v1.1添加按键功能的中文日志说明，改进了零点逻辑，之前回零成功后再次下发回零还会移动然后撞到限位开关，现在会正确保持在零点

Application/app_key.c

@@ -1,4 +1,4 @@
-#include "app_key.h"
+#include "app_key.h"
 #include <stddef.h>
 
 /* 按键行为说明：
@@ -123,15 +123,15 @@ static void key_guard_check(Stepper_t *stepper)
     est_pos_mm = key_estimate_pos_mm(stepper);
     current_absolute_pos_mm = est_pos_mm;
     xzero_active = key_home_switch_active();
-    if ((stepper->x_zero == 1u) && (xzero_active == 0u))
+    if (xzero_active == 1u)
     {
-        /* 若引脚当前未触发，清除可能因抖动造成的 EXTI 残留置位。 */
-        stepper->x_zero = 0u;
+        /* 引脚有效即锁存命中，避免短脉冲漏检。 */
+        stepper->x_zero = 1u;
     }
 
     if (s_home_active)
     {
-        if ((stepper->x_zero == 1u) && (xzero_active == 1u))
+        if (stepper->x_zero == 1u)
         {
             local_motion_estop(stepper);
             stepper->x_zero = 0u;
@@ -147,7 +147,7 @@ static void key_guard_check(Stepper_t *stepper)
         debug_printf("[KEY] JOG+ reach soft limit %.1f mm", SOFT_LIMIT_MAX_MM);
     }
     else if ((s_jog_key == KEY_3) &&
-             ((stepper->x_zero == 1u) && (xzero_active == 1u)))
+             (stepper->x_zero == 1u))
     {
         local_motion_stop_decel(stepper);
         stepper->x_zero = 0u;

Application/app_main.c

@@ -1,4 +1,4 @@
-#include "main.h"
+#include "main.h"
 #include "tim.h"
 #include "usart.h"
 #include "gpio.h"
@@ -18,33 +18,43 @@
 
 Encoder_t encoder_1 = {0};
 
-// 静音最大速度：65mm/s
-// 有效运动最大速度：350mm/s
-// 最远运行距离：230mm
 Stepper_t stepper_1 = {
-    .dir = GPIO_PIN_RESET, // 方向(1为手轮方向，0为电机方向)
-    .distance = 100.0f,    // 距离mm
-    .speed = 50.0f,        // 速度mm/s
-    .acc = 40.0f,          // 加速度 mm/s^2
-    .dec = 40.0f,          // 减速度 mm/s^2
-    .start_speed = 5.0f,   // 启动速度
+    .dir = GPIO_PIN_RESET,  // 方向(1为手轮方向，0为电机方向)
+    .distance = 100.0f,
+    .speed = 50.0f,
+    .acc = 40.0f,
+    .dec = 40.0f,
+    .start_speed = 5.0f,
 };
 
 CANopenNodeSTM32 CANopenNode;
+
+static void App_PrintKeyUsage(void)
+{
+    debug_printf("%s", "================ 按键功能说明 ================");
+    debug_printf("%s", "K1 (单击): 自动回零 (HOME, 低速 5 mm/s)");
+    debug_printf("%s", "K2 (长按): JOG+ 正向点动, 松开后减速停止");
+    debug_printf("%s", "K3 (长按): JOG- 反向点动, 松开后减速停止");
+    debug_printf("%s", "K4 (单击): 速度档位循环 5 -> 25 -> 60 mm/s");
+    debug_printf("%s", "K5 (单击): 紧急停止 (立即停机)");
+    debug_printf("%s", "提示: 回零完成以零位开关触发为准");
+    debug_printf("%s", "==============================================");
+}
+
 static void CANopenNode_init(void)
 {
-    /* 初始化CANopen */
-    CANopenNode.CANHandle = &hcan1;            /* 使用CAN接口 */
-    CANopenNode.HWInitFunction = MX_CAN1_Init; /* 初始化CAN */
-    CANopenNode.timerHandle = &htim11;         /* 使用的定时器句柄 */
-    CANopenNode.desiredNodeID = 3;             /* Node-ID */
-    CANopenNode.baudrate = 500;                /* 波特率，单位KHz */
+    CANopenNode.CANHandle = &hcan1;
+    CANopenNode.HWInitFunction = MX_CAN1_Init;
+    CANopenNode.timerHandle = &htim11;
+    CANopenNode.desiredNodeID = 3;
+    CANopenNode.baudrate = 500;
     canopen_app_init(&CANopenNode);
 }
 
 void app_main(void)
 {
     debug_printf("hello three-axis steppers");
+    App_PrintKeyUsage();
     CANopenNode_init();
     App_Motor_Init();
     App_ParamStore_Init();
@@ -62,11 +72,9 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
 {
     switch (GPIO_Pin)
     {
-        // PE2对应X_ZERO引脚
     case X_ZERO_Pin:
         stepper_1.x_zero = 1;
         break;
-        // PC9对应编码器1的Z引脚
     case ENCODER1_Z_Pin:
         encoder_1.z++;
         break;

Interface/Int_TMC2209.c

@@ -1,6 +1,6 @@
 #include "Int_TMC2209.h"
 
-/* 
+/*
  * TIM2 CH1 使用 TOGGLE 模式输出 STEP：
  * 每次中断只翻转一次电平，两个中断才构成一个完整 STEP 脉冲。
  */
@@ -143,65 +143,100 @@ void Int_TMC2209_stop(void)
     HAL_TIM_Encoder_Stop(&htim1, TIM_CHANNEL_ALL);
 }
 
+uint8_t Int_TMC2209_CheckHomeStop(Stepper_t *stepper)
+{
+    // 检测当前是否在零点，如果是，则禁止向零点方向移动
+    if (HAL_GPIO_ReadPin(X_ZERO_GPIO_Port, X_ZERO_Pin) == GPIO_PIN_RESET)
+    {
+        // 只有当方向是朝着零点移动时 (dir == 1)，才强制停止
+        if (stepper->dir == GPIO_PIN_SET)
+        {
+            stepper->state = STOP;
+            stepper->current_speed = 0;
+            Int_TMC2209_stop(); // 停止定时器脉冲输出
+
+            // 标记：如果正在执行回零操作，这里可以清零坐标
+            stepper->step_count = 0;
+            return 1; // 直接退出中断，不再生成这个脉冲
+        }
+        // 如果 s->dir == 0 (远离零点)，代码会继续往下走，从而允许电机退出限位区
+    }
+    return 0;
+}
+
+void Int_TMC2209_SpeedUpadte(Stepper_t *stepper)
+{
+    // 根据加减速算法更新速度(当前采用梯形算法)
+    double_flag++;
+
+    // 必须满2次中断（1个完整脉冲）才进行计算
+    if (double_flag < 2)
+        return;
+
+    stepper->step_count++;
+    double_flag = 0;
+
+    // --- 状态机管理 ---
+    switch (stepper->state)
+    {
+    case ACCELERATE:
+        // 加速阶段
+        stepper->current_speed += stepper->speed_inc; // 这里的 speed_inc 单位是 mm/s per step
+        if (stepper->step_count >= stepper->acc_step || stepper->current_speed >= stepper->speed)
+        {
+            stepper->current_speed = stepper->speed;
+            stepper->state = CONSTANT;
+        }
+        break;
+
+    case CONSTANT:
+        // 匀速阶段
+        if (stepper->step_count >= (stepper->total_step - stepper->acc_step))
+            stepper->state = DECELERATE;
+        break;
+
+    case DECELERATE:
+        // 减速阶段
+        stepper->current_speed -= stepper->speed_inc;
+        if (stepper->current_speed < stepper->start_speed)
+            stepper->current_speed = stepper->start_speed;
+
+        if (stepper->step_count >= stepper->total_step)
+        {
+            stepper->state = STOP;
+            Int_TMC2209_stop(); // 内部会关闭中断，所以这里直接return即可
+            return;
+        }
+        break;
+
+    case STOP:
+        Int_TMC2209_stop();
+        return;
+    }
+
+    // --- 更新硬件 ---
+    if (stepper->state != STOP)
+    {
+        // 传入 mm/s，计算新的 ARR
+        uint32_t new_arr = CALC_ARR(stepper->current_speed);
+        __HAL_TIM_SET_AUTORELOAD(&htim2, new_arr);
+        __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_1, new_arr / 2);
+    }
+}
+
 extern Stepper_t stepper_1;
 void HAL_TIM_OC_DelayElapsedCallback(TIM_HandleTypeDef *htim)
 {
     /* TIM2中断中完成步进脉冲计数、速度状态机更新和ARR重装载 */
     if (htim->Instance == TIM2)
     {
+
         Stepper_t *s = &stepper_1;
-
-        double_flag++;
-
-        // 必须满2次中断（1个完整脉冲）才进行计算
-        if (double_flag < 2)
+        // --- 1. 实时限位保护拦截 ---
+        if (Int_TMC2209_CheckHomeStop(s))
             return;
 
-        s->step_count++;
-        double_flag = 0;
-
-        // --- 状态机管理 ---
-        switch (s->state)
-        {
-        case ACCELERATE:
-            s->current_speed += s->speed_inc; // 这里的 speed_inc 单位是 mm/s per step
-            if (s->step_count >= s->acc_step || s->current_speed >= s->speed)
-            {
-                s->current_speed = s->speed;
-                s->state = CONSTANT;
-            }
-            break;
-
-        case CONSTANT:
-            if (s->step_count >= (s->total_step - s->acc_step))
-                s->state = DECELERATE;
-            break;
-
-        case DECELERATE:
-            s->current_speed -= s->speed_inc;
-            if (s->current_speed < s->start_speed)
-                s->current_speed = s->start_speed;
-
-            if (s->step_count >= s->total_step)
-            {
-                s->state = STOP;
-                Int_TMC2209_stop(); // 内部会关闭中断，所以这里直接return即可
-                return;
-            }
-            break;
-
-        case STOP:
-            Int_TMC2209_stop();
-            return;
-        }
-
-        // --- 更新硬件 ---
-        if (s->state != STOP)
-        {
-            // 传入 mm/s，计算新的 ARR
-            uint32_t new_arr = CALC_ARR(s->current_speed);
-            __HAL_TIM_SET_AUTORELOAD(&htim2, new_arr);
-            __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_1, new_arr / 2);
-        }
+        // --- 2. 定时更新步进电机速度 ---
+        Int_TMC2209_SpeedUpadte(s);
     }
 }

MDK-ARM/three-axis_stepper.uvoptx

@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="UTF-8"?>
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
 <ProjectOpt xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_optx.xsd">
 
   <SchemaVersion>1.0</SchemaVersion>
@@ -45,7 +45,7 @@
         <PageWidth>79</PageWidth>
         <PageLength>66</PageLength>
         <TabStop>8</TabStop>
-        <ListingPath />
+        <ListingPath></ListingPath>
       </OPTLEX>
       <ListingPage>
         <CreateCListing>1</CreateCListing>
@@ -104,16 +104,16 @@
         <bSchkAxf>0</bSchkAxf>
         <bTchkAxf>0</bTchkAxf>
         <nTsel>6</nTsel>
-        <sDll />
-        <sDllPa />
-        <sDlgDll />
-        <sDlgPa />
-        <sIfile />
-        <tDll />
-        <tDllPa />
-        <tDlgDll />
-        <tDlgPa />
-        <tIfile />
+        <sDll></sDll>
+        <sDllPa></sDllPa>
+        <sDlgDll></sDlgDll>
+        <sDlgPa></sDlgPa>
+        <sIfile></sIfile>
+        <tDll></tDll>
+        <tDllPa></tDllPa>
+        <tDlgDll></tDlgDll>
+        <tDlgPa></tDlgPa>
+        <tIfile></tIfile>
         <pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
       </DebugOpt>
       <TargetDriverDllRegistry>
@@ -128,7 +128,7 @@
           <Name>-U0668FF505375485067095824 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407ZGTx$CMSIS\Flash\STM32F4xx_1024.FLM) -WA0 -WE0 -WVCE4 -WS2710 -WM0 -WP2</Name>
         </SetRegEntry>
       </TargetDriverDllRegistry>
-      <Breakpoint />
+      <Breakpoint/>
       <Tracepoint>
         <THDelay>0</THDelay>
       </Tracepoint>
@@ -158,19 +158,19 @@
         <newCpu>0</newCpu>
         <uProt>0</uProt>
       </DebugFlag>
-      <LintExecutable />
-      <LintConfigFile />
+      <LintExecutable></LintExecutable>
+      <LintConfigFile></LintConfigFile>
       <bLintAuto>0</bLintAuto>
       <bAutoGenD>0</bAutoGenD>
       <LntExFlags>0</LntExFlags>
-      <pMisraName />
-      <pszMrule />
-      <pSingCmds />
-      <pMultCmds />
-      <pMisraNamep />
-      <pszMrulep />
-      <pSingCmdsp />
-      <pMultCmdsp />
+      <pMisraName></pMisraName>
+      <pszMrule></pszMrule>
+      <pSingCmds></pSingCmds>
+      <pMultCmds></pMultCmds>
+      <pMisraNamep></pMisraNamep>
+      <pszMrulep></pszMrulep>
+      <pSingCmdsp></pSingCmdsp>
+      <pMultCmdsp></pMultCmdsp>
       <DebugDescription>
         <Enable>0</Enable>
         <EnableFlashSeq>0</EnableFlashSeq>
@@ -250,6 +250,18 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
+      <PathWithFileName>../Core/Src/crc.c</PathWithFileName>
+      <FilenameWithoutPath>crc.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>6</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
       <PathWithFileName>../Core/Src/i2c.c</PathWithFileName>
       <FilenameWithoutPath>i2c.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
@@ -257,7 +269,7 @@
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
-      <FileNumber>6</FileNumber>
+      <FileNumber>7</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -269,7 +281,7 @@
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
-      <FileNumber>7</FileNumber>
+      <FileNumber>8</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -281,7 +293,7 @@
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
-      <FileNumber>8</FileNumber>
+      <FileNumber>9</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -293,7 +305,7 @@
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
-      <FileNumber>9</FileNumber>
+      <FileNumber>10</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -313,7 +325,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>10</FileNumber>
+      <FileNumber>11</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -333,7 +345,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>4</GroupNumber>
-      <FileNumber>11</FileNumber>
+      <FileNumber>12</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -353,7 +365,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>12</FileNumber>
+      <FileNumber>13</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -365,7 +377,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>13</FileNumber>
+      <FileNumber>14</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -377,7 +389,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>14</FileNumber>
+      <FileNumber>15</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -389,7 +401,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>15</FileNumber>
+      <FileNumber>16</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -409,7 +421,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>16</FileNumber>
+      <FileNumber>17</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -421,7 +433,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>17</FileNumber>
+      <FileNumber>18</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -433,7 +445,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>18</FileNumber>
+      <FileNumber>19</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -445,7 +457,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>19</FileNumber>
+      <FileNumber>20</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -457,7 +469,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>20</FileNumber>
+      <FileNumber>21</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -469,7 +481,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>21</FileNumber>
+      <FileNumber>22</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -481,7 +493,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>22</FileNumber>
+      <FileNumber>23</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -493,7 +505,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>23</FileNumber>
+      <FileNumber>24</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -505,7 +517,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>24</FileNumber>
+      <FileNumber>25</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -517,7 +529,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>25</FileNumber>
+      <FileNumber>26</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -529,7 +541,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>26</FileNumber>
+      <FileNumber>27</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -541,7 +553,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>27</FileNumber>
+      <FileNumber>28</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -553,7 +565,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>28</FileNumber>
+      <FileNumber>29</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -565,7 +577,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>29</FileNumber>
+      <FileNumber>30</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -577,7 +589,19 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>30</FileNumber>
+      <FileNumber>31</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_crc.c</PathWithFileName>
+      <FilenameWithoutPath>stm32f4xx_hal_crc.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>6</GroupNumber>
+      <FileNumber>32</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -589,7 +613,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>31</FileNumber>
+      <FileNumber>33</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -601,7 +625,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>32</FileNumber>
+      <FileNumber>34</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -613,7 +637,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>33</FileNumber>
+      <FileNumber>35</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -625,7 +649,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>34</FileNumber>
+      <FileNumber>36</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -645,7 +669,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>35</FileNumber>
+      <FileNumber>37</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -657,7 +681,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>36</FileNumber>
+      <FileNumber>38</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -677,7 +701,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>37</FileNumber>
+      <FileNumber>39</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -689,7 +713,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>38</FileNumber>
+      <FileNumber>40</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -701,7 +725,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>39</FileNumber>
+      <FileNumber>41</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -713,7 +737,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>40</FileNumber>
+      <FileNumber>42</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -725,7 +749,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>41</FileNumber>
+      <FileNumber>43</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -737,7 +761,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>42</FileNumber>
+      <FileNumber>44</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -757,7 +781,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>43</FileNumber>
+      <FileNumber>45</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -777,7 +801,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>44</FileNumber>
+      <FileNumber>46</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -789,7 +813,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>45</FileNumber>
+      <FileNumber>47</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -801,7 +825,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>46</FileNumber>
+      <FileNumber>48</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -813,7 +837,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>47</FileNumber>
+      <FileNumber>49</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -825,7 +849,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>48</FileNumber>
+      <FileNumber>50</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -837,7 +861,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>49</FileNumber>
+      <FileNumber>51</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -849,7 +873,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>50</FileNumber>
+      <FileNumber>52</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -861,7 +885,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>51</FileNumber>
+      <FileNumber>53</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -873,7 +897,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>52</FileNumber>
+      <FileNumber>54</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -885,7 +909,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>53</FileNumber>
+      <FileNumber>55</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -897,7 +921,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>54</FileNumber>
+      <FileNumber>56</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -909,7 +933,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>55</FileNumber>
+      <FileNumber>57</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -929,7 +953,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>56</FileNumber>
+      <FileNumber>58</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -949,7 +973,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>12</GroupNumber>
-      <FileNumber>57</FileNumber>
+      <FileNumber>59</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -961,7 +985,7 @@
     </File>
     <File>
       <GroupNumber>12</GroupNumber>
-      <FileNumber>58</FileNumber>
+      <FileNumber>60</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -981,7 +1005,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>13</GroupNumber>
-      <FileNumber>59</FileNumber>
+      <FileNumber>61</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -993,7 +1017,7 @@
     </File>
     <File>
       <GroupNumber>13</GroupNumber>
-      <FileNumber>60</FileNumber>
+      <FileNumber>62</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1013,7 +1037,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>14</GroupNumber>
-      <FileNumber>61</FileNumber>
+      <FileNumber>63</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1033,7 +1057,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>15</GroupNumber>
-      <FileNumber>62</FileNumber>
+      <FileNumber>64</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1045,7 +1069,7 @@
     </File>
     <File>
       <GroupNumber>15</GroupNumber>
-      <FileNumber>63</FileNumber>
+      <FileNumber>65</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1057,7 +1081,7 @@
     </File>
     <File>
       <GroupNumber>15</GroupNumber>
-      <FileNumber>64</FileNumber>
+      <FileNumber>66</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1069,7 +1093,7 @@
     </File>
     <File>
       <GroupNumber>15</GroupNumber>
-      <FileNumber>65</FileNumber>
+      <FileNumber>67</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1089,7 +1113,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>16</GroupNumber>
-      <FileNumber>66</FileNumber>
+      <FileNumber>68</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1109,7 +1133,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>17</GroupNumber>
-      <FileNumber>67</FileNumber>
+      <FileNumber>69</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1121,7 +1145,7 @@
     </File>
     <File>
       <GroupNumber>17</GroupNumber>
-      <FileNumber>68</FileNumber>
+      <FileNumber>70</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>

MDK-ARM/three-axis_stepper.uvprojx

@@ -1,7 +1,10 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" noNamespaceSchemaLocation="project_projx.xsd">
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<Project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_projx.xsd">
+
   <SchemaVersion>2.1</SchemaVersion>
+
   <Header>### uVision Project, (C) Keil Software</Header>
+
   <Targets>
     <Target>
       <TargetName>three-axis_stepper</TargetName>
@@ -16,28 +19,28 @@
           <PackID>Keil.STM32F4xx_DFP.3.1.1</PackID>
           <PackURL>https://www.keil.com/pack/</PackURL>
           <Cpu>IRAM(0x20000000-0x2001BFFF) IRAM2(0x2001C000-0x2001FFFF) IROM(0x8000000-0x80FFFFF) CLOCK(25000000) FPU2 CPUTYPE("Cortex-M4") TZ</Cpu>
-          <FlashUtilSpec />
-          <StartupFile />
-          <FlashDriverDll />
+          <FlashUtilSpec></FlashUtilSpec>
+          <StartupFile></StartupFile>
+          <FlashDriverDll></FlashDriverDll>
           <DeviceId>0</DeviceId>
-          <RegisterFile />
-          <MemoryEnv />
-          <Cmp />
-          <Asm />
-          <Linker />
-          <OHString />
-          <InfinionOptionDll />
-          <SLE66CMisc />
-          <SLE66AMisc />
-          <SLE66LinkerMisc />
+          <RegisterFile></RegisterFile>
+          <MemoryEnv></MemoryEnv>
+          <Cmp></Cmp>
+          <Asm></Asm>
+          <Linker></Linker>
+          <OHString></OHString>
+          <InfinionOptionDll></InfinionOptionDll>
+          <SLE66CMisc></SLE66CMisc>
+          <SLE66AMisc></SLE66AMisc>
+          <SLE66LinkerMisc></SLE66LinkerMisc>
           <SFDFile>$$Device:STM32F407ZGTx$CMSIS\SVD\STM32F407.svd</SFDFile>
           <bCustSvd>0</bCustSvd>
           <UseEnv>0</UseEnv>
-          <BinPath />
-          <IncludePath />
-          <LibPath />
-          <RegisterFilePath />
-          <DBRegisterFilePath />
+          <BinPath></BinPath>
+          <IncludePath></IncludePath>
+          <LibPath></LibPath>
+          <RegisterFilePath></RegisterFilePath>
+          <DBRegisterFilePath></DBRegisterFilePath>
           <TargetStatus>
             <Error>0</Error>
             <ExitCodeStop>0</ExitCodeStop>
@@ -52,15 +55,15 @@
           <CreateHexFile>1</CreateHexFile>
           <DebugInformation>1</DebugInformation>
           <BrowseInformation>1</BrowseInformation>
-          <ListingPath />
+          <ListingPath></ListingPath>
           <HexFormatSelection>1</HexFormatSelection>
           <Merge32K>0</Merge32K>
           <CreateBatchFile>0</CreateBatchFile>
           <BeforeCompile>
             <RunUserProg1>0</RunUserProg1>
             <RunUserProg2>0</RunUserProg2>
-            <UserProg1Name />
-            <UserProg2Name />
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
             <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
             <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
             <nStopU1X>0</nStopU1X>
@@ -69,8 +72,8 @@
           <BeforeMake>
             <RunUserProg1>0</RunUserProg1>
             <RunUserProg2>0</RunUserProg2>
-            <UserProg1Name />
-            <UserProg2Name />
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
             <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
             <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
             <nStopB1X>0</nStopB1X>
@@ -79,15 +82,15 @@
           <AfterMake>
             <RunUserProg1>0</RunUserProg1>
             <RunUserProg2>1</RunUserProg2>
-            <UserProg1Name />
-            <UserProg2Name />
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
             <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
             <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
           <SelectedForBatchBuild>1</SelectedForBatchBuild>
-          <SVCSIdString />
+          <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
           <UseCPPCompiler>0</UseCPPCompiler>
@@ -101,8 +104,8 @@
           <AssembleAssemblyFile>0</AssembleAssemblyFile>
           <PublicsOnly>0</PublicsOnly>
           <StopOnExitCode>3</StopOnExitCode>
-          <CustomArgument />
-          <IncludeLibraryModules />
+          <CustomArgument></CustomArgument>
+          <IncludeLibraryModules></IncludeLibraryModules>
           <ComprImg>0</ComprImg>
         </CommonProperty>
         <DllOption>
@@ -135,11 +138,11 @@
           </Flash1>
           <bUseTDR>1</bUseTDR>
           <Flash2>BIN\UL2V8M.DLL</Flash2>
-          <Flash3 />
-          <Flash4 />
-          <pFcarmOut />
-          <pFcarmGrp />
-          <pFcArmRoot />
+          <Flash3></Flash3>
+          <Flash4></Flash4>
+          <pFcarmOut></pFcarmOut>
+          <pFcarmGrp></pFcarmGrp>
+          <pFcArmRoot></pFcArmRoot>
           <FcArmLst>0</FcArmLst>
         </Utilities>
         <TargetArmAds>
@@ -172,7 +175,7 @@
             <RvctClst>0</RvctClst>
             <GenPPlst>0</GenPPlst>
             <AdsCpuType>"Cortex-M4"</AdsCpuType>
-            <RvctDeviceName />
+            <RvctDeviceName></RvctDeviceName>
             <mOS>0</mOS>
             <uocRom>0</uocRom>
             <uocRam>0</uocRam>
@@ -307,7 +310,7 @@
                 <Size>0x4000</Size>
               </OCR_RVCT10>
             </OnChipMemories>
-            <RvctStartVector />
+            <RvctStartVector></RvctStartVector>
           </ArmAdsMisc>
           <Cads>
             <interw>1</interw>
@@ -334,9 +337,9 @@
             <v6WtE>0</v6WtE>
             <v6Rtti>0</v6Rtti>
             <VariousControls>
-              <MiscControls />
+              <MiscControls></MiscControls>
               <Define>USE_HAL_DRIVER,STM32F407xx,NDEBUG</Define>
-              <Undefine />
+              <Undefine></Undefine>
               <IncludePath>../Core/Inc;../Common;../Interface;../Drivers/STM32F4xx_HAL_Driver/Inc;../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy;../Drivers/CMSIS/Device/ST/STM32F4xx/Include;../Drivers/CMSIS/Include;../MyDriver;../Application;../Middleware/CANopenNode;../Middleware/CANopenNode/301;../Middleware/CANopenNode/303;../Middleware/CANopenNode/304;../Middleware/CANopenNode/305;../Middleware/CANopenNode/309;../Middleware/CANopenNode/402;../Middleware/CANopenNode/CO_driver_STM32;../Middleware/CANopenNode/extra;../Middleware/CANopenNode/storage</IncludePath>
             </VariousControls>
           </Cads>
@@ -352,10 +355,10 @@
             <useXO>0</useXO>
             <ClangAsOpt>1</ClangAsOpt>
             <VariousControls>
-              <MiscControls />
-              <Define />
-              <Undefine />
-              <IncludePath />
+              <MiscControls></MiscControls>
+              <Define></Define>
+              <Undefine></Undefine>
+              <IncludePath></IncludePath>
             </VariousControls>
           </Aads>
           <LDads>
@@ -365,15 +368,15 @@
             <noStLib>0</noStLib>
             <RepFail>1</RepFail>
             <useFile>0</useFile>
-            <TextAddressRange />
-            <DataAddressRange />
-            <pXoBase />
-            <ScatterFile />
-            <IncludeLibs />
-            <IncludeLibsPath />
-            <Misc />
-            <LinkerInputFile />
-            <DisabledWarnings />
+            <TextAddressRange></TextAddressRange>
+            <DataAddressRange></DataAddressRange>
+            <pXoBase></pXoBase>
+            <ScatterFile></ScatterFile>
+            <IncludeLibs></IncludeLibs>
+            <IncludeLibsPath></IncludeLibsPath>
+            <Misc></Misc>
+            <LinkerInputFile></LinkerInputFile>
+            <DisabledWarnings></DisabledWarnings>
           </LDads>
         </TargetArmAds>
       </TargetOption>
@@ -418,6 +421,8 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -445,6 +450,12 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -466,6 +477,8 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -493,19 +506,13 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
                   </Cads>
-                  <Aads>
-                    <interw>2</interw>
-                    <Ropi>2</Ropi>
-                    <Rwpi>2</Rwpi>
-                    <thumb>2</thumb>
-                    <SplitLS>2</SplitLS>
-                    <SwStkChk>2</SwStkChk>
-                    <NoWarn>2</NoWarn>
-                    <uSurpInc>2</uSurpInc>
-                    <useXO>2</useXO>
-                    <ClangAsOpt>1</ClangAsOpt>
-                  </Aads>
                 </FileArmAds>
               </FileOption>
             </File>
@@ -526,6 +533,8 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -553,6 +562,12 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -574,6 +589,8 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -601,6 +618,12 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -682,6 +705,8 @@
               <AssembleAssemblyFile>2</AssembleAssemblyFile>
               <PublicsOnly>2</PublicsOnly>
               <StopOnExitCode>11</StopOnExitCode>
+              <CustomArgument></CustomArgument>
+              <IncludeLibraryModules></IncludeLibraryModules>
               <ComprImg>1</ComprImg>
             </CommonProperty>
             <GroupArmAds>
@@ -709,6 +734,12 @@
                 <v6Lto>2</v6Lto>
                 <v6WtE>2</v6WtE>
                 <v6Rtti>2</v6Rtti>
+                <VariousControls>
+                  <MiscControls></MiscControls>
+                  <Define></Define>
+                  <Undefine></Undefine>
+                  <IncludePath></IncludePath>
+                </VariousControls>
               </Cads>
               <Aads>
                 <interw>2</interw>
@@ -721,6 +752,12 @@
                 <uSurpInc>2</uSurpInc>
                 <useXO>2</useXO>
                 <ClangAsOpt>1</ClangAsOpt>
+                <VariousControls>
+                  <MiscControls></MiscControls>
+                  <Define></Define>
+                  <Undefine></Undefine>
+                  <IncludePath></IncludePath>
+                </VariousControls>
               </Aads>
             </GroupArmAds>
           </GroupOption>
@@ -742,6 +779,8 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -769,6 +808,12 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -790,6 +835,8 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -817,6 +864,12 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -838,6 +891,8 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -865,6 +920,12 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -886,6 +947,8 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -913,6 +976,12 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -934,6 +1003,8 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -961,6 +1032,12 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -982,6 +1059,8 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -1009,6 +1088,12 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -1030,6 +1115,8 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -1057,6 +1144,12 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -1078,6 +1171,8 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -1105,6 +1200,12 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -1126,6 +1227,8 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -1153,6 +1256,12 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -1174,6 +1283,8 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -1201,6 +1312,12 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -1222,6 +1339,8 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -1249,6 +1368,12 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -1270,6 +1395,8 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -1297,6 +1424,12 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -1318,6 +1451,8 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -1345,6 +1480,12 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -1366,6 +1507,8 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -1393,6 +1536,12 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -1414,6 +1563,8 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -1441,19 +1592,13 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
                   </Cads>
-                  <Aads>
-                    <interw>2</interw>
-                    <Ropi>2</Ropi>
-                    <Rwpi>2</Rwpi>
-                    <thumb>2</thumb>
-                    <SplitLS>2</SplitLS>
-                    <SwStkChk>2</SwStkChk>
-                    <NoWarn>2</NoWarn>
-                    <uSurpInc>2</uSurpInc>
-                    <useXO>2</useXO>
-                    <ClangAsOpt>1</ClangAsOpt>
-                  </Aads>
                 </FileArmAds>
               </FileOption>
             </File>
@@ -1474,6 +1619,8 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -1501,6 +1648,12 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -1522,6 +1675,8 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -1549,6 +1704,12 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -1570,6 +1731,8 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -1597,6 +1760,12 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -1618,6 +1787,8 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -1645,6 +1816,12 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -1666,6 +1843,8 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -1693,6 +1872,12 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -1930,18 +2115,20 @@
       </Groups>
     </Target>
   </Targets>
+
   <RTE>
-    <apis />
+    <apis/>
     <components>
       <component Cclass="CMSIS" Cgroup="CORE" Cvendor="ARM" Cversion="4.3.0" condition="CMSIS Core">
-        <package name="CMSIS" schemaVersion="1.3" url="http://www.keil.com/pack/" vendor="ARM" version="4.5.0" />
+        <package name="CMSIS" schemaVersion="1.3" url="http://www.keil.com/pack/" vendor="ARM" version="4.5.0"/>
         <targetInfos>
-          <targetInfo name="three-axis_stepper" />
+          <targetInfo name="three-axis_stepper"/>
         </targetInfos>
       </component>
     </components>
-    <files />
+    <files/>
   </RTE>
+
   <LayerInfo>
     <Layers>
       <Layer>
@@ -1950,5 +2137,5 @@
       </Layer>
     </Layers>
   </LayerInfo>
-</Project>
 
+</Project>

MDK-ARM/three-axis_stepper/three-axis_stepper.build_log.htm

@@ -22,14 +22,14 @@ Dialog DLL:      TCM.DLL V1.56.4.0
  
 <h2>Project:</h2>
 d:\01_Projects\printer\three-axis_stepper\MDK-ARM\three-axis_stepper.uvprojx
-Project File Date:  02/28/2026
+Project File Date:  03/02/2026
 
 <h2>Output:</h2>
 *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'C:\Users\hao\keil_v5\ARM\ARMCC\Bin'
 Build target 'three-axis_stepper'
-compiling app_param_store.c...
+compiling Int_TMC2209.c...
 linking...
-Program Size: Code=56780 RO-data=2616 RW-data=1492 ZI-data=18252  
+Program Size: Code=58168 RO-data=2616 RW-data=1492 ZI-data=18252  
 FromELF: creating hex file...
 "three-axis_stepper\three-axis_stepper.axf" - 0 Error(s), 0 Warning(s).