rt_ctype_table
+</UL>
+<BR>[Calls]<UL><LI><a href="#[7a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_wchar
+</UL>
 
 
-<P><STRONG><a name="[86]"></a>__rt_lib_init_stdio_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000025))
+<P><STRONG><a name="[7b]"></a>_printf_ls</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, _printf_ls.o(.ARM.Collect$$_printf_percent$$00000016))
+<BR><BR>[Stack]<UL><LI>Max Depth = 88 + Unknown Stack Size
+<LI>Call Chain = _printf_ls &rArr; _printf_wstring &rArr; _printf_lcs_common &rArr; _printf_wctomb &rArr; _wcrtomb &rArr; __rt_ctype_table
+</UL>
+<BR>[Calls]<UL><LI><a href="#[7c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_wstring
+</UL>
 
 
-<P><STRONG><a name="[87]"></a>__rt_lib_init_user_alloc_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000000C))
+<P><STRONG><a name="[e5]"></a>_printf_percent_end</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, _printf_percent_end.o(.ARM.Collect$$_printf_percent$$00000017))
 
 
-<P><STRONG><a name="[60]"></a>__rt_lib_shutdown</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown.o(.ARM.Collect$$libshutdown$$00000000))
-<BR><BR>[Called By]<UL><LI><a href="#[5f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_exit_ls
+<P><STRONG><a name="[85]"></a>__rt_lib_init</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit.o(.ARM.Collect$$libinit$$00000000))
+<BR><BR>[Called By]<UL><LI><a href="#[84]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_entry_li
 </UL>
 </UL>
 
 
-<P><STRONG><a name="[88]"></a>__rt_lib_shutdown_fp_trap_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$00000006))
+<P><STRONG><a name="[e6]"></a>__rt_lib_init_fp_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000002))
+
+<P><STRONG><a name="[e7]"></a>__rt_lib_init_heap_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000000A))
 
 
-<P><STRONG><a name="[89]"></a>__rt_lib_shutdown_heap_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$0000000E))
+<P><STRONG><a name="[7d]"></a>__rt_lib_init_lc_common</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000000F))
+<BR><BR>[Calls]<UL><LI><a href="#[7e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_locale
+</UL>
 
 
-<P><STRONG><a name="[8a]"></a>__rt_lib_shutdown_return</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$0000000F))
+<P><STRONG><a name="[e8]"></a>__rt_lib_init_preinit_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000004))
 
 
-<P><STRONG><a name="[8b]"></a>__rt_lib_shutdown_signal_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$00000009))
+<P><STRONG><a name="[e9]"></a>__rt_lib_init_rand_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000000E))
 
 
-<P><STRONG><a name="[8c]"></a>__rt_lib_shutdown_stdio_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$00000003))
+<P><STRONG><a name="[ea]"></a>__rt_lib_init_user_alloc_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000000C))
 
 
-<P><STRONG><a name="[8d]"></a>__rt_lib_shutdown_user_alloc_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$0000000B))
+<P><STRONG><a name="[eb]"></a>__rt_lib_init_lc_collate_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000011))
 
 
-<P><STRONG><a name="[55]"></a>__rt_entry</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __rtentry.o(.ARM.Collect$$rtentry$$00000000))
-<BR><BR>[Called By]<UL><LI><a href="#[53]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__main
-<LI><a href="#[56]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__scatterload_rt2
+<P><STRONG><a name="[7f]"></a>__rt_lib_init_lc_ctype_2</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000012))
+<BR><BR>[Stack]<UL><LI>Max Depth = 8 + Unknown Stack Size
+<LI>Call Chain = __rt_lib_init_lc_ctype_2 &rArr; _get_lc_ctype
+</UL>
+<BR>[Calls]<UL><LI><a href="#[55]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_get_lc_ctype
 </UL>
 </UL>
 
 
-<P><STRONG><a name="[8e]"></a>__rt_entry_presh_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __rtentry2.o(.ARM.Collect$$rtentry$$00000002))
+<P><STRONG><a name="[ec]"></a>__rt_lib_init_lc_ctype_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000013))
+
+<P><STRONG><a name="[ed]"></a>__rt_lib_init_lc_monetary_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000015))
 
 
-<P><STRONG><a name="[58]"></a>__rt_entry_sh</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __rtentry4.o(.ARM.Collect$$rtentry$$00000004))
+<P><STRONG><a name="[80]"></a>__rt_lib_init_lc_numeric_2</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000016))
 <BR><BR>[Stack]<UL><LI>Max Depth = 8 + Unknown Stack Size
 <BR><BR>[Stack]<UL><LI>Max Depth = 8 + Unknown Stack Size
-<LI>Call Chain = __rt_entry_sh &rArr; __user_setup_stackheap
+<LI>Call Chain = __rt_lib_init_lc_numeric_2 &rArr; _get_lc_numeric
+</UL>
+<BR>[Calls]<UL><LI><a href="#[81]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_get_lc_numeric
 </UL>
 </UL>
-<BR>[Calls]<UL><LI><a href="#[59]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__user_setup_stackheap
+
+<P><STRONG><a name="[ee]"></a>__rt_lib_init_alloca_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000002E))
+
+<P><STRONG><a name="[ef]"></a>__rt_lib_init_argv_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000002C))
+
+<P><STRONG><a name="[f0]"></a>__rt_lib_init_atexit_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000001B))
+
+<P><STRONG><a name="[f1]"></a>__rt_lib_init_clock_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000021))
+
+<P><STRONG><a name="[f2]"></a>__rt_lib_init_cpp_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000032))
+
+<P><STRONG><a name="[f3]"></a>__rt_lib_init_exceptions_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000030))
+
+<P><STRONG><a name="[f4]"></a>__rt_lib_init_fp_trap_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000001F))
+
+<P><STRONG><a name="[f5]"></a>__rt_lib_init_getenv_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000023))
+
+<P><STRONG><a name="[f6]"></a>__rt_lib_init_lc_numeric_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000017))
+
+<P><STRONG><a name="[f7]"></a>__rt_lib_init_lc_time_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000019))
+
+<P><STRONG><a name="[f8]"></a>__rt_lib_init_return</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000033))
+
+<P><STRONG><a name="[f9]"></a>__rt_lib_init_signal_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000001D))
+
+<P><STRONG><a name="[fa]"></a>__rt_lib_init_stdio_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000025))
+
+<P><STRONG><a name="[8a]"></a>__rt_lib_shutdown</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown.o(.ARM.Collect$$libshutdown$$00000000))
+<BR><BR>[Called By]<UL><LI><a href="#[89]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_exit_ls
 </UL>
 </UL>
 
 
-<P><STRONG><a name="[5a]"></a>__rt_entry_li</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __rtentry2.o(.ARM.Collect$$rtentry$$0000000A))
-<BR><BR>[Calls]<UL><LI><a href="#[5b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_lib_init
+<P><STRONG><a name="[fb]"></a>__rt_lib_shutdown_fp_trap_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$00000006))
+
+<P><STRONG><a name="[fc]"></a>__rt_lib_shutdown_heap_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$0000000E))
+
+<P><STRONG><a name="[fd]"></a>__rt_lib_shutdown_return</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$0000000F))
+
+<P><STRONG><a name="[fe]"></a>__rt_lib_shutdown_signal_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$00000009))
+
+<P><STRONG><a name="[ff]"></a>__rt_lib_shutdown_stdio_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$00000003))
+
+<P><STRONG><a name="[100]"></a>__rt_lib_shutdown_user_alloc_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$0000000B))
+
+<P><STRONG><a name="[58]"></a>__rt_entry</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __rtentry.o(.ARM.Collect$$rtentry$$00000000))
+<BR><BR>[Called By]<UL><LI><a href="#[56]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__main
+<LI><a href="#[59]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__scatterload_rt2
 </UL>
 </UL>
 
 
-<P><STRONG><a name="[8f]"></a>__rt_entry_postsh_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __rtentry2.o(.ARM.Collect$$rtentry$$00000009))
+<P><STRONG><a name="[101]"></a>__rt_entry_presh_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __rtentry2.o(.ARM.Collect$$rtentry$$00000002))
 
 
-<P><STRONG><a name="[5c]"></a>__rt_entry_main</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __rtentry2.o(.ARM.Collect$$rtentry$$0000000D))
+<P><STRONG><a name="[82]"></a>__rt_entry_sh</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __rtentry4.o(.ARM.Collect$$rtentry$$00000004))
 <BR><BR>[Stack]<UL><LI>Max Depth = 8 + Unknown Stack Size
 <BR><BR>[Stack]<UL><LI>Max Depth = 8 + Unknown Stack Size
-<LI>Call Chain = __rt_entry_main &rArr; main &rArr; Delay
+<LI>Call Chain = __rt_entry_sh &rArr; __user_setup_stackheap
+</UL>
+<BR>[Calls]<UL><LI><a href="#[83]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__user_setup_stackheap
 </UL>
 </UL>
-<BR>[Calls]<UL><LI><a href="#[5d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
-<LI><a href="#[5e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;exit
+
+<P><STRONG><a name="[84]"></a>__rt_entry_li</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __rtentry2.o(.ARM.Collect$$rtentry$$0000000A))
+<BR><BR>[Calls]<UL><LI><a href="#[85]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_lib_init
 </UL>
 </UL>
 
 
-<P><STRONG><a name="[90]"></a>__rt_entry_postli_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __rtentry2.o(.ARM.Collect$$rtentry$$0000000C))
+<P><STRONG><a name="[102]"></a>__rt_entry_postsh_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __rtentry2.o(.ARM.Collect$$rtentry$$00000009))
 
 
-<P><STRONG><a name="[65]"></a>__rt_exit</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, rtexit.o(.ARM.Collect$$rtexit$$00000000))
-<BR><BR>[Called By]<UL><LI><a href="#[5e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;exit
+<P><STRONG><a name="[86]"></a>__rt_entry_main</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __rtentry2.o(.ARM.Collect$$rtentry$$0000000D))
+<BR><BR>[Stack]<UL><LI>Max Depth = 336 + Unknown Stack Size
+<LI>Call Chain = __rt_entry_main &rArr; main &rArr; StateMachineHandler &rArr; Parking_Sensor_Interruption &rArr; Serial_Printf &rArr; vsnprintf &rArr; _printf_char_common &rArr; __printf
 </UL>
 </UL>
+<BR>[Calls]<UL><LI><a href="#[87]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+<LI><a href="#[88]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;exit
+</UL>
+
+<P><STRONG><a name="[103]"></a>__rt_entry_postli_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __rtentry2.o(.ARM.Collect$$rtentry$$0000000C))
 
 
-<P><STRONG><a name="[5f]"></a>__rt_exit_ls</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, rtexit2.o(.ARM.Collect$$rtexit$$00000003))
-<BR><BR>[Calls]<UL><LI><a href="#[60]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_lib_shutdown
+<P><STRONG><a name="[ac]"></a>__rt_exit</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, rtexit.o(.ARM.Collect$$rtexit$$00000000))
+<BR><BR>[Called By]<UL><LI><a href="#[88]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;exit
 </UL>
 </UL>
 
 
-<P><STRONG><a name="[91]"></a>__rt_exit_prels_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, rtexit2.o(.ARM.Collect$$rtexit$$00000002))
+<P><STRONG><a name="[89]"></a>__rt_exit_ls</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, rtexit2.o(.ARM.Collect$$rtexit$$00000003))
+<BR><BR>[Calls]<UL><LI><a href="#[8a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_lib_shutdown
+</UL>
 
 
-<P><STRONG><a name="[61]"></a>__rt_exit_exit</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, rtexit2.o(.ARM.Collect$$rtexit$$00000004))
-<BR><BR>[Calls]<UL><LI><a href="#[62]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_sys_exit
+<P><STRONG><a name="[104]"></a>__rt_exit_prels_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, rtexit2.o(.ARM.Collect$$rtexit$$00000002))
+
+<P><STRONG><a name="[8b]"></a>__rt_exit_exit</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, rtexit2.o(.ARM.Collect$$rtexit$$00000004))
+<BR><BR>[Calls]<UL><LI><a href="#[8c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_sys_exit
 </UL>
 </UL>
 
 
 <P><STRONG><a name="[b]"></a>Reset_Handler</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, startup_stm32f10x_hd.o(.text))
 <P><STRONG><a name="[b]"></a>Reset_Handler</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, startup_stm32f10x_hd.o(.text))
@@ -356,27 +524,15 @@ Global Symbols
 <P><STRONG><a name="[50]"></a>DMA2_Channel4_5_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_hd.o(.text))
 <P><STRONG><a name="[50]"></a>DMA2_Channel4_5_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_hd.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_hd.o(RESET)
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_hd.o(RESET)
 </UL>
 </UL>
-<P><STRONG><a name="[1b]"></a>EXTI0_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_hd.o(.text))
-<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_hd.o(RESET)
-</UL>
-<P><STRONG><a name="[3d]"></a>EXTI15_10_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_hd.o(.text))
-<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_hd.o(RESET)
-</UL>
 <P><STRONG><a name="[1c]"></a>EXTI1_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_hd.o(.text))
 <P><STRONG><a name="[1c]"></a>EXTI1_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_hd.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_hd.o(RESET)
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_hd.o(RESET)
 </UL>
 </UL>
-<P><STRONG><a name="[1d]"></a>EXTI2_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_hd.o(.text))
-<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_hd.o(RESET)
-</UL>
 <P><STRONG><a name="[1e]"></a>EXTI3_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_hd.o(.text))
 <P><STRONG><a name="[1e]"></a>EXTI3_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_hd.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_hd.o(RESET)
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_hd.o(RESET)
 </UL>
 </UL>
 <P><STRONG><a name="[1f]"></a>EXTI4_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_hd.o(.text))
 <P><STRONG><a name="[1f]"></a>EXTI4_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_hd.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_hd.o(RESET)
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_hd.o(RESET)
 </UL>
 </UL>
-<P><STRONG><a name="[2c]"></a>EXTI9_5_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_hd.o(.text))
-<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_hd.o(RESET)
-</UL>
 <P><STRONG><a name="[19]"></a>FLASH_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_hd.o(.text))
 <P><STRONG><a name="[19]"></a>FLASH_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_hd.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_hd.o(RESET)
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_hd.o(RESET)
 </UL>
 </UL>
@@ -491,124 +647,886 @@ Global Symbols
 <P><STRONG><a name="[15]"></a>WWDG_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_hd.o(.text))
 <P><STRONG><a name="[15]"></a>WWDG_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_hd.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_hd.o(RESET)
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_hd.o(RESET)
 </UL>
 </UL>
-<P><STRONG><a name="[64]"></a>__user_initial_stackheap</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, startup_stm32f10x_hd.o(.text))
-<BR><BR>[Called By]<UL><LI><a href="#[59]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__user_setup_stackheap
+<P><STRONG><a name="[ab]"></a>__user_initial_stackheap</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, startup_stm32f10x_hd.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[83]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__user_setup_stackheap
+</UL>
+
+<P><STRONG><a name="[8d]"></a>vsnprintf</STRONG> (Thumb, 48 bytes, Stack size 24 bytes, vsnprintf.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 128 + Unknown Stack Size
+<LI>Call Chain = vsnprintf &rArr; _printf_char_common &rArr; __printf
+</UL>
+<BR>[Calls]<UL><LI><a href="#[8f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_sputc
+<LI><a href="#[8e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_char_common
 </UL>
 </UL>
+<BR>[Called By]<UL><LI><a href="#[b8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Serial_Printf
+</UL>
+
+<P><STRONG><a name="[d1]"></a>__aeabi_memcpy4</STRONG> (Thumb, 0 bytes, Stack size 8 bytes, rt_memcpy_w.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = __aeabi_memcpy4
+</UL>
+<BR>[Called By]<UL><LI><a href="#[87]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+</UL>
+
+<P><STRONG><a name="[105]"></a>__aeabi_memcpy8</STRONG> (Thumb, 0 bytes, Stack size 8 bytes, rt_memcpy_w.o(.text), UNUSED)
+
+<P><STRONG><a name="[106]"></a>__rt_memcpy_w</STRONG> (Thumb, 100 bytes, Stack size 8 bytes, rt_memcpy_w.o(.text), UNUSED)
 
 
-<P><STRONG><a name="[92]"></a>__use_two_region_memory</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, heapauxi.o(.text), UNUSED)
+<P><STRONG><a name="[107]"></a>_memcpy_lastbytes_aligned</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, rt_memcpy_w.o(.text), UNUSED)
+
+<P><STRONG><a name="[108]"></a>__use_two_region_memory</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, heapauxi.o(.text), UNUSED)
 
 
 <P><STRONG><a name="[8]"></a>__rt_heap_escrow</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, heapauxi.o(.text), UNUSED)
 <P><STRONG><a name="[8]"></a>__rt_heap_escrow</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, heapauxi.o(.text), UNUSED)
 
 
 <P><STRONG><a name="[7]"></a>__rt_heap_expand</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, heapauxi.o(.text), UNUSED)
 <P><STRONG><a name="[7]"></a>__rt_heap_expand</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, heapauxi.o(.text), UNUSED)
 
 
-<P><STRONG><a name="[59]"></a>__user_setup_stackheap</STRONG> (Thumb, 74 bytes, Stack size 8 bytes, sys_stackheap_outer.o(.text))
+<P><STRONG><a name="[91]"></a>_printf_pre_padding</STRONG> (Thumb, 44 bytes, Stack size 16 bytes, _printf_pad.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = _printf_pre_padding
+</UL>
+<BR>[Called By]<UL><LI><a href="#[a5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_fp_infnan
+<LI><a href="#[a6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_fp_hex_real
+<LI><a href="#[a3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_fp_dec_real
+<LI><a href="#[95]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_int_common
+<LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_wctomb
+<LI><a href="#[90]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_str
+</UL>
+
+<P><STRONG><a name="[92]"></a>_printf_post_padding</STRONG> (Thumb, 34 bytes, Stack size 16 bytes, _printf_pad.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = _printf_post_padding
+</UL>
+<BR>[Called By]<UL><LI><a href="#[a5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_fp_infnan
+<LI><a href="#[a6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_fp_hex_real
+<LI><a href="#[a3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_fp_dec_real
+<LI><a href="#[95]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_int_common
+<LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_wctomb
+<LI><a href="#[90]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_str
+</UL>
+
+<P><STRONG><a name="[93]"></a>_printf_truncate_signed</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, _printf_truncate.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[66]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_int_dec
+</UL>
+
+<P><STRONG><a name="[94]"></a>_printf_truncate_unsigned</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, _printf_truncate.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[6c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_int_hex
+<LI><a href="#[6a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_int_oct
+<LI><a href="#[66]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_int_dec
+</UL>
+
+<P><STRONG><a name="[90]"></a>_printf_str</STRONG> (Thumb, 82 bytes, Stack size 16 bytes, _printf_str.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 32<LI>Call Chain = _printf_str &rArr; _printf_post_padding
+</UL>
+<BR>[Calls]<UL><LI><a href="#[92]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_post_padding
+<LI><a href="#[91]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_pre_padding
+</UL>
+<BR>[Called By]<UL><LI><a href="#[a7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_cs_common
+</UL>
+
+<P><STRONG><a name="[66]"></a>_printf_int_dec</STRONG> (Thumb, 104 bytes, Stack size 24 bytes, _printf_dec.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 72<LI>Call Chain = _printf_int_dec &rArr; _printf_int_common &rArr; _printf_post_padding
+</UL>
+<BR>[Calls]<UL><LI><a href="#[95]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_int_common
+<LI><a href="#[94]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_truncate_unsigned
+<LI><a href="#[93]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_truncate_signed
+</UL>
+<BR>[Called By]<UL><LI><a href="#[68]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_u
+<LI><a href="#[67]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_d
+<LI><a href="#[65]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_i
+</UL>
+
+<P><STRONG><a name="[5c]"></a>_printf_charcount</STRONG> (Thumb, 40 bytes, Stack size 0 bytes, _printf_charcount.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[5b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_n
+</UL>
+
+<P><STRONG><a name="[8e]"></a>_printf_char_common</STRONG> (Thumb, 32 bytes, Stack size 64 bytes, _printf_char_common.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 104 + Unknown Stack Size
+<LI>Call Chain = _printf_char_common &rArr; __printf
+</UL>
+<BR>[Calls]<UL><LI><a href="#[96]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__printf
+</UL>
+<BR>[Called By]<UL><LI><a href="#[8d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vsnprintf
+</UL>
+
+<P><STRONG><a name="[8f]"></a>_sputc</STRONG> (Thumb, 10 bytes, Stack size 0 bytes, _sputc.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[8d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vsnprintf
+</UL>
+
+<P><STRONG><a name="[53]"></a>_snputc</STRONG> (Thumb, 16 bytes, Stack size 0 bytes, _snputc.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> vsnprintf.o(.text)
+</UL>
+<P><STRONG><a name="[97]"></a>_printf_wctomb</STRONG> (Thumb, 182 bytes, Stack size 56 bytes, _printf_wctomb.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 80<LI>Call Chain = _printf_wctomb &rArr; _wcrtomb &rArr; __rt_ctype_table
+</UL>
+<BR>[Calls]<UL><LI><a href="#[98]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_wcrtomb
+<LI><a href="#[92]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_post_padding
+<LI><a href="#[91]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_pre_padding
+</UL>
+<BR>[Called By]<UL><LI><a href="#[a8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_lcs_common
+</UL>
+
+<P><STRONG><a name="[6e]"></a>_printf_longlong_dec</STRONG> (Thumb, 108 bytes, Stack size 24 bytes, _printf_longlong_dec.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 72<LI>Call Chain = _printf_longlong_dec &rArr; _printf_int_common &rArr; _printf_post_padding
+</UL>
+<BR>[Calls]<UL><LI><a href="#[95]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_int_common
+<LI><a href="#[99]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_ll_udiv10
+</UL>
+<BR>[Called By]<UL><LI><a href="#[70]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_llu
+<LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_lld
+<LI><a href="#[6d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_lli
+</UL>
+
+<P><STRONG><a name="[9a]"></a>_printf_longlong_oct</STRONG> (Thumb, 68 bytes, Stack size 8 bytes, _printf_oct_int_ll.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 56<LI>Call Chain = _printf_longlong_oct &rArr; _printf_int_common &rArr; _printf_post_padding
+</UL>
+<BR>[Calls]<UL><LI><a href="#[95]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_int_common
+</UL>
+<BR>[Called By]<UL><LI><a href="#[72]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_ll_oct
+<LI><a href="#[6a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_int_oct
+</UL>
+
+<P><STRONG><a name="[6a]"></a>_printf_int_oct</STRONG> (Thumb, 24 bytes, Stack size 8 bytes, _printf_oct_int_ll.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 64<LI>Call Chain = _printf_int_oct &rArr; _printf_longlong_oct &rArr; _printf_int_common &rArr; _printf_post_padding
+</UL>
+<BR>[Calls]<UL><LI><a href="#[9a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_longlong_oct
+<LI><a href="#[94]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_truncate_unsigned
+</UL>
+<BR>[Called By]<UL><LI><a href="#[69]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_o
+</UL>
+
+<P><STRONG><a name="[72]"></a>_printf_ll_oct</STRONG> (Thumb, 12 bytes, Stack size 0 bytes, _printf_oct_int_ll.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 56<LI>Call Chain = _printf_ll_oct &rArr; _printf_longlong_oct &rArr; _printf_int_common &rArr; _printf_post_padding
+</UL>
+<BR>[Calls]<UL><LI><a href="#[9a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_longlong_oct
+</UL>
+<BR>[Called By]<UL><LI><a href="#[71]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_llo
+</UL>
+
+<P><STRONG><a name="[9b]"></a>_printf_longlong_hex</STRONG> (Thumb, 86 bytes, Stack size 16 bytes, _printf_hex_int_ll_ptr.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 64<LI>Call Chain = _printf_longlong_hex &rArr; _printf_int_common &rArr; _printf_post_padding
+</UL>
+<BR>[Calls]<UL><LI><a href="#[95]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_int_common
+</UL>
+<BR>[Called By]<UL><LI><a href="#[5e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_hex_ptr
+<LI><a href="#[74]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_ll_hex
+<LI><a href="#[6c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_int_hex
+</UL>
+
+<P><STRONG><a name="[6c]"></a>_printf_int_hex</STRONG> (Thumb, 28 bytes, Stack size 16 bytes, _printf_hex_int_ll_ptr.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 80<LI>Call Chain = _printf_int_hex &rArr; _printf_longlong_hex &rArr; _printf_int_common &rArr; _printf_post_padding
+</UL>
+<BR>[Calls]<UL><LI><a href="#[9b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_longlong_hex
+<LI><a href="#[94]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_truncate_unsigned
+</UL>
+<BR>[Called By]<UL><LI><a href="#[6b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_x
+</UL>
+
+<P><STRONG><a name="[74]"></a>_printf_ll_hex</STRONG> (Thumb, 12 bytes, Stack size 0 bytes, _printf_hex_int_ll_ptr.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 64<LI>Call Chain = _printf_ll_hex &rArr; _printf_longlong_hex &rArr; _printf_int_common &rArr; _printf_post_padding
+</UL>
+<BR>[Calls]<UL><LI><a href="#[9b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_longlong_hex
+</UL>
+<BR>[Called By]<UL><LI><a href="#[73]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_llx
+</UL>
+
+<P><STRONG><a name="[5e]"></a>_printf_hex_ptr</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, _printf_hex_int_ll_ptr.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 64<LI>Call Chain = _printf_hex_ptr &rArr; _printf_longlong_hex &rArr; _printf_int_common &rArr; _printf_post_padding
+</UL>
+<BR>[Calls]<UL><LI><a href="#[9b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_longlong_hex
+</UL>
+<BR>[Called By]<UL><LI><a href="#[5d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_p
+</UL>
+
+<P><STRONG><a name="[96]"></a>__printf</STRONG> (Thumb, 388 bytes, Stack size 40 bytes, __printf_flags_ss_wp.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 40 + Unknown Stack Size
+<LI>Call Chain = __printf
+</UL>
+<BR>[Calls]<UL><LI><a href="#[9d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_percent
+<LI><a href="#[9c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_is_digit
+</UL>
+<BR>[Called By]<UL><LI><a href="#[8e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_char_common
+</UL>
+
+<P><STRONG><a name="[99]"></a>_ll_udiv10</STRONG> (Thumb, 138 bytes, Stack size 12 bytes, lludiv10.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 12<LI>Call Chain = _ll_udiv10
+</UL>
+<BR>[Called By]<UL><LI><a href="#[9e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_fp_digits
+<LI><a href="#[6e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_longlong_dec
+</UL>
+
+<P><STRONG><a name="[95]"></a>_printf_int_common</STRONG> (Thumb, 178 bytes, Stack size 32 bytes, _printf_intcommon.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 48<LI>Call Chain = _printf_int_common &rArr; _printf_post_padding
+</UL>
+<BR>[Calls]<UL><LI><a href="#[92]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_post_padding
+<LI><a href="#[91]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_pre_padding
+</UL>
+<BR>[Called By]<UL><LI><a href="#[9b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_longlong_hex
+<LI><a href="#[9a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_longlong_oct
+<LI><a href="#[6e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_longlong_dec
+<LI><a href="#[66]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_int_dec
+</UL>
+
+<P><STRONG><a name="[109]"></a>__lib_sel_fp_printf</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, _printf_fp_dec.o(.text), UNUSED)
+
+<P><STRONG><a name="[a3]"></a>_printf_fp_dec_real</STRONG> (Thumb, 620 bytes, Stack size 104 bytes, _printf_fp_dec.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 320<LI>Call Chain = _printf_fp_dec_real &rArr; _fp_digits &rArr; _btod_etento &rArr; _btod_emul &rArr; _e2e
+</UL>
+<BR>[Calls]<UL><LI><a href="#[a5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_fp_infnan
+<LI><a href="#[7e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_locale
+<LI><a href="#[9e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_fp_digits
+<LI><a href="#[92]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_post_padding
+<LI><a href="#[91]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_pre_padding
+<LI><a href="#[a4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__ARM_fpclassify
+</UL>
+<BR>[Called By]<UL><LI><a href="#[60]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_fp_dec
+</UL>
+
+<P><STRONG><a name="[a6]"></a>_printf_fp_hex_real</STRONG> (Thumb, 754 bytes, Stack size 72 bytes, _printf_fp_hex.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 112<LI>Call Chain = _printf_fp_hex_real &rArr; _printf_fp_infnan &rArr; _printf_post_padding
+</UL>
+<BR>[Calls]<UL><LI><a href="#[a5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_fp_infnan
+<LI><a href="#[92]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_post_padding
+<LI><a href="#[91]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_pre_padding
+<LI><a href="#[a4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__ARM_fpclassify
+</UL>
+<BR>[Called By]<UL><LI><a href="#[64]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_fp_hex
+</UL>
+
+<P><STRONG><a name="[a7]"></a>_printf_cs_common</STRONG> (Thumb, 20 bytes, Stack size 8 bytes, _printf_char.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 40<LI>Call Chain = _printf_cs_common &rArr; _printf_str &rArr; _printf_post_padding
+</UL>
+<BR>[Calls]<UL><LI><a href="#[90]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_str
+</UL>
+<BR>[Called By]<UL><LI><a href="#[78]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_string
+<LI><a href="#[76]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_char
+</UL>
+
+<P><STRONG><a name="[76]"></a>_printf_char</STRONG> (Thumb, 16 bytes, Stack size 0 bytes, _printf_char.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 40<LI>Call Chain = _printf_char &rArr; _printf_cs_common &rArr; _printf_str &rArr; _printf_post_padding
+</UL>
+<BR>[Calls]<UL><LI><a href="#[a7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_cs_common
+</UL>
+<BR>[Called By]<UL><LI><a href="#[75]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_c
+</UL>
+
+<P><STRONG><a name="[78]"></a>_printf_string</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, _printf_char.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 40<LI>Call Chain = _printf_string &rArr; _printf_cs_common &rArr; _printf_str &rArr; _printf_post_padding
+</UL>
+<BR>[Calls]<UL><LI><a href="#[a7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_cs_common
+</UL>
+<BR>[Called By]<UL><LI><a href="#[77]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_s
+</UL>
+
+<P><STRONG><a name="[a8]"></a>_printf_lcs_common</STRONG> (Thumb, 20 bytes, Stack size 8 bytes, _printf_wchar.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 88<LI>Call Chain = _printf_lcs_common &rArr; _printf_wctomb &rArr; _wcrtomb &rArr; __rt_ctype_table
+</UL>
+<BR>[Calls]<UL><LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_wctomb
+</UL>
+<BR>[Called By]<UL><LI><a href="#[7c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_wstring
+<LI><a href="#[7a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_wchar
+</UL>
+
+<P><STRONG><a name="[7a]"></a>_printf_wchar</STRONG> (Thumb, 16 bytes, Stack size 0 bytes, _printf_wchar.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 88<LI>Call Chain = _printf_wchar &rArr; _printf_lcs_common &rArr; _printf_wctomb &rArr; _wcrtomb &rArr; __rt_ctype_table
+</UL>
+<BR>[Calls]<UL><LI><a href="#[a8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_lcs_common
+</UL>
+<BR>[Called By]<UL><LI><a href="#[79]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_lc
+</UL>
+
+<P><STRONG><a name="[7c]"></a>_printf_wstring</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, _printf_wchar.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 88<LI>Call Chain = _printf_wstring &rArr; _printf_lcs_common &rArr; _printf_wctomb &rArr; _wcrtomb &rArr; __rt_ctype_table
+</UL>
+<BR>[Calls]<UL><LI><a href="#[a8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_lcs_common
+</UL>
+<BR>[Called By]<UL><LI><a href="#[7b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_ls
+</UL>
+
+<P><STRONG><a name="[98]"></a>_wcrtomb</STRONG> (Thumb, 64 bytes, Stack size 16 bytes, _wcrtomb.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = _wcrtomb &rArr; __rt_ctype_table
+</UL>
+<BR>[Calls]<UL><LI><a href="#[a9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_ctype_table
+</UL>
+<BR>[Called By]<UL><LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_wctomb
+</UL>
+
+<P><STRONG><a name="[83]"></a>__user_setup_stackheap</STRONG> (Thumb, 74 bytes, Stack size 8 bytes, sys_stackheap_outer.o(.text))
 <BR><BR>[Stack]<UL><LI>Max Depth = 8 + Unknown Stack Size
 <BR><BR>[Stack]<UL><LI>Max Depth = 8 + Unknown Stack Size
 <LI>Call Chain = __user_setup_stackheap
 <LI>Call Chain = __user_setup_stackheap
 </UL>
 </UL>
-<BR>[Calls]<UL><LI><a href="#[64]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__user_initial_stackheap
-<LI><a href="#[63]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__user_perproc_libspace
+<BR>[Calls]<UL><LI><a href="#[ab]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__user_initial_stackheap
+<LI><a href="#[aa]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__user_perproc_libspace
+</UL>
+<BR>[Called By]<UL><LI><a href="#[82]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_entry_sh
+</UL>
+
+<P><STRONG><a name="[a9]"></a>__rt_ctype_table</STRONG> (Thumb, 16 bytes, Stack size 8 bytes, rt_ctype_table.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = __rt_ctype_table
+</UL>
+<BR>[Calls]<UL><LI><a href="#[7e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_locale
+</UL>
+<BR>[Called By]<UL><LI><a href="#[98]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_wcrtomb
+</UL>
+
+<P><STRONG><a name="[7e]"></a>__rt_locale</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, rt_locale_intlibspace.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[a9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_ctype_table
+<LI><a href="#[a3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_fp_dec_real
+<LI><a href="#[7d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_lib_init_lc_common
+</UL>
+
+<P><STRONG><a name="[a5]"></a>_printf_fp_infnan</STRONG> (Thumb, 112 bytes, Stack size 24 bytes, _printf_fp_infnan.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 40<LI>Call Chain = _printf_fp_infnan &rArr; _printf_post_padding
+</UL>
+<BR>[Calls]<UL><LI><a href="#[92]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_post_padding
+<LI><a href="#[91]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_pre_padding
+</UL>
+<BR>[Called By]<UL><LI><a href="#[a6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_fp_hex_real
+<LI><a href="#[a3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_fp_dec_real
+</UL>
+
+<P><STRONG><a name="[9f]"></a>_btod_etento</STRONG> (Thumb, 216 bytes, Stack size 72 bytes, bigflt0.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 120<LI>Call Chain = _btod_etento &rArr; _btod_emul &rArr; _e2e
+</UL>
+<BR>[Calls]<UL><LI><a href="#[a2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_btod_emul
+<LI><a href="#[a1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_btod_ediv
+</UL>
+<BR>[Called By]<UL><LI><a href="#[9e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_fp_digits
+</UL>
+
+<P><STRONG><a name="[88]"></a>exit</STRONG> (Thumb, 12 bytes, Stack size 0 bytes, exit.o(.text))
+<BR><BR>[Calls]<UL><LI><a href="#[ac]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_exit
+</UL>
+<BR>[Called By]<UL><LI><a href="#[86]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_entry_main
+</UL>
+
+<P><STRONG><a name="[10a]"></a>__user_libspace</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, libspace.o(.text), UNUSED)
+
+<P><STRONG><a name="[aa]"></a>__user_perproc_libspace</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, libspace.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[83]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__user_setup_stackheap
+</UL>
+
+<P><STRONG><a name="[10b]"></a>__user_perthread_libspace</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, libspace.o(.text), UNUSED)
+
+<P><STRONG><a name="[10c]"></a>__I$use$semihosting</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, use_no_semi.o(.text), UNUSED)
+
+<P><STRONG><a name="[10d]"></a>__use_no_semihosting_swi</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, use_no_semi.o(.text), UNUSED)
+
+<P><STRONG><a name="[10e]"></a>__semihosting_library_function</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, indicate_semi.o(.text), UNUSED)
+
+<P><STRONG><a name="[da]"></a>strcmp</STRONG> (Thumb, 128 bytes, Stack size 0 bytes, strcmpv7m.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[81]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_get_lc_numeric
+<LI><a href="#[55]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_get_lc_ctype
+</UL>
+
+<P><STRONG><a name="[8c]"></a>_sys_exit</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, sys_exit.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[8b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_exit_exit
+</UL>
+
+<P><STRONG><a name="[a0]"></a>_btod_d2e</STRONG> (Thumb, 62 bytes, Stack size 0 bytes, btod.o(CL$$btod_d2e))
+<BR><BR>[Calls]<UL><LI><a href="#[ad]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_d2e_norm_op1
+</UL>
+<BR>[Called By]<UL><LI><a href="#[9e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_fp_digits
+</UL>
+
+<P><STRONG><a name="[ae]"></a>_d2e_denorm_low</STRONG> (Thumb, 70 bytes, Stack size 0 bytes, btod.o(CL$$btod_d2e_denorm_low))
+<BR><BR>[Called By]<UL><LI><a href="#[ad]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_d2e_norm_op1
+</UL>
+
+<P><STRONG><a name="[ad]"></a>_d2e_norm_op1</STRONG> (Thumb, 96 bytes, Stack size 0 bytes, btod.o(CL$$btod_d2e_norm_op1))
+<BR><BR>[Calls]<UL><LI><a href="#[ae]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_d2e_denorm_low
+</UL>
+<BR>[Called By]<UL><LI><a href="#[a0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_btod_d2e
+</UL>
+
+<P><STRONG><a name="[af]"></a>__btod_div_common</STRONG> (Thumb, 696 bytes, Stack size 24 bytes, btod.o(CL$$btod_div_common))
+<BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = __btod_div_common
+</UL>
+<BR>[Called By]<UL><LI><a href="#[a1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_btod_ediv
+</UL>
+
+<P><STRONG><a name="[b0]"></a>_e2e</STRONG> (Thumb, 198 bytes, Stack size 24 bytes, btod.o(CL$$btod_e2e))
+<BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = _e2e
 </UL>
 </UL>
-<BR>[Called By]<UL><LI><a href="#[58]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_entry_sh
+<BR>[Called By]<UL><LI><a href="#[a2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_btod_emul
+<LI><a href="#[a1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_btod_ediv
 </UL>
 </UL>
 
 
-<P><STRONG><a name="[5e]"></a>exit</STRONG> (Thumb, 12 bytes, Stack size 0 bytes, exit.o(.text))
-<BR><BR>[Calls]<UL><LI><a href="#[65]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_exit
+<P><STRONG><a name="[a1]"></a>_btod_ediv</STRONG> (Thumb, 40 bytes, Stack size 24 bytes, btod.o(CL$$btod_ediv))
+<BR><BR>[Stack]<UL><LI>Max Depth = 48<LI>Call Chain = _btod_ediv &rArr; _e2e
+</UL>
+<BR>[Calls]<UL><LI><a href="#[b0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_e2e
+<LI><a href="#[af]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__btod_div_common
 </UL>
 </UL>
-<BR>[Called By]<UL><LI><a href="#[5c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_entry_main
+<BR>[Called By]<UL><LI><a href="#[9f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_btod_etento
+<LI><a href="#[9e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_fp_digits
 </UL>
 </UL>
 
 
-<P><STRONG><a name="[93]"></a>__user_libspace</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, libspace.o(.text), UNUSED)
+<P><STRONG><a name="[a2]"></a>_btod_emul</STRONG> (Thumb, 40 bytes, Stack size 24 bytes, btod.o(CL$$btod_emul))
+<BR><BR>[Stack]<UL><LI>Max Depth = 48<LI>Call Chain = _btod_emul &rArr; _e2e
+</UL>
+<BR>[Calls]<UL><LI><a href="#[b1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__btod_mult_common
+<LI><a href="#[b0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_e2e
+</UL>
+<BR>[Called By]<UL><LI><a href="#[9f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_btod_etento
+<LI><a href="#[9e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_fp_digits
+</UL>
 
 
-<P><STRONG><a name="[63]"></a>__user_perproc_libspace</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, libspace.o(.text))
-<BR><BR>[Called By]<UL><LI><a href="#[59]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__user_setup_stackheap
+<P><STRONG><a name="[b1]"></a>__btod_mult_common</STRONG> (Thumb, 580 bytes, Stack size 16 bytes, btod.o(CL$$btod_mult_common))
+<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = __btod_mult_common
+</UL>
+<BR>[Called By]<UL><LI><a href="#[a2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_btod_emul
 </UL>
 </UL>
 
 
-<P><STRONG><a name="[94]"></a>__user_perthread_libspace</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, libspace.o(.text), UNUSED)
+<P><STRONG><a name="[b2]"></a>Buzzer_On</STRONG> (Thumb, 20 bytes, Stack size 8 bytes, buzzer.o(i.Buzzer_On))
+<BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = Buzzer_On &rArr; Delay
+</UL>
+<BR>[Calls]<UL><LI><a href="#[b3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Delay
+</UL>
+<BR>[Called By]<UL><LI><a href="#[87]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+</UL>
 
 
-<P><STRONG><a name="[95]"></a>__I$use$semihosting</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, use_no_semi.o(.text), UNUSED)
+<P><STRONG><a name="[b4]"></a>CalculateDistance</STRONG> (Thumb, 40 bytes, Stack size 24 bytes, parking_sensor.o(i.CalculateDistance))
+<BR><BR>[Stack]<UL><LI>Max Depth = 56<LI>Call Chain = CalculateDistance &rArr; __aeabi_dmul
+</UL>
+<BR>[Calls]<UL><LI><a href="#[b6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dmul
+<LI><a href="#[b5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_ui2d
+</UL>
+<BR>[Called By]<UL><LI><a href="#[bc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Parking_Sensor_Interruption
+</UL>
 
 
-<P><STRONG><a name="[96]"></a>__use_no_semihosting_swi</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, use_no_semi.o(.text), UNUSED)
+<P><STRONG><a name="[d8]"></a>Configure_PE_Pin</STRONG> (Thumb, 88 bytes, Stack size 8 bytes, parking_sensor.o(i.Configure_PE_Pin))
+<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = Configure_PE_Pin
+</UL>
+<BR>[Called By]<UL><LI><a href="#[87]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+</UL>
+
+<P><STRONG><a name="[b3]"></a>Delay</STRONG> (Thumb, 100 bytes, Stack size 16 bytes, common.o(i.Delay))
+<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = Delay
+</UL>
+<BR>[Called By]<UL><LI><a href="#[c3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;RotateMotor_Decelerate
+<LI><a href="#[bf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;RotateMotor_Accelerate
+<LI><a href="#[c4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SendTriggerSignal
+<LI><a href="#[b2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Buzzer_On
+<LI><a href="#[87]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+</UL>
+
+<P><STRONG><a name="[b7]"></a>Distance_Switch_Interruption</STRONG> (Thumb, 92 bytes, Stack size 8 bytes, distance_switch.o(i.Distance_Switch_Interruption))
+<BR><BR>[Stack]<UL><LI>Max Depth = 288 + Unknown Stack Size
+<LI>Call Chain = Distance_Switch_Interruption &rArr; Serial_Printf &rArr; vsnprintf &rArr; _printf_char_common &rArr; __printf
+</UL>
+<BR>[Calls]<UL><LI><a href="#[b8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Serial_Printf
+<LI><a href="#[b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Serial_Print
+</UL>
+<BR>[Called By]<UL><LI><a href="#[ba]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;StateMachineHandler
+</UL>
+
+<P><STRONG><a name="[1b]"></a>EXTI0_IRQHandler</STRONG> (Thumb, 26 bytes, Stack size 8 bytes, common.o(i.EXTI0_IRQHandler))
+<BR><BR>[Stack]<UL><LI>Max Depth = 312 + Unknown Stack Size
+<LI>Call Chain = EXTI0_IRQHandler &rArr; StateMachineHandler &rArr; Parking_Sensor_Interruption &rArr; Serial_Printf &rArr; vsnprintf &rArr; _printf_char_common &rArr; __printf
+</UL>
+<BR>[Calls]<UL><LI><a href="#[ba]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;StateMachineHandler
+</UL>
+<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_hd.o(RESET)
+</UL>
+<P><STRONG><a name="[3d]"></a>EXTI15_10_IRQHandler</STRONG> (Thumb, 58 bytes, Stack size 8 bytes, common.o(i.EXTI15_10_IRQHandler))
+<BR><BR>[Stack]<UL><LI>Max Depth = 312 + Unknown Stack Size
+<LI>Call Chain = EXTI15_10_IRQHandler &rArr; StateMachineHandler &rArr; Parking_Sensor_Interruption &rArr; Serial_Printf &rArr; vsnprintf &rArr; _printf_char_common &rArr; __printf
+</UL>
+<BR>[Calls]<UL><LI><a href="#[ba]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;StateMachineHandler
+<LI><a href="#[b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Serial_Print
+</UL>
+<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_hd.o(RESET)
+</UL>
+<P><STRONG><a name="[1d]"></a>EXTI2_IRQHandler</STRONG> (Thumb, 26 bytes, Stack size 8 bytes, common.o(i.EXTI2_IRQHandler))
+<BR><BR>[Stack]<UL><LI>Max Depth = 312 + Unknown Stack Size
+<LI>Call Chain = EXTI2_IRQHandler &rArr; StateMachineHandler &rArr; Parking_Sensor_Interruption &rArr; Serial_Printf &rArr; vsnprintf &rArr; _printf_char_common &rArr; __printf
+</UL>
+<BR>[Calls]<UL><LI><a href="#[ba]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;StateMachineHandler
+</UL>
+<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_hd.o(RESET)
+</UL>
+<P><STRONG><a name="[2c]"></a>EXTI9_5_IRQHandler</STRONG> (Thumb, 50 bytes, Stack size 8 bytes, common.o(i.EXTI9_5_IRQHandler))
+<BR><BR>[Stack]<UL><LI>Max Depth = 312 + Unknown Stack Size
+<LI>Call Chain = EXTI9_5_IRQHandler &rArr; StateMachineHandler &rArr; Parking_Sensor_Interruption &rArr; Serial_Printf &rArr; vsnprintf &rArr; _printf_char_common &rArr; __printf
+</UL>
+<BR>[Calls]<UL><LI><a href="#[ba]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;StateMachineHandler
+</UL>
+<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_hd.o(RESET)
+</UL>
+<P><STRONG><a name="[bb]"></a>Emergency_Stop_Interrupt</STRONG> (Thumb, 50 bytes, Stack size 8 bytes, emergency_stop.o(i.Emergency_Stop_Interrupt))
+<BR><BR>[Stack]<UL><LI>Max Depth = 20<LI>Call Chain = Emergency_Stop_Interrupt &rArr; Serial_Print &rArr; USART1_SendString
+</UL>
+<BR>[Calls]<UL><LI><a href="#[b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Serial_Print
+</UL>
+<BR>[Called By]<UL><LI><a href="#[ba]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;StateMachineHandler
+</UL>
+
+<P><STRONG><a name="[bc]"></a>Parking_Sensor_Interruption</STRONG> (Thumb, 134 bytes, Stack size 16 bytes, parking_sensor.o(i.Parking_Sensor_Interruption))
+<BR><BR>[Stack]<UL><LI>Max Depth = 296 + Unknown Stack Size
+<LI>Call Chain = Parking_Sensor_Interruption &rArr; Serial_Printf &rArr; vsnprintf &rArr; _printf_char_common &rArr; __printf
+</UL>
+<BR>[Calls]<UL><LI><a href="#[b4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;CalculateDistance
+<LI><a href="#[b8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Serial_Printf
+</UL>
+<BR>[Called By]<UL><LI><a href="#[ba]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;StateMachineHandler
+</UL>
+
+<P><STRONG><a name="[bd]"></a>Photoelectric_Switch_Interrupt</STRONG> (Thumb, 90 bytes, Stack size 8 bytes, photoelectric_switch.o(i.Photoelectric_Switch_Interrupt))
+<BR><BR>[Stack]<UL><LI>Max Depth = 288 + Unknown Stack Size
+<LI>Call Chain = Photoelectric_Switch_Interrupt &rArr; Serial_Printf &rArr; vsnprintf &rArr; _printf_char_common &rArr; __printf
+</UL>
+<BR>[Calls]<UL><LI><a href="#[b8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Serial_Printf
+</UL>
+<BR>[Called By]<UL><LI><a href="#[ba]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;StateMachineHandler
+</UL>
 
 
-<P><STRONG><a name="[97]"></a>__semihosting_library_function</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, indicate_semi.o(.text), UNUSED)
+<P><STRONG><a name="[be]"></a>Pneumatic_Solenoid_Control</STRONG> (Thumb, 244 bytes, Stack size 16 bytes, pneumatic_solenoid.o(i.Pneumatic_Solenoid_Control))
+<BR><BR>[Stack]<UL><LI>Max Depth = 28<LI>Call Chain = Pneumatic_Solenoid_Control &rArr; Serial_Print &rArr; USART1_SendString
+</UL>
+<BR>[Calls]<UL><LI><a href="#[b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Serial_Print
+</UL>
+<BR>[Called By]<UL><LI><a href="#[87]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+</UL>
 
 
-<P><STRONG><a name="[62]"></a>_sys_exit</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, sys_exit.o(.text))
-<BR><BR>[Called By]<UL><LI><a href="#[61]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_exit_exit
+<P><STRONG><a name="[bf]"></a>RotateMotor_Accelerate</STRONG> (Thumb, 150 bytes, Stack size 56 bytes, rotate_motor.o(i.RotateMotor_Accelerate))
+<BR><BR>[Stack]<UL><LI>Max Depth = 88<LI>Call Chain = RotateMotor_Accelerate &rArr; __aeabi_dmul
+</UL>
+<BR>[Calls]<UL><LI><a href="#[c2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Set_PWM_Frequency
+<LI><a href="#[b3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Delay
+<LI><a href="#[b6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dmul
+<LI><a href="#[b5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_ui2d
+<LI><a href="#[c1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_d2uiz
+<LI><a href="#[c0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_ddiv
+</UL>
+<BR>[Called By]<UL><LI><a href="#[cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Update_Motor_Status
 </UL>
 </UL>
 
 
-<P><STRONG><a name="[6f]"></a>Delay</STRONG> (Thumb, 34 bytes, Stack size 8 bytes, main.o(i.Delay))
-<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = Delay
+<P><STRONG><a name="[c3]"></a>RotateMotor_Decelerate</STRONG> (Thumb, 104 bytes, Stack size 48 bytes, rotate_motor.o(i.RotateMotor_Decelerate))
+<BR><BR>[Stack]<UL><LI>Max Depth = 80<LI>Call Chain = RotateMotor_Decelerate &rArr; __aeabi_dmul
+</UL>
+<BR>[Calls]<UL><LI><a href="#[c2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Set_PWM_Frequency
+<LI><a href="#[b3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Delay
+<LI><a href="#[b6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dmul
+<LI><a href="#[b5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_ui2d
+<LI><a href="#[c1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_d2uiz
+<LI><a href="#[c0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_ddiv
 </UL>
 </UL>
-<BR>[Called By]<UL><LI><a href="#[5d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+<BR>[Called By]<UL><LI><a href="#[cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Update_Motor_Status
 </UL>
 </UL>
 
 
-<P><STRONG><a name="[6e]"></a>Enable_Stepper</STRONG> (Thumb, 30 bytes, Stack size 0 bytes, main.o(i.Enable_Stepper))
-<BR><BR>[Called By]<UL><LI><a href="#[5d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+<P><STRONG><a name="[d5]"></a>Rotate_Enable_Rotate</STRONG> (Thumb, 30 bytes, Stack size 0 bytes, rotate_motor.o(i.Rotate_Enable_Rotate))
+<BR><BR>[Called By]<UL><LI><a href="#[87]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>
 </UL>
 
 
-<P><STRONG><a name="[6b]"></a>GPIO_Init</STRONG> (Thumb, 110 bytes, Stack size 0 bytes, main.o(i.GPIO_Init))
-<BR><BR>[Called By]<UL><LI><a href="#[5d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+<P><STRONG><a name="[d4]"></a>Rotate_SetDirection</STRONG> (Thumb, 30 bytes, Stack size 0 bytes, rotate_motor.o(i.Rotate_SetDirection))
+<BR><BR>[Called By]<UL><LI><a href="#[87]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>
 </UL>
 
 
-<P><STRONG><a name="[66]"></a>Serial_Init</STRONG> (Thumb, 12 bytes, Stack size 4 bytes, uart_log.o(i.Serial_Init))
+<P><STRONG><a name="[c4]"></a>SendTriggerSignal</STRONG> (Thumb, 30 bytes, Stack size 8 bytes, parking_sensor.o(i.SendTriggerSignal))
+<BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = SendTriggerSignal &rArr; Delay
+</UL>
+<BR>[Calls]<UL><LI><a href="#[b3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Delay
+</UL>
+<BR>[Called By]<UL><LI><a href="#[87]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+</UL>
+
+<P><STRONG><a name="[c5]"></a>Serial_Init</STRONG> (Thumb, 12 bytes, Stack size 4 bytes, uart_log.o(i.Serial_Init))
 <BR><BR>[Stack]<UL><LI>Max Depth = 4<LI>Call Chain = Serial_Init
 <BR><BR>[Stack]<UL><LI>Max Depth = 4<LI>Call Chain = Serial_Init
 </UL>
 </UL>
-<BR>[Calls]<UL><LI><a href="#[68]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;USART1_Init
-<LI><a href="#[67]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;USART1_GPIO_Init
+<BR>[Calls]<UL><LI><a href="#[c7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;USART1_Init
+<LI><a href="#[c6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;USART1_GPIO_Init
 </UL>
 </UL>
-<BR>[Called By]<UL><LI><a href="#[5d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+<BR>[Called By]<UL><LI><a href="#[87]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>
 </UL>
 
 
-<P><STRONG><a name="[6d]"></a>Set_Direction</STRONG> (Thumb, 30 bytes, Stack size 0 bytes, main.o(i.Set_Direction))
-<BR><BR>[Called By]<UL><LI><a href="#[5d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+<P><STRONG><a name="[b9]"></a>Serial_Print</STRONG> (Thumb, 12 bytes, Stack size 8 bytes, uart_log.o(i.Serial_Print))
+<BR><BR>[Stack]<UL><LI>Max Depth = 12<LI>Call Chain = Serial_Print &rArr; USART1_SendString
+</UL>
+<BR>[Calls]<UL><LI><a href="#[c8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;USART1_SendString
+</UL>
+<BR>[Called By]<UL><LI><a href="#[bb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Emergency_Stop_Interrupt
+<LI><a href="#[b7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Distance_Switch_Interruption
+<LI><a href="#[3d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;EXTI15_10_IRQHandler
+<LI><a href="#[be]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Pneumatic_Solenoid_Control
+<LI><a href="#[87]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+</UL>
+
+<P><STRONG><a name="[b8]"></a>Serial_Printf</STRONG> (Thumb, 38 bytes, Stack size 152 bytes, uart_log.o(i.Serial_Printf))
+<BR><BR>[Stack]<UL><LI>Max Depth = 280 + Unknown Stack Size
+<LI>Call Chain = Serial_Printf &rArr; vsnprintf &rArr; _printf_char_common &rArr; __printf
+</UL>
+<BR>[Calls]<UL><LI><a href="#[c8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;USART1_SendString
+<LI><a href="#[8d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vsnprintf
+</UL>
+<BR>[Called By]<UL><LI><a href="#[bd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Photoelectric_Switch_Interrupt
+<LI><a href="#[b7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Distance_Switch_Interruption
+<LI><a href="#[bc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Parking_Sensor_Interruption
+</UL>
+
+<P><STRONG><a name="[c2]"></a>Set_PWM_Frequency</STRONG> (Thumb, 34 bytes, Stack size 0 bytes, rotate_motor.o(i.Set_PWM_Frequency))
+<BR><BR>[Called By]<UL><LI><a href="#[c3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;RotateMotor_Decelerate
+<LI><a href="#[bf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;RotateMotor_Accelerate
+<LI><a href="#[cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Update_Motor_Status
+</UL>
+
+<P><STRONG><a name="[ba]"></a>StateMachineHandler</STRONG> (Thumb, 54 bytes, Stack size 8 bytes, common.o(i.StateMachineHandler))
+<BR><BR>[Stack]<UL><LI>Max Depth = 304 + Unknown Stack Size
+<LI>Call Chain = StateMachineHandler &rArr; Parking_Sensor_Interruption &rArr; Serial_Printf &rArr; vsnprintf &rArr; _printf_char_common &rArr; __printf
+</UL>
+<BR>[Calls]<UL><LI><a href="#[bd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Photoelectric_Switch_Interrupt
+<LI><a href="#[bb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Emergency_Stop_Interrupt
+<LI><a href="#[b7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Distance_Switch_Interruption
+<LI><a href="#[bc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Parking_Sensor_Interruption
+</UL>
+<BR>[Called By]<UL><LI><a href="#[2c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;EXTI9_5_IRQHandler
+<LI><a href="#[1d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;EXTI2_IRQHandler
+<LI><a href="#[3d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;EXTI15_10_IRQHandler
+<LI><a href="#[1b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;EXTI0_IRQHandler
+<LI><a href="#[87]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>
 </UL>
 
 
 <P><STRONG><a name="[51]"></a>SystemInit</STRONG> (Thumb, 78 bytes, Stack size 8 bytes, system_stm32f10x.o(i.SystemInit))
 <P><STRONG><a name="[51]"></a>SystemInit</STRONG> (Thumb, 78 bytes, Stack size 8 bytes, system_stm32f10x.o(i.SystemInit))
 <BR><BR>[Stack]<UL><LI>Max Depth = 28<LI>Call Chain = SystemInit &rArr; SetSysClock &rArr; SetSysClockTo72
 <BR><BR>[Stack]<UL><LI>Max Depth = 28<LI>Call Chain = SystemInit &rArr; SetSysClock &rArr; SetSysClockTo72
 </UL>
 </UL>
-<BR>[Calls]<UL><LI><a href="#[69]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SetSysClock
+<BR>[Calls]<UL><LI><a href="#[c9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SetSysClock
 </UL>
 </UL>
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_hd.o(.text)
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_hd.o(.text)
 </UL>
 </UL>
-<P><STRONG><a name="[6c]"></a>TIM3_Init</STRONG> (Thumb, 96 bytes, Stack size 0 bytes, main.o(i.TIM3_Init))
-<BR><BR>[Called By]<UL><LI><a href="#[5d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+<P><STRONG><a name="[d9]"></a>TIM2_Capture_Init</STRONG> (Thumb, 36 bytes, Stack size 0 bytes, parking_sensor.o(i.TIM2_Capture_Init))
+<BR><BR>[Called By]<UL><LI><a href="#[87]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+</UL>
+
+<P><STRONG><a name="[d2]"></a>TIM3_CH1_Init</STRONG> (Thumb, 90 bytes, Stack size 0 bytes, rotate_motor.o(i.TIM3_CH1_Init))
+<BR><BR>[Called By]<UL><LI><a href="#[87]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+</UL>
+
+<P><STRONG><a name="[d3]"></a>TIM3_CH2_Init</STRONG> (Thumb, 90 bytes, Stack size 0 bytes, walking_motor.o(i.TIM3_CH2_Init))
+<BR><BR>[Called By]<UL><LI><a href="#[87]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+</UL>
+
+<P><STRONG><a name="[cb]"></a>Total_EXTI_Init</STRONG> (Thumb, 410 bytes, Stack size 8 bytes, common.o(i.Total_EXTI_Init))
+<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = Total_EXTI_Init &rArr; NVIC_SetPriority
+</UL>
+<BR>[Calls]<UL><LI><a href="#[cd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;NVIC_SetPriority
+<LI><a href="#[cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;NVIC_EnableIRQ
+</UL>
+<BR>[Called By]<UL><LI><a href="#[87]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+</UL>
+
+<P><STRONG><a name="[d0]"></a>Total_GPIO_Init</STRONG> (Thumb, 602 bytes, Stack size 0 bytes, common.o(i.Total_GPIO_Init))
+<BR><BR>[Called By]<UL><LI><a href="#[87]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+</UL>
+
+<P><STRONG><a name="[c6]"></a>USART1_GPIO_Init</STRONG> (Thumb, 58 bytes, Stack size 0 bytes, uart_log.o(i.USART1_GPIO_Init))
+<BR><BR>[Called By]<UL><LI><a href="#[c5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Serial_Init
+</UL>
+
+<P><STRONG><a name="[c7]"></a>USART1_Init</STRONG> (Thumb, 28 bytes, Stack size 0 bytes, uart_log.o(i.USART1_Init))
+<BR><BR>[Called By]<UL><LI><a href="#[c5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Serial_Init
+</UL>
+
+<P><STRONG><a name="[ce]"></a>USART1_SendChar</STRONG> (Thumb, 24 bytes, Stack size 0 bytes, uart_log.o(i.USART1_SendChar))
+<BR><BR>[Called By]<UL><LI><a href="#[c8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;USART1_SendString
+</UL>
+
+<P><STRONG><a name="[c8]"></a>USART1_SendString</STRONG> (Thumb, 22 bytes, Stack size 4 bytes, uart_log.o(i.USART1_SendString))
+<BR><BR>[Stack]<UL><LI>Max Depth = 4<LI>Call Chain = USART1_SendString
+</UL>
+<BR>[Calls]<UL><LI><a href="#[ce]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;USART1_SendChar
+</UL>
+<BR>[Called By]<UL><LI><a href="#[b8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Serial_Printf
+<LI><a href="#[b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Serial_Print
+</UL>
+
+<P><STRONG><a name="[cf]"></a>Update_Motor_Status</STRONG> (Thumb, 130 bytes, Stack size 48 bytes, rotate_motor.o(i.Update_Motor_Status))
+<BR><BR>[Stack]<UL><LI>Max Depth = 136<LI>Call Chain = Update_Motor_Status &rArr; RotateMotor_Accelerate &rArr; __aeabi_dmul
+</UL>
+<BR>[Calls]<UL><LI><a href="#[c2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Set_PWM_Frequency
+<LI><a href="#[c3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;RotateMotor_Decelerate
+<LI><a href="#[bf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;RotateMotor_Accelerate
+<LI><a href="#[b6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dmul
+<LI><a href="#[b5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_ui2d
+<LI><a href="#[c1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_d2uiz
+<LI><a href="#[c0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_ddiv
+</UL>
+<BR>[Called By]<UL><LI><a href="#[87]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+</UL>
+
+<P><STRONG><a name="[d7]"></a>Walking_Enable_Rotate</STRONG> (Thumb, 30 bytes, Stack size 0 bytes, walking_motor.o(i.Walking_Enable_Rotate))
+<BR><BR>[Called By]<UL><LI><a href="#[87]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+</UL>
+
+<P><STRONG><a name="[d6]"></a>Walking_SetDirection</STRONG> (Thumb, 30 bytes, Stack size 0 bytes, walking_motor.o(i.Walking_SetDirection))
+<BR><BR>[Called By]<UL><LI><a href="#[87]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>
 </UL>
 
 
-<P><STRONG><a name="[67]"></a>USART1_GPIO_Init</STRONG> (Thumb, 58 bytes, Stack size 0 bytes, uart_log.o(i.USART1_GPIO_Init))
-<BR><BR>[Called By]<UL><LI><a href="#[66]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Serial_Init
+<P><STRONG><a name="[a4]"></a>__ARM_fpclassify</STRONG> (Thumb, 40 bytes, Stack size 0 bytes, fpclassify.o(i.__ARM_fpclassify))
+<BR><BR>[Called By]<UL><LI><a href="#[a6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_fp_hex_real
+<LI><a href="#[a3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_fp_dec_real
 </UL>
 </UL>
 
 
-<P><STRONG><a name="[68]"></a>USART1_Init</STRONG> (Thumb, 38 bytes, Stack size 0 bytes, uart_log.o(i.USART1_Init))
-<BR><BR>[Called By]<UL><LI><a href="#[66]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Serial_Init
+<P><STRONG><a name="[9c]"></a>_is_digit</STRONG> (Thumb, 14 bytes, Stack size 0 bytes, __printf_wp.o(i._is_digit))
+<BR><BR>[Called By]<UL><LI><a href="#[96]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__printf
 </UL>
 </UL>
 
 
-<P><STRONG><a name="[5d]"></a>main</STRONG> (Thumb, 58 bytes, Stack size 0 bytes, main.o(i.main))
-<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = main &rArr; Delay
+<P><STRONG><a name="[87]"></a>main</STRONG> (Thumb, 184 bytes, Stack size 32 bytes, main.o(i.main))
+<BR><BR>[Stack]<UL><LI>Max Depth = 336 + Unknown Stack Size
+<LI>Call Chain = main &rArr; StateMachineHandler &rArr; Parking_Sensor_Interruption &rArr; Serial_Printf &rArr; vsnprintf &rArr; _printf_char_common &rArr; __printf
+</UL>
+<BR>[Calls]<UL><LI><a href="#[d6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Walking_SetDirection
+<LI><a href="#[d7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Walking_Enable_Rotate
+<LI><a href="#[cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Update_Motor_Status
+<LI><a href="#[d0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Total_GPIO_Init
+<LI><a href="#[cb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Total_EXTI_Init
+<LI><a href="#[d3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM3_CH2_Init
+<LI><a href="#[d2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM3_CH1_Init
+<LI><a href="#[d9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM2_Capture_Init
+<LI><a href="#[ba]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;StateMachineHandler
+<LI><a href="#[b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Serial_Print
+<LI><a href="#[c5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Serial_Init
+<LI><a href="#[c4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SendTriggerSignal
+<LI><a href="#[d4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Rotate_SetDirection
+<LI><a href="#[d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Rotate_Enable_Rotate
+<LI><a href="#[be]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Pneumatic_Solenoid_Control
+<LI><a href="#[b3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Delay
+<LI><a href="#[d8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Configure_PE_Pin
+<LI><a href="#[b2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Buzzer_On
+<LI><a href="#[d1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memcpy4
+</UL>
+<BR>[Called By]<UL><LI><a href="#[86]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_entry_main
+</UL>
+
+<P><STRONG><a name="[81]"></a>_get_lc_numeric</STRONG> (Thumb, 44 bytes, Stack size 8 bytes, lc_numeric_c.o(locale$$code))
+<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = _get_lc_numeric
+</UL>
+<BR>[Calls]<UL><LI><a href="#[da]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;strcmp
+</UL>
+<BR>[Called By]<UL><LI><a href="#[80]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_lib_init_lc_numeric_2
+</UL>
+
+<P><STRONG><a name="[55]"></a>_get_lc_ctype</STRONG> (Thumb, 44 bytes, Stack size 8 bytes, lc_ctype_c.o(locale$$code))
+<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = _get_lc_ctype
+</UL>
+<BR>[Calls]<UL><LI><a href="#[da]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;strcmp
+</UL>
+<BR>[Called By]<UL><LI><a href="#[7f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_lib_init_lc_ctype_2
+</UL>
+<BR>[Address Reference Count : 1]<UL><LI> rt_ctype_table.o(.text)
+</UL>
+<P><STRONG><a name="[c0]"></a>__aeabi_ddiv</STRONG> (Thumb, 0 bytes, Stack size 32 bytes, ddiv.o(x$fpl$ddiv))
+<BR><BR>[Stack]<UL><LI>Max Depth = 32<LI>Call Chain = __aeabi_ddiv
 </UL>
 </UL>
-<BR>[Calls]<UL><LI><a href="#[66]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Serial_Init
-<LI><a href="#[6c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM3_Init
-<LI><a href="#[6d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Set_Direction
-<LI><a href="#[6b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;GPIO_Init
-<LI><a href="#[6e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Enable_Stepper
-<LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Delay
+<BR>[Called By]<UL><LI><a href="#[c3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;RotateMotor_Decelerate
+<LI><a href="#[bf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;RotateMotor_Accelerate
+<LI><a href="#[cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Update_Motor_Status
+</UL>
+
+<P><STRONG><a name="[db]"></a>_ddiv</STRONG> (Thumb, 552 bytes, Stack size 32 bytes, ddiv.o(x$fpl$ddiv), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[dc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__fpl_dretinf
+<LI><a href="#[dd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__fpl_dnaninf
+</UL>
+
+<P><STRONG><a name="[c1]"></a>__aeabi_d2uiz</STRONG> (Thumb, 0 bytes, Stack size 32 bytes, dfixu.o(x$fpl$dfixu))
+<BR><BR>[Stack]<UL><LI>Max Depth = 32<LI>Call Chain = __aeabi_d2uiz
+</UL>
+<BR>[Called By]<UL><LI><a href="#[c3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;RotateMotor_Decelerate
+<LI><a href="#[bf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;RotateMotor_Accelerate
+<LI><a href="#[cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Update_Motor_Status
+</UL>
+
+<P><STRONG><a name="[de]"></a>_dfixu</STRONG> (Thumb, 90 bytes, Stack size 32 bytes, dfixu.o(x$fpl$dfixu), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[dd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__fpl_dnaninf
+</UL>
+
+<P><STRONG><a name="[b5]"></a>__aeabi_ui2d</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, dflt_clz.o(x$fpl$dfltu))
+<BR><BR>[Called By]<UL><LI><a href="#[b4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;CalculateDistance
+<LI><a href="#[c3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;RotateMotor_Decelerate
+<LI><a href="#[bf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;RotateMotor_Accelerate
+<LI><a href="#[cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Update_Motor_Status
+</UL>
+
+<P><STRONG><a name="[10f]"></a>_dfltu</STRONG> (Thumb, 38 bytes, Stack size 0 bytes, dflt_clz.o(x$fpl$dfltu), UNUSED)
+
+<P><STRONG><a name="[b6]"></a>__aeabi_dmul</STRONG> (Thumb, 0 bytes, Stack size 32 bytes, dmul.o(x$fpl$dmul))
+<BR><BR>[Stack]<UL><LI>Max Depth = 32<LI>Call Chain = __aeabi_dmul
 </UL>
 </UL>
-<BR>[Called By]<UL><LI><a href="#[5c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_entry_main
+<BR>[Called By]<UL><LI><a href="#[b4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;CalculateDistance
+<LI><a href="#[c3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;RotateMotor_Decelerate
+<LI><a href="#[bf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;RotateMotor_Accelerate
+<LI><a href="#[cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Update_Motor_Status
+</UL>
+
+<P><STRONG><a name="[df]"></a>_dmul</STRONG> (Thumb, 332 bytes, Stack size 32 bytes, dmul.o(x$fpl$dmul), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[dc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__fpl_dretinf
+<LI><a href="#[dd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__fpl_dnaninf
+</UL>
+
+<P><STRONG><a name="[dd]"></a>__fpl_dnaninf</STRONG> (Thumb, 156 bytes, Stack size 16 bytes, dnaninf.o(x$fpl$dnaninf), UNUSED)
+<BR><BR>[Called By]<UL><LI><a href="#[df]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_dmul
+<LI><a href="#[de]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_dfixu
+<LI><a href="#[db]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_ddiv
+</UL>
+
+<P><STRONG><a name="[dc]"></a>__fpl_dretinf</STRONG> (Thumb, 12 bytes, Stack size 0 bytes, dretinf.o(x$fpl$dretinf), UNUSED)
+<BR><BR>[Called By]<UL><LI><a href="#[df]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_dmul
+<LI><a href="#[db]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_ddiv
+</UL>
+
+<P><STRONG><a name="[60]"></a>_printf_fp_dec</STRONG> (Thumb, 4 bytes, Stack size 0 bytes, printf1.o(x$fpl$printf1))
+<BR><BR>[Stack]<UL><LI>Max Depth = 320<LI>Call Chain = _printf_fp_dec &rArr; _printf_fp_dec_real &rArr; _fp_digits &rArr; _btod_etento &rArr; _btod_emul &rArr; _e2e
+</UL>
+<BR>[Calls]<UL><LI><a href="#[a3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_fp_dec_real
+</UL>
+<BR>[Called By]<UL><LI><a href="#[62]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_g
+<LI><a href="#[61]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_e
+<LI><a href="#[5f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_f
+</UL>
+
+<P><STRONG><a name="[64]"></a>_printf_fp_hex</STRONG> (Thumb, 4 bytes, Stack size 0 bytes, printf2.o(x$fpl$printf2))
+<BR><BR>[Stack]<UL><LI>Max Depth = 112<LI>Call Chain = _printf_fp_hex &rArr; _printf_fp_hex_real &rArr; _printf_fp_infnan &rArr; _printf_post_padding
+</UL>
+<BR>[Calls]<UL><LI><a href="#[a6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_fp_hex_real
+</UL>
+<BR>[Called By]<UL><LI><a href="#[63]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_a
 </UL>
 </UL>
 <P>
 <P>
 <H3>
 <H3>
 Local Symbols
 Local Symbols
 </H3>
 </H3>
-<P><STRONG><a name="[69]"></a>SetSysClock</STRONG> (Thumb, 8 bytes, Stack size 8 bytes, system_stm32f10x.o(i.SetSysClock))
+<P><STRONG><a name="[cc]"></a>NVIC_EnableIRQ</STRONG> (Thumb, 22 bytes, Stack size 0 bytes, common.o(i.NVIC_EnableIRQ))
+<BR><BR>[Called By]<UL><LI><a href="#[cb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Total_EXTI_Init
+</UL>
+
+<P><STRONG><a name="[cd]"></a>NVIC_SetPriority</STRONG> (Thumb, 32 bytes, Stack size 8 bytes, common.o(i.NVIC_SetPriority))
+<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = NVIC_SetPriority
+</UL>
+<BR>[Called By]<UL><LI><a href="#[cb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Total_EXTI_Init
+</UL>
+
+<P><STRONG><a name="[c9]"></a>SetSysClock</STRONG> (Thumb, 8 bytes, Stack size 8 bytes, system_stm32f10x.o(i.SetSysClock))
 <BR><BR>[Stack]<UL><LI>Max Depth = 20<LI>Call Chain = SetSysClock &rArr; SetSysClockTo72
 <BR><BR>[Stack]<UL><LI>Max Depth = 20<LI>Call Chain = SetSysClock &rArr; SetSysClockTo72
 </UL>
 </UL>
-<BR>[Calls]<UL><LI><a href="#[6a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SetSysClockTo72
+<BR>[Calls]<UL><LI><a href="#[ca]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SetSysClockTo72
 </UL>
 </UL>
 <BR>[Called By]<UL><LI><a href="#[51]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SystemInit
 <BR>[Called By]<UL><LI><a href="#[51]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SystemInit
 </UL>
 </UL>
 
 
-<P><STRONG><a name="[6a]"></a>SetSysClockTo72</STRONG> (Thumb, 214 bytes, Stack size 12 bytes, system_stm32f10x.o(i.SetSysClockTo72))
+<P><STRONG><a name="[ca]"></a>SetSysClockTo72</STRONG> (Thumb, 214 bytes, Stack size 12 bytes, system_stm32f10x.o(i.SetSysClockTo72))
 <BR><BR>[Stack]<UL><LI>Max Depth = 12<LI>Call Chain = SetSysClockTo72
 <BR><BR>[Stack]<UL><LI>Max Depth = 12<LI>Call Chain = SetSysClockTo72
 </UL>
 </UL>
-<BR>[Called By]<UL><LI><a href="#[69]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SetSysClock
+<BR>[Called By]<UL><LI><a href="#[c9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SetSysClock
+</UL>
+
+<P><STRONG><a name="[54]"></a>_printf_input_char</STRONG> (Thumb, 10 bytes, Stack size 0 bytes, _printf_char_common.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> _printf_char_common.o(.text)
+</UL>
+<P><STRONG><a name="[9e]"></a>_fp_digits</STRONG> (Thumb, 428 bytes, Stack size 96 bytes, _printf_fp_dec.o(.text))
+<BR><BR>[Stack]<UL><LI>Max Depth = 216<LI>Call Chain = _fp_digits &rArr; _btod_etento &rArr; _btod_emul &rArr; _e2e
+</UL>
+<BR>[Calls]<UL><LI><a href="#[a2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_btod_emul
+<LI><a href="#[a1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_btod_ediv
+<LI><a href="#[a0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_btod_d2e
+<LI><a href="#[9f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_btod_etento
+<LI><a href="#[99]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_ll_udiv10
+</UL>
+<BR>[Called By]<UL><LI><a href="#[a3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_fp_dec_real
 </UL>
 </UL>
 <P>
 <P>
 <H3>
 <H3>

Objects/MotorControl.lnp

 --cpu Cortex-M3
 --cpu Cortex-M3
 ".\objects\main.o"
 ".\objects\main.o"
 ".\objects\uart_log.o"
 ".\objects\uart_log.o"
-".\objects\step_motor.o"
+".\objects\rotate_motor.o"
+".\objects\pneumatic_solenoid.o"
+".\objects\parking_sensor.o"
+".\objects\common.o"
+".\objects\distance_switch.o"
+".\objects\photoelectric_switch.o"
+".\objects\onewire.o"
+".\objects\temperature_sensor.o"
+".\objects\emergency_stop.o"
+".\objects\buzzer.o"
+".\objects\walking_motor.o"
+".\objects\ds18b20.o"
 ".\objects\startup_stm32f10x_hd.o"
 ".\objects\startup_stm32f10x_hd.o"
 ".\objects\system_stm32f10x.o"
 ".\objects\system_stm32f10x.o"
 --strict --scatter ".\Objects\MotorControl.sct"
 --strict --scatter ".\Objects\MotorControl.sct"

Objects/MotorControl_PWM.dep

 Dependencies for Project 'MotorControl', Target 'PWM': (DO NOT MODIFY !)
 Dependencies for Project 'MotorControl', Target 'PWM': (DO NOT MODIFY !)
-F (.\main.c)(0x66F677B1)(-c --cpu Cortex-M3 -g -O0 --apcs=interwork --split_sections -IC:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include -IC:\Keil_v5\ARM\CMSIS\Include -I.\Module\Inc --locale=english --c99

-I D:\Ƕʽ\mcu\Motor_Control\RTE

-I D:\Ƕʽ\mcu\Motor_Control\RTE\Device\STM32F103ZE

-I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1

-I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1\Device\Include

-I C:\Keil_v5\ARM\CMSIS\Include

-D__UVISION_VERSION="514" -D_RTE_ -DSTM32F10X_HD

-o .\objects\main.o --omf_browse .\objects\main.crf --depend .\objects\main.d)
+F (.\main.c)(0x6720B343)(-c --cpu Cortex-M3 -g -O0 --apcs=interwork --split_sections -IC:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include -IC:\Keil_v5\ARM\CMSIS\Include -I.\Module\Inc --locale=english --c99

-I D:\Ƕʽ\mcu\Motor_Control\RTE

-I D:\Ƕʽ\mcu\Motor_Control\RTE\Device\STM32F103ZE

-I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1

-I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1\Device\Include

-I C:\Keil_v5\ARM\CMSIS\Include

-D__UVISION_VERSION="514" -D_RTE_ -DSTM32F10X_HD

-o .\objects\main.o --omf_browse .\objects\main.crf --depend .\objects\main.d)
 I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\stm32f10x.h)(0x5825386C)
 I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\stm32f10x.h)(0x5825386C)
 I (D:\嵌入式\mcu\Motor_Control\RTE\RTE_Components.h)(0x00000000)
 I (D:\嵌入式\mcu\Motor_Control\RTE\RTE_Components.h)(0x00000000)
 I (C:\Keil_v5\ARM\CMSIS\Include\core_cm3.h)(0x5714AE54)
 I (C:\Keil_v5\ARM\CMSIS\Include\core_cm3.h)(0x5714AE54)
@@ -8,10 +8,19 @@ I (C:\Keil_v5\ARM\CMSIS\Include\core_cmInstr.h)(0x5714AE54)
 I (C:\Keil_v5\ARM\CMSIS\Include\cmsis_armcc.h)(0x5714AE54)
 I (C:\Keil_v5\ARM\CMSIS\Include\cmsis_armcc.h)(0x5714AE54)
 I (C:\Keil_v5\ARM\CMSIS\Include\core_cmFunc.h)(0x5714AE54)
 I (C:\Keil_v5\ARM\CMSIS\Include\core_cmFunc.h)(0x5714AE54)
 I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\system_stm32f10x.h)(0x5825386C)
 I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\system_stm32f10x.h)(0x5825386C)
+I (.\Module\Inc\rotate_motor.h)(0x6718AEFF)
+I (.\Module\Inc\motor_common.h)(0x6718AC7D)
 I (C:\Keil_v5\ARM\ARMCC\include\stdbool.h)(0x5475F300)
 I (C:\Keil_v5\ARM\ARMCC\include\stdbool.h)(0x5475F300)
+I (.\Module\Inc\walking_motor.h)(0x6719AF6C)
 I (.\Module\Inc\uart_log.h)(0x66F3E910)
 I (.\Module\Inc\uart_log.h)(0x66F3E910)
+I (.\Module\Inc\common.h)(0x671F8315)
+I (.\Module\Inc\buzzer.h)(0x671A184C)
+I (.\Module\Inc\pneumatic_solenoid.h)(0x6718D44F)
+I (.\Module\Inc\temperature_sensor.h)(0x671226BD)
+I (.\Module\Inc\ds18b20.h)(0x6720A65E)
+I (.\Module\Inc\parking_sensor.h)(0x67209827)
 F (.\Module\Inc\uart_log.h)(0x66F3E910)()
 F (.\Module\Inc\uart_log.h)(0x66F3E910)()
-F (.\Module\Src\uart_log.c)(0x66F6776B)(-c --cpu Cortex-M3 -g -O0 --apcs=interwork --split_sections -IC:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include -IC:\Keil_v5\ARM\CMSIS\Include -I.\Module\Inc --locale=english --c99

-I D:\Ƕʽ\mcu\Motor_Control\RTE

-I D:\Ƕʽ\mcu\Motor_Control\RTE\Device\STM32F103ZE

-I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1

-I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1\Device\Include

-I C:\Keil_v5\ARM\CMSIS\Include

-D__UVISION_VERSION="514" -D_RTE_ -DSTM32F10X_HD

-o .\objects\uart_log.o --omf_browse .\objects\uart_log.crf --depend .\objects\uart_log.d)
+F (.\Module\Src\uart_log.c)(0x67204CB8)(-c --cpu Cortex-M3 -g -O0 --apcs=interwork --split_sections -IC:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include -IC:\Keil_v5\ARM\CMSIS\Include -I.\Module\Inc --locale=english --c99

-I D:\Ƕʽ\mcu\Motor_Control\RTE

-I D:\Ƕʽ\mcu\Motor_Control\RTE\Device\STM32F103ZE

-I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1

-I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1\Device\Include

-I C:\Keil_v5\ARM\CMSIS\Include

-D__UVISION_VERSION="514" -D_RTE_ -DSTM32F10X_HD

-o .\objects\uart_log.o --omf_browse .\objects\uart_log.crf --depend .\objects\uart_log.d)
 I (.\Module\Inc\uart_log.h)(0x66F3E910)
 I (.\Module\Inc\uart_log.h)(0x66F3E910)
 I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\stm32f10x.h)(0x5825386C)
 I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\stm32f10x.h)(0x5825386C)
 I (D:\嵌入式\mcu\Motor_Control\RTE\RTE_Components.h)(0x00000000)
 I (D:\嵌入式\mcu\Motor_Control\RTE\RTE_Components.h)(0x00000000)
@@ -24,8 +33,162 @@ I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\system_stm32f10x.
 I (C:\Keil_v5\ARM\ARMCC\include\stdarg.h)(0x5475F2FA)
 I (C:\Keil_v5\ARM\ARMCC\include\stdarg.h)(0x5475F2FA)
 I (C:\Keil_v5\ARM\ARMCC\include\string.h)(0x5475F300)
 I (C:\Keil_v5\ARM\ARMCC\include\string.h)(0x5475F300)
 I (C:\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5475F300)
 I (C:\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5475F300)
-F (.\Module\Inc\step_motor.h)(0x66F67758)()
-F (.\Module\Src\step_motor.c)(0x66F67758)(-c --cpu Cortex-M3 -g -O0 --apcs=interwork --split_sections -IC:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include -IC:\Keil_v5\ARM\CMSIS\Include -I.\Module\Inc --locale=english --c99

-I D:\Ƕʽ\mcu\Motor_Control\RTE

-I D:\Ƕʽ\mcu\Motor_Control\RTE\Device\STM32F103ZE

-I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1

-I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1\Device\Include

-I C:\Keil_v5\ARM\CMSIS\Include

-D__UVISION_VERSION="514" -D_RTE_ -DSTM32F10X_HD

-o .\objects\step_motor.o --omf_browse .\objects\step_motor.crf --depend .\objects\step_motor.d)
+F (.\Module\Inc\walking_motor.h)(0x6719AF6C)()
+F (.\Module\Inc\rotate_motor.h)(0x6718AEFF)()
+F (.\Module\Src\rotate_motor.c)(0x671B437F)(-c --cpu Cortex-M3 -g -O0 --apcs=interwork --split_sections -IC:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include -IC:\Keil_v5\ARM\CMSIS\Include -I.\Module\Inc --locale=english --c99

-I D:\Ƕʽ\mcu\Motor_Control\RTE

-I D:\Ƕʽ\mcu\Motor_Control\RTE\Device\STM32F103ZE

-I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1

-I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1\Device\Include

-I C:\Keil_v5\ARM\CMSIS\Include

-D__UVISION_VERSION="514" -D_RTE_ -DSTM32F10X_HD

-o .\objects\rotate_motor.o --omf_browse .\objects\rotate_motor.crf --depend .\objects\rotate_motor.d)
+I (.\Module\Inc\rotate_motor.h)(0x6718AEFF)
+I (.\Module\Inc\motor_common.h)(0x6718AC7D)
+I (C:\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5475F300)
+I (C:\Keil_v5\ARM\ARMCC\include\stdbool.h)(0x5475F300)
+I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\stm32f10x.h)(0x5825386C)
+I (D:\嵌入式\mcu\Motor_Control\RTE\RTE_Components.h)(0x00000000)
+I (C:\Keil_v5\ARM\CMSIS\Include\core_cm3.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\CMSIS\Include\core_cmInstr.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\CMSIS\Include\cmsis_armcc.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\CMSIS\Include\core_cmFunc.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\system_stm32f10x.h)(0x5825386C)
+I (.\Module\Inc\common.h)(0x671F8315)
+F (.\Module\Inc\pneumatic_solenoid.h)(0x6718D44F)()
+F (.\Module\Src\pneumatic_solenoid.c)(0x671B05EE)(-c --cpu Cortex-M3 -g -O0 --apcs=interwork --split_sections -IC:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include -IC:\Keil_v5\ARM\CMSIS\Include -I.\Module\Inc --locale=english --c99

-I D:\Ƕʽ\mcu\Motor_Control\RTE

-I D:\Ƕʽ\mcu\Motor_Control\RTE\Device\STM32F103ZE

-I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1

-I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1\Device\Include

-I C:\Keil_v5\ARM\CMSIS\Include

-D__UVISION_VERSION="514" -D_RTE_ -DSTM32F10X_HD

-o .\objects\pneumatic_solenoid.o --omf_browse .\objects\pneumatic_solenoid.crf --depend .\objects\pneumatic_solenoid.d)
+I (.\Module\Inc\pneumatic_solenoid.h)(0x6718D44F)
+I (C:\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5475F300)
+I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\stm32f10x.h)(0x5825386C)
+I (D:\嵌入式\mcu\Motor_Control\RTE\RTE_Components.h)(0x00000000)
+I (C:\Keil_v5\ARM\CMSIS\Include\core_cm3.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\CMSIS\Include\core_cmInstr.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\CMSIS\Include\cmsis_armcc.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\CMSIS\Include\core_cmFunc.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\system_stm32f10x.h)(0x5825386C)
+I (.\Module\Inc\uart_log.h)(0x66F3E910)
+F (.\Module\Src\parking_sensor.c)(0x6720B33E)(-c --cpu Cortex-M3 -g -O0 --apcs=interwork --split_sections -IC:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include -IC:\Keil_v5\ARM\CMSIS\Include -I.\Module\Inc --locale=english --c99

-I D:\Ƕʽ\mcu\Motor_Control\RTE

-I D:\Ƕʽ\mcu\Motor_Control\RTE\Device\STM32F103ZE

-I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1

-I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1\Device\Include

-I C:\Keil_v5\ARM\CMSIS\Include

-D__UVISION_VERSION="514" -D_RTE_ -DSTM32F10X_HD

-o .\objects\parking_sensor.o --omf_browse .\objects\parking_sensor.crf --depend .\objects\parking_sensor.d)
+I (.\Module\Inc\parking_sensor.h)(0x67209827)
+I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\stm32f10x.h)(0x5825386C)
+I (D:\嵌入式\mcu\Motor_Control\RTE\RTE_Components.h)(0x00000000)
+I (C:\Keil_v5\ARM\CMSIS\Include\core_cm3.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5475F300)
+I (C:\Keil_v5\ARM\CMSIS\Include\core_cmInstr.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\CMSIS\Include\cmsis_armcc.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\CMSIS\Include\core_cmFunc.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\system_stm32f10x.h)(0x5825386C)
+I (.\Module\Inc\common.h)(0x671F8315)
+I (.\Module\Inc\uart_log.h)(0x66F3E910)
+F (.\Module\Inc\common.h)(0x671F8315)()
+F (.\Module\Inc\parking_sensor.h)(0x67209827)()
+F (.\Module\Src\common.c)(0x6720BD8F)(-c --cpu Cortex-M3 -g -O0 --apcs=interwork --split_sections -IC:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include -IC:\Keil_v5\ARM\CMSIS\Include -I.\Module\Inc --locale=english --c99

-I D:\Ƕʽ\mcu\Motor_Control\RTE

-I D:\Ƕʽ\mcu\Motor_Control\RTE\Device\STM32F103ZE

-I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1

-I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1\Device\Include

-I C:\Keil_v5\ARM\CMSIS\Include

-D__UVISION_VERSION="514" -D_RTE_ -DSTM32F10X_HD

-o .\objects\common.o --omf_browse .\objects\common.crf --depend .\objects\common.d)
+I (.\Module\Inc\common.h)(0x671F8315)
+I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\stm32f10x.h)(0x5825386C)
+I (D:\嵌入式\mcu\Motor_Control\RTE\RTE_Components.h)(0x00000000)
+I (C:\Keil_v5\ARM\CMSIS\Include\core_cm3.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5475F300)
+I (C:\Keil_v5\ARM\CMSIS\Include\core_cmInstr.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\CMSIS\Include\cmsis_armcc.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\CMSIS\Include\core_cmFunc.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\system_stm32f10x.h)(0x5825386C)
+I (.\Module\Inc\parking_sensor.h)(0x67209827)
+I (.\Module\Inc\distance_switch.h)(0x6718D48C)
+I (.\Module\Inc\photoelectric_switch.h)(0x6719AC13)
+I (.\Module\Inc\emergency_stop.h)(0x6718D4AA)
+I (.\Module\Inc\uart_log.h)(0x66F3E910)
+F (.\Module\Inc\distance_switch.h)(0x6718D48C)()
+F (.\Module\Src\distance_switch.c)(0x6719FB3A)(-c --cpu Cortex-M3 -g -O0 --apcs=interwork --split_sections -IC:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include -IC:\Keil_v5\ARM\CMSIS\Include -I.\Module\Inc --locale=english --c99

-I D:\Ƕʽ\mcu\Motor_Control\RTE

-I D:\Ƕʽ\mcu\Motor_Control\RTE\Device\STM32F103ZE

-I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1

-I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1\Device\Include

-I C:\Keil_v5\ARM\CMSIS\Include

-D__UVISION_VERSION="514" -D_RTE_ -DSTM32F10X_HD

-o .\objects\distance_switch.o --omf_browse .\objects\distance_switch.crf --depend .\objects\distance_switch.d)
+I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\stm32f10x.h)(0x5825386C)
+I (D:\嵌入式\mcu\Motor_Control\RTE\RTE_Components.h)(0x00000000)
+I (C:\Keil_v5\ARM\CMSIS\Include\core_cm3.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5475F300)
+I (C:\Keil_v5\ARM\CMSIS\Include\core_cmInstr.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\CMSIS\Include\cmsis_armcc.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\CMSIS\Include\core_cmFunc.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\system_stm32f10x.h)(0x5825386C)
+I (.\Module\Inc\uart_log.h)(0x66F3E910)
+I (.\Module\Inc\distance_switch.h)(0x6718D48C)
+F (.\Module\Inc\photoelectric_switch.h)(0x6719AC13)()
+F (.\Module\Src\photoelectric_switch.c)(0x6719E7CC)(-c --cpu Cortex-M3 -g -O0 --apcs=interwork --split_sections -IC:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include -IC:\Keil_v5\ARM\CMSIS\Include -I.\Module\Inc --locale=english --c99

-I D:\Ƕʽ\mcu\Motor_Control\RTE

-I D:\Ƕʽ\mcu\Motor_Control\RTE\Device\STM32F103ZE

-I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1

-I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1\Device\Include

-I C:\Keil_v5\ARM\CMSIS\Include

-D__UVISION_VERSION="514" -D_RTE_ -DSTM32F10X_HD

-o .\objects\photoelectric_switch.o --omf_browse .\objects\photoelectric_switch.crf --depend .\objects\photoelectric_switch.d)
+I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\stm32f10x.h)(0x5825386C)
+I (D:\嵌入式\mcu\Motor_Control\RTE\RTE_Components.h)(0x00000000)
+I (C:\Keil_v5\ARM\CMSIS\Include\core_cm3.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5475F300)
+I (C:\Keil_v5\ARM\CMSIS\Include\core_cmInstr.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\CMSIS\Include\cmsis_armcc.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\CMSIS\Include\core_cmFunc.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\system_stm32f10x.h)(0x5825386C)
+I (.\Module\Inc\photoelectric_switch.h)(0x6719AC13)
+I (.\Module\Inc\uart_log.h)(0x66F3E910)
+F (.\Module\Inc\temperature_sensor.h)(0x671226BD)()
+F (.\Module\Inc\onewire.h)(0x671B0B89)()
+F (.\Module\Src\onewire.c)(0x671B1061)(-c --cpu Cortex-M3 -g -O0 --apcs=interwork --split_sections -IC:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include -IC:\Keil_v5\ARM\CMSIS\Include -I.\Module\Inc --locale=english --c99

-I D:\Ƕʽ\mcu\Motor_Control\RTE

-I D:\Ƕʽ\mcu\Motor_Control\RTE\Device\STM32F103ZE

-I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1

-I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1\Device\Include

-I C:\Keil_v5\ARM\CMSIS\Include

-D__UVISION_VERSION="514" -D_RTE_ -DSTM32F10X_HD

-o .\objects\onewire.o --omf_browse .\objects\onewire.crf --depend .\objects\onewire.d)
+I (.\Module\Inc\onewire.h)(0x671B0B89)
+I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\stm32f10x.h)(0x5825386C)
+I (D:\嵌入式\mcu\Motor_Control\RTE\RTE_Components.h)(0x00000000)
+I (C:\Keil_v5\ARM\CMSIS\Include\core_cm3.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5475F300)
+I (C:\Keil_v5\ARM\CMSIS\Include\core_cmInstr.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\CMSIS\Include\cmsis_armcc.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\CMSIS\Include\core_cmFunc.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\system_stm32f10x.h)(0x5825386C)
+I (.\Module\Inc\common.h)(0x671F8315)
+F (.\Module\Src\temperature_sensor.c)(0x671B094E)(-c --cpu Cortex-M3 -g -O0 --apcs=interwork --split_sections -IC:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include -IC:\Keil_v5\ARM\CMSIS\Include -I.\Module\Inc --locale=english --c99

-I D:\Ƕʽ\mcu\Motor_Control\RTE

-I D:\Ƕʽ\mcu\Motor_Control\RTE\Device\STM32F103ZE

-I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1

-I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1\Device\Include

-I C:\Keil_v5\ARM\CMSIS\Include

-D__UVISION_VERSION="514" -D_RTE_ -DSTM32F10X_HD

-o .\objects\temperature_sensor.o --omf_browse .\objects\temperature_sensor.crf --depend .\objects\temperature_sensor.d)
+I (.\Module\Inc\temperature_sensor.h)(0x671226BD)
+I (.\Module\Inc\onewire.h)(0x671B0B89)
+I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\stm32f10x.h)(0x5825386C)
+I (D:\嵌入式\mcu\Motor_Control\RTE\RTE_Components.h)(0x00000000)
+I (C:\Keil_v5\ARM\CMSIS\Include\core_cm3.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5475F300)
+I (C:\Keil_v5\ARM\CMSIS\Include\core_cmInstr.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\CMSIS\Include\cmsis_armcc.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\CMSIS\Include\core_cmFunc.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\system_stm32f10x.h)(0x5825386C)
+I (.\Module\Inc\uart_log.h)(0x66F3E910)
+I (C:\Keil_v5\ARM\ARMCC\include\stddef.h)(0x5475F300)
+F (.\Module\Inc\emergency_stop.h)(0x6718D4AA)()
+F (.\Module\Src\emergency_stop.c)(0x671A01AA)(-c --cpu Cortex-M3 -g -O0 --apcs=interwork --split_sections -IC:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include -IC:\Keil_v5\ARM\CMSIS\Include -I.\Module\Inc --locale=english --c99

-I D:\Ƕʽ\mcu\Motor_Control\RTE

-I D:\Ƕʽ\mcu\Motor_Control\RTE\Device\STM32F103ZE

-I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1

-I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1\Device\Include

-I C:\Keil_v5\ARM\CMSIS\Include

-D__UVISION_VERSION="514" -D_RTE_ -DSTM32F10X_HD

-o .\objects\emergency_stop.o --omf_browse .\objects\emergency_stop.crf --depend .\objects\emergency_stop.d)
+I (.\Module\Inc\emergency_stop.h)(0x6718D4AA)
+I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\stm32f10x.h)(0x5825386C)
+I (D:\嵌入式\mcu\Motor_Control\RTE\RTE_Components.h)(0x00000000)
+I (C:\Keil_v5\ARM\CMSIS\Include\core_cm3.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5475F300)
+I (C:\Keil_v5\ARM\CMSIS\Include\core_cmInstr.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\CMSIS\Include\cmsis_armcc.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\CMSIS\Include\core_cmFunc.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\system_stm32f10x.h)(0x5825386C)
+I (.\Module\Inc\uart_log.h)(0x66F3E910)
+F (.\Module\Inc\buzzer.h)(0x671A184C)()
+F (.\Module\Src\buzzer.c)(0x671A183C)(-c --cpu Cortex-M3 -g -O0 --apcs=interwork --split_sections -IC:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include -IC:\Keil_v5\ARM\CMSIS\Include -I.\Module\Inc --locale=english --c99

-I D:\Ƕʽ\mcu\Motor_Control\RTE

-I D:\Ƕʽ\mcu\Motor_Control\RTE\Device\STM32F103ZE

-I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1

-I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1\Device\Include

-I C:\Keil_v5\ARM\CMSIS\Include

-D__UVISION_VERSION="514" -D_RTE_ -DSTM32F10X_HD

-o .\objects\buzzer.o --omf_browse .\objects\buzzer.crf --depend .\objects\buzzer.d)
+I (.\Module\Inc\buzzer.h)(0x671A184C)
+I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\stm32f10x.h)(0x5825386C)
+I (D:\嵌入式\mcu\Motor_Control\RTE\RTE_Components.h)(0x00000000)
+I (C:\Keil_v5\ARM\CMSIS\Include\core_cm3.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5475F300)
+I (C:\Keil_v5\ARM\CMSIS\Include\core_cmInstr.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\CMSIS\Include\cmsis_armcc.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\CMSIS\Include\core_cmFunc.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\system_stm32f10x.h)(0x5825386C)
+I (.\Module\Inc\common.h)(0x671F8315)
+F (.\Module\Inc\motor_common.h)(0x6718AC7D)()
+F (.\Module\Src\walking_motor.c)(0x6719A2FF)(-c --cpu Cortex-M3 -g -O0 --apcs=interwork --split_sections -IC:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include -IC:\Keil_v5\ARM\CMSIS\Include -I.\Module\Inc --locale=english --c99

-I D:\Ƕʽ\mcu\Motor_Control\RTE

-I D:\Ƕʽ\mcu\Motor_Control\RTE\Device\STM32F103ZE

-I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1

-I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1\Device\Include

-I C:\Keil_v5\ARM\CMSIS\Include

-D__UVISION_VERSION="514" -D_RTE_ -DSTM32F10X_HD

-o .\objects\walking_motor.o --omf_browse .\objects\walking_motor.crf --depend .\objects\walking_motor.d)
+I (.\Module\Inc\walking_motor.h)(0x6719AF6C)
+I (.\Module\Inc\motor_common.h)(0x6718AC7D)
+I (C:\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5475F300)
+I (C:\Keil_v5\ARM\ARMCC\include\stdbool.h)(0x5475F300)
+I (.\Module\Inc\common.h)(0x671F8315)
+I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\stm32f10x.h)(0x5825386C)
+I (D:\嵌入式\mcu\Motor_Control\RTE\RTE_Components.h)(0x00000000)
+I (C:\Keil_v5\ARM\CMSIS\Include\core_cm3.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\CMSIS\Include\core_cmInstr.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\CMSIS\Include\cmsis_armcc.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\CMSIS\Include\core_cmFunc.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\system_stm32f10x.h)(0x5825386C)
+F (.\Module\Inc\ds18b20.h)(0x6720A65E)()
+F (.\Module\Src\ds18b20.c)(0x6720A544)(-c --cpu Cortex-M3 -g -O0 --apcs=interwork --split_sections -IC:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include -IC:\Keil_v5\ARM\CMSIS\Include -I.\Module\Inc --locale=english --c99

-I D:\Ƕʽ\mcu\Motor_Control\RTE

-I D:\Ƕʽ\mcu\Motor_Control\RTE\Device\STM32F103ZE

-I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1

-I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1\Device\Include

-I C:\Keil_v5\ARM\CMSIS\Include

-D__UVISION_VERSION="514" -D_RTE_ -DSTM32F10X_HD

-o .\objects\ds18b20.o --omf_browse .\objects\ds18b20.crf --depend .\objects\ds18b20.d)
+I (.\Module\Inc\ds18b20.h)(0x6720A65E)
+I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\stm32f10x.h)(0x5825386C)
+I (D:\嵌入式\mcu\Motor_Control\RTE\RTE_Components.h)(0x00000000)
+I (C:\Keil_v5\ARM\CMSIS\Include\core_cm3.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5475F300)
+I (C:\Keil_v5\ARM\CMSIS\Include\core_cmInstr.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\CMSIS\Include\cmsis_armcc.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\CMSIS\Include\core_cmFunc.h)(0x5714AE54)
+I (C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\system_stm32f10x.h)(0x5825386C)
+I (.\Module\Inc\common.h)(0x671F8315)
 F (RTE\Device\STM32F103ZE\RTE_Device.h)(0x5FC04FEA)()
 F (RTE\Device\STM32F103ZE\RTE_Device.h)(0x5FC04FEA)()
 F (RTE\Device\STM32F103ZE\startup_stm32f10x_hd.s)(0x61AD795E)(--cpu Cortex-M3 -g --apcs=interwork 

-I D:\Ƕʽ\mcu\Motor_Control\RTE

-I D:\Ƕʽ\mcu\Motor_Control\RTE\Device\STM32F103ZE

-I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1

-I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1\Device\Include

-I C:\Keil_v5\ARM\CMSIS\Include

--pd "__UVISION_VERSION SETA 514" --pd "_RTE_ SETA 1" --pd "STM32F10X_HD SETA 1"

--list .\listings\startup_stm32f10x_hd.lst --xref -o .\objects\startup_stm32f10x_hd.o --depend .\objects\startup_stm32f10x_hd.d)
 F (RTE\Device\STM32F103ZE\startup_stm32f10x_hd.s)(0x61AD795E)(--cpu Cortex-M3 -g --apcs=interwork 

-I D:\Ƕʽ\mcu\Motor_Control\RTE

-I D:\Ƕʽ\mcu\Motor_Control\RTE\Device\STM32F103ZE

-I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1

-I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1\Device\Include

-I C:\Keil_v5\ARM\CMSIS\Include

--pd "__UVISION_VERSION SETA 514" --pd "_RTE_ SETA 1" --pd "STM32F10X_HD SETA 1"

--list .\listings\startup_stm32f10x_hd.lst --xref -o .\objects\startup_stm32f10x_hd.o --depend .\objects\startup_stm32f10x_hd.d)
 F (RTE\Device\STM32F103ZE\system_stm32f10x.c)(0x61AD795E)(-c --cpu Cortex-M3 -g -O0 --apcs=interwork --split_sections -IC:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include -IC:\Keil_v5\ARM\CMSIS\Include -I.\Module\Inc --locale=english --c99

-I D:\Ƕʽ\mcu\Motor_Control\RTE

-I D:\Ƕʽ\mcu\Motor_Control\RTE\Device\STM32F103ZE

-I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1

-I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1\Device\Include

-I C:\Keil_v5\ARM\CMSIS\Include

-D__UVISION_VERSION="514" -D_RTE_ -DSTM32F10X_HD

-o .\objects\system_stm32f10x.o --omf_browse .\objects\system_stm32f10x.crf --depend .\objects\system_stm32f10x.d)
 F (RTE\Device\STM32F103ZE\system_stm32f10x.c)(0x61AD795E)(-c --cpu Cortex-M3 -g -O0 --apcs=interwork --split_sections -IC:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include -IC:\Keil_v5\ARM\CMSIS\Include -I.\Module\Inc --locale=english --c99

-I D:\Ƕʽ\mcu\Motor_Control\RTE

-I D:\Ƕʽ\mcu\Motor_Control\RTE\Device\STM32F103ZE

-I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1

-I C:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.4.1\Device\Include

-I C:\Keil_v5\ARM\CMSIS\Include

-D__UVISION_VERSION="514" -D_RTE_ -DSTM32F10X_HD

-o .\objects\system_stm32f10x.o --omf_browse .\objects\system_stm32f10x.crf --depend .\objects\system_stm32f10x.d)

Objects/buzzer.d

+.\objects\buzzer.o: Module\Src\buzzer.c
+.\objects\buzzer.o: .\Module\Inc\buzzer.h
+.\objects\buzzer.o: C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\stm32f10x.h
+.\objects\buzzer.o: D:\嵌入式\mcu\Motor_Control\RTE\RTE_Components.h
+.\objects\buzzer.o: C:\Keil_v5\ARM\CMSIS\Include\core_cm3.h
+.\objects\buzzer.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stdint.h
+.\objects\buzzer.o: C:\Keil_v5\ARM\CMSIS\Include\core_cmInstr.h
+.\objects\buzzer.o: C:\Keil_v5\ARM\CMSIS\Include\cmsis_armcc.h
+.\objects\buzzer.o: C:\Keil_v5\ARM\CMSIS\Include\core_cmFunc.h
+.\objects\buzzer.o: C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\system_stm32f10x.h
+.\objects\buzzer.o: .\Module\Inc\common.h

Objects/common.d

+.\objects\common.o: Module\Src\common.c
+.\objects\common.o: .\Module\Inc\common.h
+.\objects\common.o: C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\stm32f10x.h
+.\objects\common.o: D:\嵌入式\mcu\Motor_Control\RTE\RTE_Components.h
+.\objects\common.o: C:\Keil_v5\ARM\CMSIS\Include\core_cm3.h
+.\objects\common.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stdint.h
+.\objects\common.o: C:\Keil_v5\ARM\CMSIS\Include\core_cmInstr.h
+.\objects\common.o: C:\Keil_v5\ARM\CMSIS\Include\cmsis_armcc.h
+.\objects\common.o: C:\Keil_v5\ARM\CMSIS\Include\core_cmFunc.h
+.\objects\common.o: C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\system_stm32f10x.h
+.\objects\common.o: .\Module\Inc\parking_sensor.h
+.\objects\common.o: .\Module\Inc\distance_switch.h
+.\objects\common.o: .\Module\Inc\photoelectric_switch.h
+.\objects\common.o: .\Module\Inc\emergency_stop.h
+.\objects\common.o: .\Module\Inc\uart_log.h

Objects/distance_switch.d

+.\objects\distance_switch.o: Module\Src\distance_switch.c
+.\objects\distance_switch.o: C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\stm32f10x.h
+.\objects\distance_switch.o: D:\嵌入式\mcu\Motor_Control\RTE\RTE_Components.h
+.\objects\distance_switch.o: C:\Keil_v5\ARM\CMSIS\Include\core_cm3.h
+.\objects\distance_switch.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stdint.h
+.\objects\distance_switch.o: C:\Keil_v5\ARM\CMSIS\Include\core_cmInstr.h
+.\objects\distance_switch.o: C:\Keil_v5\ARM\CMSIS\Include\cmsis_armcc.h
+.\objects\distance_switch.o: C:\Keil_v5\ARM\CMSIS\Include\core_cmFunc.h
+.\objects\distance_switch.o: C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\system_stm32f10x.h
+.\objects\distance_switch.o: .\Module\Inc\uart_log.h
+.\objects\distance_switch.o: .\Module\Inc\distance_switch.h

Objects/ds18b20.d

+.\objects\ds18b20.o: Module\Src\ds18b20.c
+.\objects\ds18b20.o: .\Module\Inc\ds18b20.h
+.\objects\ds18b20.o: C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\stm32f10x.h
+.\objects\ds18b20.o: D:\嵌入式\mcu\Motor_Control\RTE\RTE_Components.h
+.\objects\ds18b20.o: C:\Keil_v5\ARM\CMSIS\Include\core_cm3.h
+.\objects\ds18b20.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stdint.h
+.\objects\ds18b20.o: C:\Keil_v5\ARM\CMSIS\Include\core_cmInstr.h
+.\objects\ds18b20.o: C:\Keil_v5\ARM\CMSIS\Include\cmsis_armcc.h
+.\objects\ds18b20.o: C:\Keil_v5\ARM\CMSIS\Include\core_cmFunc.h
+.\objects\ds18b20.o: C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\system_stm32f10x.h
+.\objects\ds18b20.o: .\Module\Inc\common.h

Objects/emergency_stop.d

+.\objects\emergency_stop.o: Module\Src\emergency_stop.c
+.\objects\emergency_stop.o: .\Module\Inc\emergency_stop.h
+.\objects\emergency_stop.o: C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\stm32f10x.h
+.\objects\emergency_stop.o: D:\嵌入式\mcu\Motor_Control\RTE\RTE_Components.h
+.\objects\emergency_stop.o: C:\Keil_v5\ARM\CMSIS\Include\core_cm3.h
+.\objects\emergency_stop.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stdint.h
+.\objects\emergency_stop.o: C:\Keil_v5\ARM\CMSIS\Include\core_cmInstr.h
+.\objects\emergency_stop.o: C:\Keil_v5\ARM\CMSIS\Include\cmsis_armcc.h
+.\objects\emergency_stop.o: C:\Keil_v5\ARM\CMSIS\Include\core_cmFunc.h
+.\objects\emergency_stop.o: C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\system_stm32f10x.h
+.\objects\emergency_stop.o: .\Module\Inc\uart_log.h

Objects/main.d

@@ -7,5 +7,14 @@
 .\objects\main.o: C:\Keil_v5\ARM\CMSIS\Include\cmsis_armcc.h
 .\objects\main.o: C:\Keil_v5\ARM\CMSIS\Include\cmsis_armcc.h
 .\objects\main.o: C:\Keil_v5\ARM\CMSIS\Include\core_cmFunc.h
 .\objects\main.o: C:\Keil_v5\ARM\CMSIS\Include\core_cmFunc.h
 .\objects\main.o: C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\system_stm32f10x.h
 .\objects\main.o: C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\system_stm32f10x.h
+.\objects\main.o: .\Module\Inc\rotate_motor.h
+.\objects\main.o: .\Module\Inc\motor_common.h
 .\objects\main.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stdbool.h
 .\objects\main.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stdbool.h
+.\objects\main.o: .\Module\Inc\walking_motor.h
 .\objects\main.o: .\Module\Inc\uart_log.h
 .\objects\main.o: .\Module\Inc\uart_log.h
+.\objects\main.o: .\Module\Inc\common.h
+.\objects\main.o: .\Module\Inc\buzzer.h
+.\objects\main.o: .\Module\Inc\pneumatic_solenoid.h
+.\objects\main.o: .\Module\Inc\temperature_sensor.h
+.\objects\main.o: .\Module\Inc\ds18b20.h
+.\objects\main.o: .\Module\Inc\parking_sensor.h

Objects/onewire.d

+.\objects\onewire.o: Module\Src\onewire.c
+.\objects\onewire.o: .\Module\Inc\onewire.h
+.\objects\onewire.o: C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\stm32f10x.h
+.\objects\onewire.o: D:\嵌入式\mcu\Motor_Control\RTE\RTE_Components.h
+.\objects\onewire.o: C:\Keil_v5\ARM\CMSIS\Include\core_cm3.h
+.\objects\onewire.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stdint.h
+.\objects\onewire.o: C:\Keil_v5\ARM\CMSIS\Include\core_cmInstr.h
+.\objects\onewire.o: C:\Keil_v5\ARM\CMSIS\Include\cmsis_armcc.h
+.\objects\onewire.o: C:\Keil_v5\ARM\CMSIS\Include\core_cmFunc.h
+.\objects\onewire.o: C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\system_stm32f10x.h
+.\objects\onewire.o: .\Module\Inc\common.h

Objects/parking_sensor.d

+.\objects\parking_sensor.o: Module\Src\parking_sensor.c
+.\objects\parking_sensor.o: .\Module\Inc\parking_sensor.h
+.\objects\parking_sensor.o: C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\stm32f10x.h
+.\objects\parking_sensor.o: D:\嵌入式\mcu\Motor_Control\RTE\RTE_Components.h
+.\objects\parking_sensor.o: C:\Keil_v5\ARM\CMSIS\Include\core_cm3.h
+.\objects\parking_sensor.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stdint.h
+.\objects\parking_sensor.o: C:\Keil_v5\ARM\CMSIS\Include\core_cmInstr.h
+.\objects\parking_sensor.o: C:\Keil_v5\ARM\CMSIS\Include\cmsis_armcc.h
+.\objects\parking_sensor.o: C:\Keil_v5\ARM\CMSIS\Include\core_cmFunc.h
+.\objects\parking_sensor.o: C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\system_stm32f10x.h
+.\objects\parking_sensor.o: .\Module\Inc\common.h
+.\objects\parking_sensor.o: .\Module\Inc\uart_log.h

Objects/photoelectric_switch.d

+.\objects\photoelectric_switch.o: Module\Src\photoelectric_switch.c
+.\objects\photoelectric_switch.o: C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\stm32f10x.h
+.\objects\photoelectric_switch.o: D:\嵌入式\mcu\Motor_Control\RTE\RTE_Components.h
+.\objects\photoelectric_switch.o: C:\Keil_v5\ARM\CMSIS\Include\core_cm3.h
+.\objects\photoelectric_switch.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stdint.h
+.\objects\photoelectric_switch.o: C:\Keil_v5\ARM\CMSIS\Include\core_cmInstr.h
+.\objects\photoelectric_switch.o: C:\Keil_v5\ARM\CMSIS\Include\cmsis_armcc.h
+.\objects\photoelectric_switch.o: C:\Keil_v5\ARM\CMSIS\Include\core_cmFunc.h
+.\objects\photoelectric_switch.o: C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\system_stm32f10x.h
+.\objects\photoelectric_switch.o: .\Module\Inc\photoelectric_switch.h
+.\objects\photoelectric_switch.o: .\Module\Inc\uart_log.h

Objects/pneumatic_solenoid.d

+.\objects\pneumatic_solenoid.o: Module\Src\pneumatic_solenoid.c
+.\objects\pneumatic_solenoid.o: .\Module\Inc\pneumatic_solenoid.h
+.\objects\pneumatic_solenoid.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stdint.h
+.\objects\pneumatic_solenoid.o: C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\stm32f10x.h
+.\objects\pneumatic_solenoid.o: D:\嵌入式\mcu\Motor_Control\RTE\RTE_Components.h
+.\objects\pneumatic_solenoid.o: C:\Keil_v5\ARM\CMSIS\Include\core_cm3.h
+.\objects\pneumatic_solenoid.o: C:\Keil_v5\ARM\CMSIS\Include\core_cmInstr.h
+.\objects\pneumatic_solenoid.o: C:\Keil_v5\ARM\CMSIS\Include\cmsis_armcc.h
+.\objects\pneumatic_solenoid.o: C:\Keil_v5\ARM\CMSIS\Include\core_cmFunc.h
+.\objects\pneumatic_solenoid.o: C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\system_stm32f10x.h
+.\objects\pneumatic_solenoid.o: .\Module\Inc\uart_log.h

Objects/rotate_motor.d

+.\objects\rotate_motor.o: Module\Src\rotate_motor.c
+.\objects\rotate_motor.o: .\Module\Inc\rotate_motor.h
+.\objects\rotate_motor.o: .\Module\Inc\motor_common.h
+.\objects\rotate_motor.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stdint.h
+.\objects\rotate_motor.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stdbool.h
+.\objects\rotate_motor.o: C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\stm32f10x.h
+.\objects\rotate_motor.o: D:\嵌入式\mcu\Motor_Control\RTE\RTE_Components.h
+.\objects\rotate_motor.o: C:\Keil_v5\ARM\CMSIS\Include\core_cm3.h
+.\objects\rotate_motor.o: C:\Keil_v5\ARM\CMSIS\Include\core_cmInstr.h
+.\objects\rotate_motor.o: C:\Keil_v5\ARM\CMSIS\Include\cmsis_armcc.h
+.\objects\rotate_motor.o: C:\Keil_v5\ARM\CMSIS\Include\core_cmFunc.h
+.\objects\rotate_motor.o: C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\system_stm32f10x.h
+.\objects\rotate_motor.o: .\Module\Inc\common.h

Objects/step_motor.d

 .\objects\step_motor.o: Module\Src\step_motor.c
 .\objects\step_motor.o: Module\Src\step_motor.c
+.\objects\step_motor.o: .\Module\Inc\step_motor.h
+.\objects\step_motor.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stdint.h
+.\objects\step_motor.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stdbool.h
+.\objects\step_motor.o: C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\stm32f10x.h
+.\objects\step_motor.o: D:\嵌入式\mcu\Motor_Control\RTE\RTE_Components.h
+.\objects\step_motor.o: C:\Keil_v5\ARM\CMSIS\Include\core_cm3.h
+.\objects\step_motor.o: C:\Keil_v5\ARM\CMSIS\Include\core_cmInstr.h
+.\objects\step_motor.o: C:\Keil_v5\ARM\CMSIS\Include\cmsis_armcc.h
+.\objects\step_motor.o: C:\Keil_v5\ARM\CMSIS\Include\core_cmFunc.h
+.\objects\step_motor.o: C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\system_stm32f10x.h

Objects/temperature_sensor.d

+.\objects\temperature_sensor.o: Module\Src\temperature_sensor.c
+.\objects\temperature_sensor.o: .\Module\Inc\temperature_sensor.h
+.\objects\temperature_sensor.o: .\Module\Inc\onewire.h
+.\objects\temperature_sensor.o: C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\stm32f10x.h
+.\objects\temperature_sensor.o: D:\嵌入式\mcu\Motor_Control\RTE\RTE_Components.h
+.\objects\temperature_sensor.o: C:\Keil_v5\ARM\CMSIS\Include\core_cm3.h
+.\objects\temperature_sensor.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stdint.h
+.\objects\temperature_sensor.o: C:\Keil_v5\ARM\CMSIS\Include\core_cmInstr.h
+.\objects\temperature_sensor.o: C:\Keil_v5\ARM\CMSIS\Include\cmsis_armcc.h
+.\objects\temperature_sensor.o: C:\Keil_v5\ARM\CMSIS\Include\core_cmFunc.h
+.\objects\temperature_sensor.o: C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\system_stm32f10x.h
+.\objects\temperature_sensor.o: .\Module\Inc\uart_log.h
+.\objects\temperature_sensor.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stddef.h

Objects/walking_motor.d

+.\objects\walking_motor.o: Module\Src\walking_motor.c
+.\objects\walking_motor.o: .\Module\Inc\walking_motor.h
+.\objects\walking_motor.o: .\Module\Inc\motor_common.h
+.\objects\walking_motor.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stdint.h
+.\objects\walking_motor.o: C:\Keil_v5\ARM\ARMCC\Bin\..\include\stdbool.h
+.\objects\walking_motor.o: .\Module\Inc\common.h
+.\objects\walking_motor.o: C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\stm32f10x.h
+.\objects\walking_motor.o: D:\嵌入式\mcu\Motor_Control\RTE\RTE_Components.h
+.\objects\walking_motor.o: C:\Keil_v5\ARM\CMSIS\Include\core_cm3.h
+.\objects\walking_motor.o: C:\Keil_v5\ARM\CMSIS\Include\core_cmInstr.h
+.\objects\walking_motor.o: C:\Keil_v5\ARM\CMSIS\Include\cmsis_armcc.h
+.\objects\walking_motor.o: C:\Keil_v5\ARM\CMSIS\Include\core_cmFunc.h
+.\objects\walking_motor.o: C:\Keil_v5\ARM\Pack\Keil\STM32F1xx_DFP\2.2.0\Device\Include\system_stm32f10x.h

main.c

 
 
 #include "stm32f10x.h"
 #include "stm32f10x.h"
-#include "step_motor.h"
+#include "rotate_motor.h"
+#include "walking_motor.h"
+#include "uart_log.h"
+#include "common.h"
+#include "buzzer.h"
+#include "pneumatic_solenoid.h"
+#include "temperature_sensor.h"
+#include "ds18b20.h"
+#include "parking_sensor.h"
+
 
 
 int main(void) {
 int main(void) {
-    // 初始化步进电机控制
-    StepperMotor_Init();
+
+
+    Total_GPIO_Init();
+
+    Total_EXTI_Init();
+
+    Serial_Init();
+
+
 
 
     // 定义步进电机结构体
     // 定义步进电机结构体
-    StepMotor motor = {
+    RotateMotor motor = {
+        .base={
             .stepcount = 0,          // 初始步数
             .stepcount = 0,          // 初始步数
             .direction = 1,          // 初始方向（1：顺时针）
             .direction = 1,          // 初始方向（1：顺时针）
             .curSpeed = 0,           // 初始速度为0
             .curSpeed = 0,           // 初始速度为0
             .desSpeed = 0,           // 目标速度
             .desSpeed = 0,           // 目标速度
             .maxSpeed = 9375,        // 最大转速（假设值）
             .maxSpeed = 9375,        // 最大转速（假设值）
             .speedStatus = SPEED_NONE, // 初始速度状态
             .speedStatus = SPEED_NONE, // 初始速度状态
-        .stepcountMode = 0,      // 脉冲计数模式
+            .stepcountMode =ABSOLUTE_COUNT,      // 脉冲计数模式
             .curlocation = 0,        // 当前位置
             .curlocation = 0,        // 当前位置
             .deslocation = 0,        // 目标位置
             .deslocation = 0,        // 目标位置
             .acceleration = 1000,    // 加速度 (步/秒^2)
             .acceleration = 1000,    // 加速度 (步/秒^2)
             .deceleration = 1000,    // 减速度 (步/秒^2)
             .deceleration = 1000,    // 减速度 (步/秒^2)
             .psc = 71,               // 预分频器
             .psc = 71,               // 预分频器
             .arr = 999               // 自动重装载寄存器
             .arr = 999               // 自动重装载寄存器
+        }
     };
     };
 
 
     // 初始化定时器 TIM3
     // 初始化定时器 TIM3
-    TIM3_Init(motor.psc, motor.arr);
+    TIM3_CH1_Init(motor.base.psc, motor.base.arr);
+    TIM3_CH2_Init(motor.base.psc, motor.base.arr);
 
 
+    SystemState currentState = STATE_IDLE;
     // 设置初始方向（例如顺时针）
     // 设置初始方向（例如顺时针）
-    Set_Direction(motor.direction);
+    Rotate_SetDirection(motor.base.direction);
 
 
     // 使能步进电机
     // 使能步进电机
-    Enable_Stepper(true);
+    Rotate_Enable_Rotate(true);
+
+    Walking_SetDirection(motor.base.direction);
+
+    // 使能或禁用旋转电机
+    Walking_Enable_Rotate(true);
+
+
+
+    Pneumatic_Solenoid_Control(0,1);
+
+
+    Buzzer_On();
+
+       // 配置 PE14 为推挽输出
+    Configure_PE_Pin(14, 0x3);
+	
+
+
+		// 初始化 TIM2 捕获模式
+    TIM2_Capture_Init();
+ 
+
+		SendTriggerSignal();
+		
+//	
+//     DS18B20_Init(); // 初始化 DS18B20
+//     uint32_t data=0;
+//    while (data<=0) {
+//			        Serial_Printf("temperature = %02d\r\n\n",DS18B20_GetTemperture());
+
+//         data = DS18B20_GetTemperture() * 100;
+
+//        Serial_Printf("temperature = %d.%02d\r\n\n", data/100, data % 100);
+//			
+//        Delay(1000, 'm'); // 延时 1 秒
+//    }
+
+;
+
+
 
 
     // 主循环
     // 主循环
     while (1) {
     while (1) {
+        StateMachineHandler(currentState);
+        Serial_Print("main: 启动\n");
+
+
+//		GPIOC->ODR |= (1 << 4);  // 设置低电平
+//			Delay(2000); // 延时1秒
+        GPIOC->ODR &= ~(1 << 4);    //设置高电平
+//			Delay(2000); // 延时1秒
+//			GPIOC->ODR |= (1 << 4);  // 设置高电平
+//			Delay(2000); // 延时1秒
+//			GPIOC->ODR &= ~(1 << 4);
+//			Delay(2000); // 延时1秒
+//			GPIOC->ODR |= (1 << 4);  // 设置高电平
+//			Delay(2000); // 延时1秒
+//			GPIOC->ODR &= ~(1 << 4);
+//			Delay(2000); // 延时1秒
+//			GPIOC->ODR |= (1 << 4);  // 设置高电平
+//			Delay(2000); // 延时1秒
         // 例子：加速到目标速度
         // 例子：加速到目标速度
         Update_Motor_Status(&motor, SPEED_ACC, 9375, 1000); // 以1000 RPM/s的加速度加速到9375 RPM
         Update_Motor_Status(&motor, SPEED_ACC, 9375, 1000); // 以1000 RPM/s的加速度加速到9375 RPM
 
 
         // 保持匀速一段时间
         // 保持匀速一段时间
-        Delay(5000); // 延时5秒
+        Delay(5000,'s'); // 延时5秒
 
 
         // 例子：减速到停止
         // 例子：减速到停止
         Update_Motor_Status(&motor, SPEED_DEC, 0, 1000); // 以1000 RPM/s的减速度减速到停止
         Update_Motor_Status(&motor, SPEED_DEC, 0, 1000); // 以1000 RPM/s的减速度减速到停止
 
 
         // 保持停止一段时间
         // 保持停止一段时间
-        Delay(5000); // 延时5秒
+        Delay(5000,'s'); // 延时5秒
     }
     }
 }
 }
+

main.c.orig

+
+#include "stm32f10x.h"
+#include "rotate_motor.h"
+#include "walking_motor.h"
+#include "uart_log.h"
+#include "common.h"
+#include "buzzer.h"
+#include "pneumatic_solenoid.h"
+#include "temperature_sensor.h"
+#include "ds18b20.h"
+#include "parking_sensor.h"
+
+
+int main(void) {
+
+
+    Total_GPIO_Init();
+
+    Total_EXTI_Init();
+
+    Serial_Init();
+
+
+
+    // 定义步进电机结构体
+    RotateMotor motor = {
+        .base={
+            .stepcount = 0,          // 初始步数
+            .direction = 1,          // 初始方向（1：顺时针）
+            .curSpeed = 0,           // 初始速度为0
+            .desSpeed = 0,           // 目标速度
+            .maxSpeed = 9375,        // 最大转速（假设值）
+            .speedStatus = SPEED_NONE, // 初始速度状态
+            .stepcountMode =ABSOLUTE_COUNT,      // 脉冲计数模式
+            .curlocation = 0,        // 当前位置
+            .deslocation = 0,        // 目标位置
+            .acceleration = 1000,    // 加速度 (步/秒^2)
+            .deceleration = 1000,    // 减速度 (步/秒^2)
+            .psc = 71,               // 预分频器
+            .arr = 999               // 自动重装载寄存器
+        }
+    };
+
+    // 初始化定时器 TIM3
+    TIM3_CH1_Init(motor.base.psc, motor.base.arr);
+    TIM3_CH2_Init(motor.base.psc, motor.base.arr);
+
+    SystemState currentState = STATE_IDLE;
+    // 设置初始方向（例如顺时针）
+    Rotate_SetDirection(motor.base.direction);
+
+    // 使能步进电机
+    Rotate_Enable_Rotate(true);
+
+    Walking_SetDirection(motor.base.direction);
+
+    // 使能或禁用旋转电机
+    Walking_Enable_Rotate(true);
+
+
+
+    Pneumatic_Solenoid_Control(0,1);
+
+
+    Buzzer_On();
+		
+   Serial_Print("main: Before TIM2_Init\n");
+TIM2_Init();
+Serial_Print("main: Before Delay\n");
+Delay(1000, 'm');
+Serial_Print("main: Before Start_Measurement\n");
+Start_Measurement(1 << 14);
+Serial_Print("main: After Start_Measurement\n");
+
+   
+    Serial_Print("main: DS18B20_Init\n");
+
+
+    // 初始化DS18B20
+    if (DS18B20_Init() == 0)
+    {
+        // 检测到DS18B20的情况可以进行一些处理，例如点亮一个LED
+        // 或者在开发板上的屏幕显示“DS18B20 Detected!”之类的信息
+    }
+    else
+    {
+        // 没有检测到DS18B20，可能需要给出错误处理
+			    Serial_Printf("没有检测到DS18B20，可能需要给出错误处理");
+
+    }
+
+
+
+    uint32_t data = DS18B20_GetTemperture() * 100;
+
+    Serial_Printf("temperature = %d.%02d\r\n\n", data/100, data % 100);
+
+
+
+
+    // 主循环
+    while (1) {
+        StateMachineHandler(currentState);
+        Serial_Print("main: 启动\n");
+
+
+//		GPIOC->ODR |= (1 << 4);  // 设置低电平
+//			Delay(2000); // 延时1秒
+        GPIOC->ODR &= ~(1 << 4);    //设置高电平
+//			Delay(2000); // 延时1秒
+//			GPIOC->ODR |= (1 << 4);  // 设置高电平
+//			Delay(2000); // 延时1秒
+//			GPIOC->ODR &= ~(1 << 4);
+//			Delay(2000); // 延时1秒
+//			GPIOC->ODR |= (1 << 4);  // 设置高电平
+//			Delay(2000); // 延时1秒
+//			GPIOC->ODR &= ~(1 << 4);
+//			Delay(2000); // 延时1秒
+//			GPIOC->ODR |= (1 << 4);  // 设置高电平
+//			Delay(2000); // 延时1秒
+        // 例子：加速到目标速度
+        Update_Motor_Status(&motor, SPEED_ACC, 9375, 1000); // 以1000 RPM/s的加速度加速到9375 RPM
+
+        // 保持匀速一段时间
+        Delay(5000,'s'); // 延时5秒
+
+        // 例子：减速到停止
+        Update_Motor_Status(&motor, SPEED_DEC, 0, 1000); // 以1000 RPM/s的减速度减速到停止
+
+        // 保持停止一段时间
+        Delay(5000,'s'); // 延时5秒
+    }
+}
+