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436762-基于STM32闭环步进电机控制系统设计(仿真,程序,说明)

硬件开发 17.97MB 39 需要积分: 1
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资源介绍:

基于STM32闭环步进电机控制系统设计(仿真,程序,说明) (1) 基本功能:本任务通过输出脉冲控制步进电机的停止、运动、方向。使用 两个按键分别控制步进电机的正转和反转,再次按下这两个按键,步进电机停止, 同时 LCD 显示电机状态信息。 (2) 扩展功能:加入一个转速阈值设置功能,由电位器充当阈值设置器,可设 置目标转速并使电机接近设置的转速。
1 掌握基于 PROTEUS KEIL 的仿真调试方法。
2 掌握 uCOS-II 的移植,并采用多任务编程、调试。
3 熟悉电机的工作原理和功能,并掌握电机的应用和驱动方法。
1.2 内容
1 基本功能:本任务通过输出脉冲控制步进电机的停止、运动、方向。使用 两个按键
分别控制步进电机的正转和反转,再次按下这两个按键,步进电机停止, 同时 LCD 显示
电机状态信息。
2 扩展功能:加入一个转速阈值设置功能,由电位器充当阈值设置器,可设 置目标转
速并使电机接近设置的转速。
2 系统硬件设计
2.1 总体框架设计
2-1 硬件框架图
本次任务实践的硬件架构设计如图 2-1 所示。按照设计任务的要求,本次设 计采
用的主控芯片为 STM32F103,整体硬件设计以该芯片为中心,由按键输入模
块、LCD 显示模块、电机模块等组成。
2.2 硬件电路设计
1 参考 LCD1602 液晶显示屏的芯片资料,在 LCD 显示屏的电路连接中,将
VDD 以及 VSSVEE 接到电源以及地上。之后再将它的 3 个信号控制引脚 RS
RW E 以及 8 个数据传输引脚 DO-D7 分别连接到 STM32 的相应引脚上。
2 按键输入模块采用两个独立按键,分别连接 STM32 PB6PB7 引脚,
共端接地。
3 电机模块使用直流无刷电机,并采用 L293D IRF540 MOS 管驱动。
4 用所谓六步换向法,根据转子当前的位置,按照一定的顺序给定子绕
通电使 BLDC 电机转动。如图 2-2 所示。
永磁体 N-S 交替交换,使位置传感器产生相位差 120° H3H2H1 方波,
从而产生有效的六状态编码信号:010011001101100110,通过逻辑组
件处理产生 V6-V1 导通、V5-V6 导通、V4-V5 导通、V3-V4 导通、V2-V3
通、V1-V2 导通,也就是说将直流母线电压依次加在 U ->Vw ->VW ->U
V->UV->W
U ->W 上,这样转子每转过一对 N-S 极,V1V2V3V4V5V6 各功率管
即按 固定组合成六种状态的依次导通。
2-2 BLDC 控制框图
2-3 120°HAll 换相控制图
对于典型的三相带传感器的 BLDC 电机,有 6 个不同的工作区间,每个区间
有特定的两相绕组通电。通过检测霍尔传感器,可以得到一个 3 位编码,编码
的范围从 1 6。每个编码值代表转子当前所处的区间。从而提供了需要对哪
绕组通电的信息。因此程序可以使用简单的查表操作来确定要对哪两对特定的
组通电以使转子转动。注意状态"0 7"对于霍尔效应传感器而言是无效状态。
软件应该检查出这些值并相应地禁止 PWM
5 Proteus 的无刷直流电机模型带有 3 个霍尔传感器,霍尔传感器的输出信
号两相间相差 120 度。与此对应的是电机转子每旋转一周霍尔传感器就能输出
6 种编码状态,如图 2-4 所示。 从图可见,霍尔传感器输 出状态变化一次,就
意味着电机转子转过了 60 度。 据此,可以根据单位时间 T 内捕获的霍尔传感
器输出变化的个数 n 计算出电机的转速 V=60n/T 根据这一原理,通过控制器
的输入捕获功能 IC 获取到其中 一相霍尔传感器输出信号的周期,就可以比较准
精确地测量到电机的转速。
2-4 霍尔位置传感器输出信号波形

资源文件列表:

436762-基于STM32闭环步进电机控制系统设计(仿真,程序,说明).zip 大约有931个文件
  1. 仿真截图.jpg 97.41KB
  2. 设计说明.docx 559.34KB
  3. Proteus仿真/Backup Of BLDC.pdsbak 29.22KB
  4. Proteus仿真/BLDC.pdsprj 29.28KB
  5. Proteus仿真/BLDC.pdsprj.DESKTOP-4JFGV7C.Administrator.workspace 328B
  6. Proteus仿真/BLDC.pdsprj.DESKTOP-B01EQSC.xuhe.workspace 13.82KB
  7. Proteus仿真/BLDC.pdsprj.DESKTOP-FN1053R.HELLO.workspace 4.27KB
  8. Proteus仿真/Last Loaded BLDC.pdsbak 29.15KB
  9. Proteus仿真/uCos_ii_Demo.hex 35.15KB
  10. Proteus仿真/uCos_ii_Demo.hex.asm 21B
  11. 程序代码/.mxproject 6.27KB
  12. 程序代码/uCos_ii_Demo.ioc 10.22KB
  13. 程序代码/Drivers/CMSIS/Core/Include/cmsis_armcc.h 27.55KB
  14. 程序代码/Drivers/CMSIS/Core/Include/cmsis_armclang.h 55.17KB
  15. 程序代码/Drivers/CMSIS/Core/Include/cmsis_compiler.h 8.8KB
  16. 程序代码/Drivers/CMSIS/Core/Include/cmsis_gcc.h 60.88KB
  17. 程序代码/Drivers/CMSIS/Core/Include/cmsis_iccarm.h 27.75KB
  18. 程序代码/Drivers/CMSIS/Core/Include/cmsis_version.h 1.68KB
  19. 程序代码/Drivers/CMSIS/Core/Include/core_armv8mbl.h 95.7KB
  20. 程序代码/Drivers/CMSIS/Core/Include/core_armv8mml.h 164.96KB
  21. 程序代码/Drivers/CMSIS/Core/Include/core_cm0.h 41.22KB
  22. 程序代码/Drivers/CMSIS/Core/Include/core_cm0plus.h 49.28KB
  23. 程序代码/Drivers/CMSIS/Core/Include/core_cm1.h 42.44KB
  24. 程序代码/Drivers/CMSIS/Core/Include/core_cm23.h 102.18KB
  25. 程序代码/Drivers/CMSIS/Core/Include/core_cm3.h 109.23KB
  26. 程序代码/Drivers/CMSIS/Core/Include/core_cm33.h 171.48KB
  27. 程序代码/Drivers/CMSIS/Core/Include/core_cm4.h 120.71KB
  28. 程序代码/Drivers/CMSIS/Core/Include/core_cm7.h 145.11KB
  29. 程序代码/Drivers/CMSIS/Core/Include/core_sc000.h 46.14KB
  30. 程序代码/Drivers/CMSIS/Core/Include/core_sc300.h 107.93KB
  31. 程序代码/Drivers/CMSIS/Core/Include/mpu_armv7.h 11.44KB
  32. 程序代码/Drivers/CMSIS/Core/Include/mpu_armv8.h 10.7KB
  33. 程序代码/Drivers/CMSIS/Core/Include/tz_context.h 2.69KB
  34. 程序代码/Drivers/CMSIS/Core/Template/ARMv8-M/main_s.c 1.83KB
  35. 程序代码/Drivers/CMSIS/Core/Template/ARMv8-M/tz_context.c 5.86KB
  36. 程序代码/Drivers/CMSIS/Core_A/Include/cmsis_armcc.h 16.21KB
  37. 程序代码/Drivers/CMSIS/Core_A/Include/cmsis_armclang.h 16.12KB
  38. 程序代码/Drivers/CMSIS/Core_A/Include/cmsis_compiler.h 5.33KB
  39. 程序代码/Drivers/CMSIS/Core_A/Include/cmsis_cp15.h 12.26KB
  40. 程序代码/Drivers/CMSIS/Core_A/Include/cmsis_gcc.h 21.24KB
  41. 程序代码/Drivers/CMSIS/Core_A/Include/cmsis_iccarm.h 16.18KB
  42. 程序代码/Drivers/CMSIS/Core_A/Include/core_ca.h 106.38KB
  43. 程序代码/Drivers/CMSIS/Core_A/Include/irq_ctrl.h 8.28KB
  44. 程序代码/Drivers/CMSIS/Core_A/Source/irq_ctrl_gic.c 9.34KB
  45. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f100xb.h 455.62KB
  46. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f100xe.h 499.94KB
  47. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f101x6.h 407.3KB
  48. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f101xb.h 417.46KB
  49. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f101xe.h 493.83KB
  50. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f101xg.h 508.55KB
  51. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f102x6.h 498.12KB
  52. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f102xb.h 507.53KB
  53. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f103x6.h 823.12KB
  54. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f103xb.h 833.29KB
  55. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f103xe.h 951.28KB
  56. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f103xg.h 965.08KB
  57. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f105xc.h 1.17MB
  58. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f107xc.h 1.25MB
  59. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Include/stm32f1xx.h 7.31KB
  60. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Include/system_stm32f1xx.h 1.98KB
  61. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/system_stm32f1xx.c 14.76KB
  62. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/arm/startup_stm32f100xb.s 13.47KB
  63. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/arm/startup_stm32f100xe.s 15.02KB
  64. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/arm/startup_stm32f101x6.s 10.97KB
  65. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/arm/startup_stm32f101xb.s 11.33KB
  66. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/arm/startup_stm32f101xe.s 13.39KB
  67. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/arm/startup_stm32f101xg.s 14.13KB
  68. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/arm/startup_stm32f102x6.s 11.28KB
  69. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/arm/startup_stm32f102xb.s 11.66KB
  70. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/arm/startup_stm32f103x6.s 11.83KB
  71. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/arm/startup_stm32f103xb.s 12.21KB
  72. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/arm/startup_stm32f103xe.s 14.7KB
  73. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/arm/startup_stm32f103xg.s 15.15KB
  74. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/arm/startup_stm32f105xc.s 14.96KB
  75. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/arm/startup_stm32f107xc.s 15.13KB
  76. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/gcc/startup_stm32f100xb.s 10.38KB
  77. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/gcc/startup_stm32f100xe.s 11.62KB
  78. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/gcc/startup_stm32f101x6.s 8.66KB
  79. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/gcc/startup_stm32f101xb.s 9.08KB
  80. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/gcc/startup_stm32f101xe.s 10.72KB
  81. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/gcc/startup_stm32f101xg.s 11.42KB
  82. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/gcc/startup_stm32f102x6.s 8.9KB
  83. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/gcc/startup_stm32f102xb.s 9.37KB
  84. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/gcc/startup_stm32f103x6.s 9.54KB
  85. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/gcc/startup_stm32f103xb.s 10KB
  86. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/gcc/startup_stm32f103xe.s 12.35KB
  87. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/gcc/startup_stm32f103xg.s 12.49KB
  88. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/gcc/startup_stm32f105xc.s 12.02KB
  89. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/gcc/startup_stm32f107xc.s 12.33KB
  90. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/iar/startup_stm32f100xb.s 13.48KB
  91. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/iar/startup_stm32f100xe.s 15.49KB
  92. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/iar/startup_stm32f101x6.s 11.13KB
  93. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/iar/startup_stm32f101xb.s 11.47KB
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  96. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/iar/startup_stm32f102x6.s 11.57KB
  97. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/iar/startup_stm32f102xb.s 11.91KB
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  99. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/iar/startup_stm32f103xb.s 12.84KB
  100. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/iar/startup_stm32f103xe.s 16.15KB
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  102. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/iar/startup_stm32f105xc.s 16.56KB
  103. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/iar/startup_stm32f107xc.s 16.58KB
  104. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/iar/linker/stm32f100xb_flash.icf 1.32KB
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  106. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/iar/linker/stm32f100xe_flash.icf 1.32KB
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  110. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/iar/linker/stm32f101xb_flash.icf 1.32KB
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  121. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/iar/linker/stm32f103x6_sram.icf 1.32KB
  122. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/iar/linker/stm32f103xb_flash.icf 1.32KB
  123. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/iar/linker/stm32f103xb_sram.icf 1.32KB
  124. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/iar/linker/stm32f103xe_flash.icf 1.32KB
  125. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/iar/linker/stm32f103xe_sram.icf 1.32KB
  126. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/iar/linker/stm32f103xg_flash.icf 1.32KB
  127. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/iar/linker/stm32f103xg_sram.icf 1.32KB
  128. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/iar/linker/stm32f105xc_flash.icf 1.32KB
  129. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/iar/linker/stm32f105xc_sram.icf 1.32KB
  130. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/iar/linker/stm32f107xc_flash.icf 1.32KB
  131. 程序代码/Drivers/CMSIS/Device/ST/STM32F1xx/Source/Templates/iar/linker/stm32f107xc_sram.icf 1.32KB
  132. 程序代码/Drivers/CMSIS/DSP/DSP_Lib_TestSuite/Common/inc/all_tests.h 310B
  133. 程序代码/Drivers/CMSIS/DSP/DSP_Lib_TestSuite/Common/inc/math_helper.h 1.95KB
  134. 程序代码/Drivers/CMSIS/DSP/DSP_Lib_TestSuite/Common/inc/type_abbrev.h 1.05KB
  135. 程序代码/Drivers/CMSIS/DSP/DSP_Lib_TestSuite/Common/inc/basic_math_tests/basic_math_templates.h 13.26KB
  136. 程序代码/Drivers/CMSIS/DSP/DSP_Lib_TestSuite/Common/inc/basic_math_tests/basic_math_tests.h 615B
  137. 程序代码/Drivers/CMSIS/DSP/DSP_Lib_TestSuite/Common/inc/basic_math_tests/basic_math_test_data.h 1.48KB
  138. 程序代码/Drivers/CMSIS/DSP/DSP_Lib_TestSuite/Common/inc/basic_math_tests/basic_math_test_group.h 353B
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  775. 程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_hcd.h 12.34KB
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  877. 程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_ll_i2c.c 7.38KB
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  880. 程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_ll_rtc.c 17.43KB
  881. 程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_ll_sdmmc.c 49.05KB
  882. 程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_ll_spi.c 20.14KB
  883. 程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_ll_tim.c 45.29KB
  884. 程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_ll_usart.c 17.54KB
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  889. 程序代码/Inc/lcd.h 1.01KB
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  891. 程序代码/Inc/pid.h 149B
  892. 程序代码/Inc/stm32f1xx_hal_conf.h 15.65KB
  893. 程序代码/Inc/stm32f1xx_it.h 2.24KB
  894. 程序代码/Inc/sys.h 1.46KB
  895. 程序代码/Inc/tim.h 1.73KB
  896. 程序代码/MDK-ARM/startup_stm32f103x6.s 11.82KB
  897. 程序代码/MDK-ARM/uCos_ii_Demo.uvguix.xuhe 76.87KB
  898. 程序代码/MDK-ARM/uCos_ii_Demo.uvoptx 23.72KB
  899. 程序代码/MDK-ARM/uCos_ii_Demo.uvprojx 24.38KB
  900. 程序代码/MDK-ARM/RTE/RTE_Components.h 264B
  901. 程序代码/MDK-ARM/uCos_ii_Demo/uCos_ii_Demo.hex 35.15KB
  902. 程序代码/MDK-ARM/uCos_ii_Demo/uCos_ii_Demo.hex.asm 21B
  903. 程序代码/Src/adc.c 2.94KB
  904. 程序代码/Src/gpio.c 3.82KB
  905. 程序代码/Src/lcd.c 1.35KB
  906. 程序代码/Src/main.c 13.81KB
  907. 程序代码/Src/pid.c 3.44KB
  908. 程序代码/Src/stm32f1xx_hal_msp.c 2.47KB
  909. 程序代码/Src/stm32f1xx_it.c 7.33KB
  910. 程序代码/Src/sys.c 1.23KB
  911. 程序代码/Src/system_stm32f1xx.c 14.76KB
  912. 程序代码/Src/tim.c 11.39KB
  913. 程序代码/UCOSII/CONFIG/includes.h 616B
  914. 程序代码/UCOSII/CONFIG/os_cfg.h 10.46KB
  915. 程序代码/UCOSII/CORE/os_core.c 86.27KB
  916. 程序代码/UCOSII/CORE/os_flag.c 54.74KB
  917. 程序代码/UCOSII/CORE/os_mbox.c 30.36KB
  918. 程序代码/UCOSII/CORE/os_mem.c 19.31KB
  919. 程序代码/UCOSII/CORE/os_mutex.c 36.95KB
  920. 程序代码/UCOSII/CORE/os_q.c 41.5KB
  921. 程序代码/UCOSII/CORE/os_sem.c 28.83KB
  922. 程序代码/UCOSII/CORE/os_task.c 56.4KB
  923. 程序代码/UCOSII/CORE/os_time.c 10.96KB
  924. 程序代码/UCOSII/CORE/os_tmr.c 43.96KB
  925. 程序代码/UCOSII/CORE/ucos_ii.c 1.65KB
  926. 程序代码/UCOSII/CORE/ucos_ii.h 77.52KB
  927. 程序代码/UCOSII/PORT/os_cpu.h 3.27KB
  928. 程序代码/UCOSII/PORT/os_cpu_a.asm 7.41KB
  929. 程序代码/UCOSII/PORT/os_cpu_c.c 11.82KB
  930. 程序代码/UCOSII/PORT/os_dbg.c 11.59KB
  931. 程序代码/UCOSII/PORT/os_dbg_r.c 12.67KB
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