1

.vscode/settings.json

@@ -1,6 +0,0 @@
-{
-    "files.associations": {
-        "gd32f4xx_it.h": "c",
-        "3626motor.h": "c"
-    }
-}

APP/Device/Device_speed/speed_to_bldc.c

@@ -578,7 +578,7 @@ static void ptz_hori_pid_task()
       //根据电机转速计算云台转速
       g_ptz.hori_speed_hall_actual = g_ptz.hori_motor_speed_hall_actual / PTZ_HORI_RATIO;
       g_ptz.hori_speed_actual = g_ptz.hori_speed_hall_actual;
-#endif
+#endif      
      
       
       

BSP/Driver/3626motor/3626motor.c

@@ -1,29 +0,0 @@
-#include "3626motor.h"
-
-
-
-void motor3606_io_Init()
-{
-    rcu_periph_clock_enable(RCU_GPIOC);
-    rcu_periph_clock_enable(RCU_GPIOD);
-    rcu_periph_clock_enable(RCU_GPIOE);
-
-    gpio_mode_set(GPIOC, GPIO_MODE_OUTPUT, GPIO_PUPD_PULLUP, GPIO_PIN_9);
-    gpio_output_options_set(GPIOC, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_9);
-
-    gpio_mode_set(GPIOD, GPIO_MODE_OUTPUT, GPIO_PUPD_PULLUP, GPIO_PIN_10);
-    gpio_output_options_set(GPIOD, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_10);
-
-    gpio_mode_set(GPIOE, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_0);
-    gpio_mode_set(GPIOE, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_1);
-    gpio_output_options_set(GPIOE, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_0| GPIO_PIN_1);
-
-    rcu_periph_clock_enable(RCU_SYSCFG);
-    gpio_mode_set(GPIOE, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_10);
-
-
-
-    H_BRIDGE_POWER_ON;
-    // V_BRIDGE_POWER_ON;
-
-}

BSP/Driver/3626motor/3626motor.h

@@ -1,36 +0,0 @@
-#ifndef __3626_MOTOR_H_
-#define __3626_MOTOR_H_
-#include "gd32f4xx_it.h"
-#include "includes.h"
-
-/* 水平电机正向旋转 */
-#define H_Forward_Rotation              gpio_bit_reset(GPIOC, GPIO_PIN_9)
-/* 水平电机反向旋转 */
-#define H_Reverse_Rotation              gpio_bit_set(GPIOC, GPIO_PIN_9)
-
-/* 垂直电机正向旋转 */
-#define V_Forward_Rotation              gpio_bit_reset(GPIOD, GPIO_PIN_10)
-/* 垂直电机反向旋转 */
-#define V_Reverse_Rotation              gpio_bit_set(GPIOD, GPIO_PIN_10)
-
-
-/*   驱动器电源控制引脚  */
-#define H_BRIDGE_POWER_OFF              gpio_bit_reset(GPIOE,GPIO_PIN_0)
-#define H_BRIDGE_POWER_ON               gpio_bit_set(GPIOE,GPIO_PIN_0)
-
-#define V_BRIDGE_POWER_OFF              gpio_bit_reset(GPIOE,GPIO_PIN_1)
-#define V_BRIDGE_POWER_ON               gpio_bit_set(GPIOE,GPIO_PIN_1)
-
-
-void motor3606_io_Init();
-
-
-
-
-
-
-
-
-
-
-#endif

BSP/Driver/full_bridge/full_bridge.c

@@ -1,9 +1,9 @@
 ////////////////////////////////////////////////////////////////////////////////
 
-/// FULL_BRIDGE<EFBFBD>ļ<EFBFBD>
+/// FULL_BRIDGE文件
 ///
 ///
-/// <EFBFBD><EFBFBD><EFBFBD><EFBFBD>hall<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+/// 包含hall捕获、六步驱动等
 /// @file    full_bridge.c 
 /// @author  LH
 /// @date    2022-07-19
@@ -34,11 +34,11 @@ HALL_State V_Hall_state;
 
 
 /*
-********************************<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>***********************************/
+********************************六步换向法***********************************/
 static unsigned int h_pwm_duty;
 static unsigned int v_pwm_duty;
 /*!
-    \brief      none pwmռ<EFBFBD>ձ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    \brief      none pwm占空比设置
     \param[in]  none
     \param[out] none
     \retval     none
@@ -50,7 +50,7 @@ void h_pwm_duty_change(unsigned int pwm_duty)
   h_pwm_duty = pwm_duty;
   
 }
-//<EFBFBD><EFBFBD>ֱ
+//垂直
 void v_pwm_duty_change(unsigned int pwm_duty)
 {
   v_pwm_duty = pwm_duty;
@@ -59,7 +59,7 @@ void v_pwm_duty_change(unsigned int pwm_duty)
 
 
 /*!
-    \brief      hall״̬<EFBFBD><EFBFBD>ȡ
+    \brief      hall状态获取
     \param[in]  none
     \param[out] none
     \retval     none
@@ -94,7 +94,7 @@ unsigned char v_hall_senser_value_get()
 
 
 /*!
-    \brief      none U<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>V<EFBFBD><EFBFBD><EFBFBD>
+    \brief      none U相进，V相出
     \param[in]  none
     \param[out] none
     \retval     none
@@ -112,7 +112,7 @@ void h_uh_vl()
 
 
 /*!
-    \brief      none W<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>V<EFBFBD><EFBFBD><EFBFBD>
+    \brief      none W相进，V相出
     \param[in]  none
     \param[out] none
     \retval     none
@@ -130,7 +130,7 @@ void h_wh_vl()
 
 
 /*!
-    \brief      none W<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>U<EFBFBD><EFBFBD><EFBFBD>
+    \brief      none W相进，U相出
     \param[in]  none
     \param[out] none
     \retval     none
@@ -148,7 +148,7 @@ void h_wh_ul()
 
 
 /*!
-    \brief      none V<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>U<EFBFBD><EFBFBD><EFBFBD>
+    \brief      none V相进，U相出
     \param[in]  none
     \param[out] none
     \retval     none
@@ -166,7 +166,7 @@ void h_vh_ul()
 
 
 /*!
-    \brief      none V<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>W<EFBFBD><EFBFBD><EFBFBD>
+    \brief      none V相进，W相出
     \param[in]  none
     \param[out] none
     \retval     none
@@ -184,7 +184,7 @@ void h_vh_wl()
 
 
 /*!
-    \brief      none U<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>W<EFBFBD><EFBFBD><EFBFBD>
+    \brief      none U相进，W相出
     \param[in]  none
     \param[out] none
     \retval     none
@@ -201,7 +201,7 @@ void h_uh_wl()
 }
 
 /*!
-    \brief      none <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>򣬶<EFBFBD><EFBFBD><EFBFBD>120<EFBFBD><EFBFBD>hall<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת˳<EFBFBD><EFBFBD>Ϊ546231<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת˳<EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD>7-<EFBFBD><EFBFBD>ת˳<EFBFBD><EFBFBD>,,<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ټ<EFBFBD>1<EFBFBD><EFBFBD>
+    \brief      none 六步换向，对于120°hall，正转顺序为546231，反转顺序为：7-正转顺序,,（最终再减1）
     \param[in]  none
     \param[out] none
     \retval     none
@@ -218,7 +218,7 @@ pctr h_six_step_commu[6] =
 
 
 /*!
-    \brief      none U<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>V<EFBFBD><EFBFBD><EFBFBD>
+    \brief      none U相进，V相出
     \param[in]  none
     \param[out] none
     \retval     none
@@ -236,7 +236,7 @@ void v_uh_vl()
 
 
 /*!
-    \brief      none W<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>V<EFBFBD><EFBFBD><EFBFBD>
+    \brief      none W相进，V相出
     \param[in]  none
     \param[out] none
     \retval     none
@@ -254,7 +254,7 @@ void v_wh_vl()
 
 
 /*!
-    \brief      none W<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>U<EFBFBD><EFBFBD><EFBFBD>
+    \brief      none W相进，U相出
     \param[in]  none
     \param[out] none
     \retval     none
@@ -272,7 +272,7 @@ void v_wh_ul()
 
 
 /*!
-    \brief      none V<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>U<EFBFBD><EFBFBD><EFBFBD>
+    \brief      none V相进，U相出
     \param[in]  none
     \param[out] none
     \retval     none
@@ -290,7 +290,7 @@ void v_vh_ul()
 
 
 /*!
-    \brief      none V<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>W<EFBFBD><EFBFBD><EFBFBD>
+    \brief      none V相进，W相出
     \param[in]  none
     \param[out] none
     \retval     none
@@ -308,7 +308,7 @@ void v_vh_wl()
 
 
 /*!
-    \brief      none U<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>W<EFBFBD><EFBFBD><EFBFBD>
+    \brief      none U相进，W相出
     \param[in]  none
     \param[out] none
     \retval     none
@@ -325,7 +325,7 @@ void v_uh_wl()
 }
 
 /*!
-    \brief      none <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>򣬶<EFBFBD><EFBFBD><EFBFBD>120<EFBFBD><EFBFBD>hall<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת˳<EFBFBD><EFBFBD>Ϊ546231<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת˳<EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD>7-<EFBFBD><EFBFBD>ת˳<EFBFBD><EFBFBD>,,<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ټ<EFBFBD>1<EFBFBD><EFBFBD>
+    \brief      none 六步换向，对于120°hall，正转顺序为546231，反转顺序为：7-正转顺序,,（最终再减1）
     \param[in]  none
     \param[out] none
     \retval     none
@@ -345,33 +345,33 @@ void uvw()
 }
 
 /*!
-    \brief      none ˮƽֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ˢ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    \brief      none 水平直流无刷六步换向
     \param[in]  none
     \param[out] none
     \retval     none
     \note       LH  @2022.07.21
 */
-//<EFBFBD>ж<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+//中断里调用
 void h_bldc_six_step()
 {
 //  H_ADC2_Phase_current();
   if(g_ptz.hori_start_stop_set == PTZ_HORI_START)
-  {//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬
+  {//电机处于启动状态
     H_Hall_state.Hall_value = h_hall_senser_value_get();
     if((H_Hall_state.Hall_value <= 6)&&(H_Hall_state.Hall_value >= 1))
     {
 //      if(g_ptz.hori_direction_set == PTZ_HORI_DIR_RIGHT)
-//      {//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת- 1
+//      {//电机正转- 1
 //        h_six_step_commu[(7-H_Hall_state.Hall_value) -1]();
-//      }else{//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת
+//      }else{//电机反转
 //        h_six_step_commu[H_Hall_state.Hall_value -1]();
 //      }
-      //ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>̨ת<EFBFBD><EFBFBD>
+      //直齿云台转向
       if(g_ptz.hori_direction_set == PTZ_HORI_DIR_RIGHT)
-      {//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת- 1
+      {//电机正转- 1
         
         h_six_step_commu[H_Hall_state.Hall_value -1]();
-      }else{//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת
+      }else{//电机反转
         h_six_step_commu[(7-H_Hall_state.Hall_value) -1]();
         
       }
@@ -380,35 +380,35 @@ void h_bldc_six_step()
   }
 }
 /*!
-    \brief      none <EFBFBD><EFBFBD>ֱֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ˢ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    \brief      none 垂直直流无刷六步换向
     \param[in]  none
     \param[out] none
     \retval     none
     \note       LH  @2022.07.21
 */
-//<EFBFBD>ж<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+//中断里调用
 void v_bldc_six_step()
 {
 //  V_ADC0_Phase_current();
   if((g_ptz.vert_start_stop_set == PTZ_VERT_START) && (g_ptz.vert_pid.mode == PID_ADJUST_SPEED))
-  {//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬
+  {//电机处于启动状态
     V_Hall_state.Hall_value = v_hall_senser_value_get();
     if((V_Hall_state.Hall_value <= 6)&&(V_Hall_state.Hall_value >= 1))
     {
       if(g_ptz.vert_direction_set == PTZ_VERT_DIR_UP)
-      {//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת- 1
+      {//电机正转- 1
         v_six_step_commu[V_Hall_state.Hall_value -1]();
-      }else{//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת
+      }else{//电机反转
         v_six_step_commu[(7-V_Hall_state.Hall_value) -1]();
       }
       
       
 //      if(g_ptz.vert_pid.PidUT_float < 0)
-//      {//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>˼·<EFBFBD><EFBFBD>PID<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
+//      {//换种思路，PID计算为负数时，反向转动
 //        if(g_ptz.vert_direction_set == PTZ_VERT_DIR_UP)
-//        {//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת- 1
+//        {//电机正转- 1
 //          v_six_step_commu[(7-V_Hall_state.Hall_value) -1]();
-//        }else{//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת
+//        }else{//电机反转
 //          v_six_step_commu[V_Hall_state.Hall_value -1]();
 //        }
 //      }
@@ -422,7 +422,7 @@ void v_bldc_six_step()
 
 
 /*!
-    \brief      none <EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>٣<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    \brief      none 垂直方向调速，自锁
     \param[in]  none
     \param[out] none
     \retval     none
@@ -455,6 +455,7 @@ void hori_dir_speed_start(unsigned int verf)
   TIMER_CH0CV(TIMER2) = verf;//U199;//
   TIMER_CH1CV(TIMER2) = 0;//V
   TIMER_CH2CV(TIMER2) = 0;//W
+  
 }
 
 void hori_dir_speed_stop(void)
@@ -472,7 +473,7 @@ void hori_dir_speed_stop(void)
 
 
 /*!
-    \brief      none <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    \brief      none 电机启动
     \param[in]  none
     \param[out] none
     \retval     none
@@ -480,7 +481,7 @@ void hori_dir_speed_stop(void)
 */
 void h_start_motor()
 {
-  //<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>ʹ<EFBFBD><EFBFBD>
+  //定时器使能
 //  timer_enable(TIMER2);
   h_pwm_duty_change(0);
   TIMER_CH0CV(TIMER2) = 0 ;//
@@ -491,12 +492,12 @@ void h_start_motor()
   H_EN2_OFF;//V
   H_EN3_OFF;//W
   
-//  timer_interrupt_enable(TIMER2,TIMER_INT_UP);//<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>ʹ<EFBFBD><EFBFBD>
+//  timer_interrupt_enable(TIMER2,TIMER_INT_UP);//定时器更新中断使能
 }
 
 void v_start_motor()
 {
-  //<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>ʹ<EFBFBD><EFBFBD>
+  //定时器使能
 //  timer_enable(TIMER3);
   v_pwm_duty_change(0);
   TIMER_CH0CV(TIMER3) = 0 ;//
@@ -507,12 +508,12 @@ void v_start_motor()
   V_EN2_OFF;//V
   V_EN3_OFF;//W
   
-//  timer_interrupt_enable(TIMER3,TIMER_INT_UP);//<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>ʹ<EFBFBD><EFBFBD>
+//  timer_interrupt_enable(TIMER3,TIMER_INT_UP);//定时器更新中断使能
 }
 
 
 /*!
-    \brief      none <EFBFBD><EFBFBD><EFBFBD>ֹͣ
+    \brief      none 电机停止
     \param[in]  none
     \param[out] none
     \retval     none
@@ -521,7 +522,7 @@ void v_start_motor()
 void h_stop_motor()
 {
   h_pwm_duty_change(0);
-//  //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>͵<EFBFBD>ƽ
+//  //输出低电平
   TIMER_CH0CV(TIMER2) = 0;
   TIMER_CH1CV(TIMER2) = 0;
   TIMER_CH2CV(TIMER2) = 0;
@@ -529,15 +530,15 @@ void h_stop_motor()
   H_EN1_OFF;//U
   H_EN2_OFF;//V
   H_EN3_OFF;//W
-//  //<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD>ر<EFBFBD>
+//  //定时器关闭
 //  timer_disable(TIMER2);
-//  timer_interrupt_disable(TIMER2,TIMER_INT_UP);//<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>ʹ<EFBFBD><EFBFBD>
+//  timer_interrupt_disable(TIMER2,TIMER_INT_UP);//定时器更新中断使能
 }
 
 void v_stop_motor()
 {
   v_pwm_duty_change(0);
-//  //<EFBFBD><EFBFBD><EFBFBD><EFBFBD>͵<EFBFBD>ƽ
+//  //输出低电平
   TIMER_CH0CV(TIMER3) = 0;
   TIMER_CH1CV(TIMER3) = 0;
   TIMER_CH2CV(TIMER3) = 0;
@@ -545,9 +546,9 @@ void v_stop_motor()
   V_EN1_OFF;//U
   V_EN2_OFF;//V
   V_EN3_OFF;//W
-//  //<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD>ر<EFBFBD>
+//  //定时器关闭
 //  timer_disable(TIMER3);
-//  timer_interrupt_disable(TIMER3,TIMER_INT_UP);//<EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>ʹ<EFBFBD><EFBFBD>
+//  timer_interrupt_disable(TIMER3,TIMER_INT_UP);//定时器更新中断使能
 }
 
 
@@ -556,7 +557,7 @@ void v_stop_motor()
 
 
 /*!
-    \brief      hall<EFBFBD><EFBFBD><EFBFBD>ų<EFBFBD>ʼ<EFBFBD><EFBFBD>
+    \brief      hall引脚初始化
     \param[in]  none
     \param[out] none
     \retval     none
@@ -564,11 +565,11 @@ void v_stop_motor()
 */
 static void hall_io_init(void)
 {
-//  //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>
+//  //配置引脚时钟
 //  rcu_periph_clock_enable(RCU_GPIOE);
 //  
-//  //ˮƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>PE10-H1,PE11-H2,PE12-H3<48><33><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֱPE13-H1,PE14-H2,PE15-H3
+//  //水平——PE10-H1,PE11-H2,PE12-H3，，垂直PE13-H1,PE14-H2,PE15-H3
-//  //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ
+//  //设置引脚为输入模式
 //  gpio_mode_set(GPIOE, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_10);
 //  gpio_mode_set(GPIOE, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_11);
 //  gpio_mode_set(GPIOE, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_12);
@@ -590,7 +591,7 @@ static void hall_io_init(void)
 }
 
 /*!
-    \brief      none <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ų<EFBFBD>ʼ<EFBFBD><EFBFBD>
+    \brief      none 驱动桥引脚初始化
     \param[in]  none
     \param[out] none
     \retval     none
@@ -614,9 +615,9 @@ void bridge_io_init(void)
   gpio_mode_set(GPIOD, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_15);
   gpio_output_options_set(GPIOD, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_10| GPIO_PIN_11| GPIO_PIN_15);
   
-  //GD<EFBFBD>İ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Խ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>޸ġ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ŵ<EFBFBD>Դ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ţ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ķϵ縴λ<EFBFBD><EFBFBD>
+  //GD改版后驱动策略进行了修改————新增驱动桥电源控制引脚，便于驱动器的断电复位等
-  gpio_mode_set(GPIOE, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_0);//ˮƽ<EFBFBD><EFBFBD>Դ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+  gpio_mode_set(GPIOE, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_0);//水平电源控制引脚
-  gpio_mode_set(GPIOE, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_1);//<EFBFBD><EFBFBD>ֱ<EFBFBD><EFBFBD>Դ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+  gpio_mode_set(GPIOE, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_1);//垂直电源控制引脚
   gpio_output_options_set(GPIOE, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_0| GPIO_PIN_1);
   
   H_EN1_OFF;

PROJECT/OS2.ewd

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project>
-    <fileVersion>3</fileVersion>
+    <fileVersion>4</fileVersion>
     <configuration>
         <name>Debug</name>
         <toolchain>
@@ -11,7 +11,7 @@
             <name>C-SPY</name>
             <archiveVersion>2</archiveVersion>
             <data>
-                <version>32</version>
+                <version>33</version>
                 <wantNonLocal>1</wantNonLocal>
                 <debug>1</debug>
                 <option>
@@ -44,7 +44,7 @@
                 </option>
                 <option>
                     <name>MemFile</name>
-                    <state>$TOOLKIT_DIR$\CONFIG\debugger\GigaDevice\GD32F450xE.ddf</state>
+                    <state>$TOOLKIT_DIR$\config\debugger\GigaDevice\GD32F450xE.ddf</state>
                 </option>
                 <option>
                     <name>RunToEnable</name>
@@ -88,7 +88,7 @@
                 </option>
                 <option>
                     <name>OCLastSavedByProductVersion</name>
-                    <state>9.20.1.43525</state>
+                    <state>9.40.2.67586</state>
                 </option>
                 <option>
                     <name>UseFlashLoader</name>
@@ -112,7 +112,7 @@
                 </option>
                 <option>
                     <name>FlashLoadersV3</name>
-                    <state>$TOOLKIT_DIR$\config\flashloader\GigaDevice\FlashGD32F4xxxE.board</state>
+                    <state>$TOOLKIT_DIR$/config/flashloader/GigaDevice/FlashGD32F4xxxE.board</state>
                 </option>
                 <option>
                     <name>OCImagesSuppressCheck1</name>
@@ -222,6 +222,38 @@
                     <name>OCTpiuBaseOption</name>
                     <state>1</state>
                 </option>
+                <option>
+                    <name>OCOverrideSlave</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>OCOverrideSlavePath</name>
+                    <state></state>
+                </option>
+                <option>
+                    <name>C_32_64Device</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>AuthEnable</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>AuthSdmSelection</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>AuthSdmManifest</name>
+                    <state></state>
+                </option>
+                <option>
+                    <name>AuthSdmExplicitLib</name>
+                    <state></state>
+                </option>
+                <option>
+                    <name>AuthEnforce</name>
+                    <state>0</state>
+                </option>
             </data>
         </settings>
         <settings>
@@ -457,6 +489,39 @@
                 </option>
             </data>
         </settings>
+        <settings>
+            <name>E2_ID</name>
+            <archiveVersion>2</archiveVersion>
+            <data>
+                <version>0</version>
+                <wantNonLocal>1</wantNonLocal>
+                <debug>1</debug>
+                <option>
+                    <name>E2PowerFromProbe</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>CE2UsbSerialNo</name>
+                    <state></state>
+                </option>
+                <option>
+                    <name>CE2IdCodeEditB</name>
+                    <state>0xFFFF'FFFF'FFFF'FFFF'FFFF'FFFF'FFFF'FFFF</state>
+                </option>
+                <option>
+                    <name>CE2LogFileCheck</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CE2LogFileEditB</name>
+                    <state>$PROJ_DIR$\cspycomm.log</state>
+                </option>
+                <option>
+                    <name>OCDriverInfo</name>
+                    <state>1</state>
+                </option>
+            </data>
+        </settings>
         <settings>
             <name>GDBSERVER_ID</name>
             <archiveVersion>2</archiveVersion>
@@ -1072,7 +1137,7 @@
             <name>STLINK_ID</name>
             <archiveVersion>2</archiveVersion>
             <data>
-                <version>7</version>
+                <version>8</version>
                 <wantNonLocal>1</wantNonLocal>
                 <debug>1</debug>
                 <option>
@@ -1187,9 +1252,17 @@
                 </option>
                 <option>
                     <name>CCSTLinkProbeList</name>
-                    <version>1</version>
+                    <version>2</version>
                     <state>0</state>
                 </option>
+                <option>
+                    <name>CCSTLinkTargetVccEnable</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>CCSTLinkTargetVoltage</name>
+                    <state>###Uninitialized###</state>
+                </option>
             </data>
         </settings>
         <settings>
@@ -1417,7 +1490,7 @@
                 </option>
                 <option>
                     <name>CCXds100ResetList</name>
-                    <version>0</version>
+                    <version>1</version>
                     <state>0</state>
                 </option>
                 <option>
@@ -1506,17 +1579,25 @@
                 <loadFlag>0</loadFlag>
             </plugin>
             <plugin>
-                <file>$TOOLKIT_DIR$\plugins\rtos\SMX\smxAwareIarArm9.ewplugin</file>
+                <file>$TOOLKIT_DIR$\plugins\rtos\SMX\smxAwareIarArm9a.ewplugin</file>
-                <loadFlag>0</loadFlag>
-            </plugin>
-            <plugin>
-                <file>$TOOLKIT_DIR$\plugins\rtos\SMX\smxAwareIarArm9BE.ewplugin</file>
                 <loadFlag>0</loadFlag>
             </plugin>
             <plugin>
                 <file>$TOOLKIT_DIR$\plugins\rtos\ThreadX\ThreadXArmPlugin.ENU.ewplugin</file>
                 <loadFlag>0</loadFlag>
             </plugin>
+            <plugin>
+                <file>$TOOLKIT_DIR$\plugins\rtos\uCOS-II\uCOS-II-286-KA-CSpy.ewplugin</file>
+                <loadFlag>0</loadFlag>
+            </plugin>
+            <plugin>
+                <file>$TOOLKIT_DIR$\plugins\rtos\uCOS-II\uCOS-II-KA-CSpy.ewplugin</file>
+                <loadFlag>0</loadFlag>
+            </plugin>
+            <plugin>
+                <file>$TOOLKIT_DIR$\plugins\rtos\uCOS-III\uCOS-III-KA-CSpy.ewplugin</file>
+                <loadFlag>0</loadFlag>
+            </plugin>
             <plugin>
                 <file>$EW_DIR$\common\plugins\Orti\Orti.ENU.ewplugin</file>
                 <loadFlag>0</loadFlag>
@@ -1541,7 +1622,7 @@
             <name>C-SPY</name>
             <archiveVersion>2</archiveVersion>
             <data>
-                <version>32</version>
+                <version>33</version>
                 <wantNonLocal>1</wantNonLocal>
                 <debug>0</debug>
                 <option>
@@ -1752,6 +1833,38 @@
                     <name>OCTpiuBaseOption</name>
                     <state>1</state>
                 </option>
+                <option>
+                    <name>OCOverrideSlave</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>OCOverrideSlavePath</name>
+                    <state></state>
+                </option>
+                <option>
+                    <name>C_32_64Device</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>AuthEnable</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>AuthSdmSelection</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>AuthSdmManifest</name>
+                    <state></state>
+                </option>
+                <option>
+                    <name>AuthSdmExplicitLib</name>
+                    <state></state>
+                </option>
+                <option>
+                    <name>AuthEnforce</name>
+                    <state>0</state>
+                </option>
             </data>
         </settings>
         <settings>
@@ -1987,6 +2100,39 @@
                 </option>
             </data>
         </settings>
+        <settings>
+            <name>E2_ID</name>
+            <archiveVersion>2</archiveVersion>
+            <data>
+                <version>0</version>
+                <wantNonLocal>1</wantNonLocal>
+                <debug>0</debug>
+                <option>
+                    <name>E2PowerFromProbe</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>CE2UsbSerialNo</name>
+                    <state></state>
+                </option>
+                <option>
+                    <name>CE2IdCodeEditB</name>
+                    <state>0xFFFF'FFFF'FFFF'FFFF'FFFF'FFFF'FFFF'FFFF</state>
+                </option>
+                <option>
+                    <name>CE2LogFileCheck</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CE2LogFileEditB</name>
+                    <state>$PROJ_DIR$\cspycomm.log</state>
+                </option>
+                <option>
+                    <name>OCDriverInfo</name>
+                    <state>1</state>
+                </option>
+            </data>
+        </settings>
         <settings>
             <name>GDBSERVER_ID</name>
             <archiveVersion>2</archiveVersion>
@@ -2602,7 +2748,7 @@
             <name>STLINK_ID</name>
             <archiveVersion>2</archiveVersion>
             <data>
-                <version>7</version>
+                <version>8</version>
                 <wantNonLocal>1</wantNonLocal>
                 <debug>0</debug>
                 <option>
@@ -2717,9 +2863,17 @@
                 </option>
                 <option>
                     <name>CCSTLinkProbeList</name>
-                    <version>1</version>
+                    <version>2</version>
                     <state>0</state>
                 </option>
+                <option>
+                    <name>CCSTLinkTargetVccEnable</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>CCSTLinkTargetVoltage</name>
+                    <state>###Uninitialized###</state>
+                </option>
             </data>
         </settings>
         <settings>
@@ -2947,7 +3101,7 @@
                 </option>
                 <option>
                     <name>CCXds100ResetList</name>
-                    <version>0</version>
+                    <version>1</version>
                     <state>0</state>
                 </option>
                 <option>
@@ -3036,17 +3190,25 @@
                 <loadFlag>0</loadFlag>
             </plugin>
             <plugin>
-                <file>$TOOLKIT_DIR$\plugins\rtos\SMX\smxAwareIarArm9.ewplugin</file>
+                <file>$TOOLKIT_DIR$\plugins\rtos\SMX\smxAwareIarArm9a.ewplugin</file>
-                <loadFlag>0</loadFlag>
-            </plugin>
-            <plugin>
-                <file>$TOOLKIT_DIR$\plugins\rtos\SMX\smxAwareIarArm9BE.ewplugin</file>
                 <loadFlag>0</loadFlag>
             </plugin>
             <plugin>
                 <file>$TOOLKIT_DIR$\plugins\rtos\ThreadX\ThreadXArmPlugin.ENU.ewplugin</file>
                 <loadFlag>0</loadFlag>
             </plugin>
+            <plugin>
+                <file>$TOOLKIT_DIR$\plugins\rtos\uCOS-II\uCOS-II-286-KA-CSpy.ewplugin</file>
+                <loadFlag>0</loadFlag>
+            </plugin>
+            <plugin>
+                <file>$TOOLKIT_DIR$\plugins\rtos\uCOS-II\uCOS-II-KA-CSpy.ewplugin</file>
+                <loadFlag>0</loadFlag>
+            </plugin>
+            <plugin>
+                <file>$TOOLKIT_DIR$\plugins\rtos\uCOS-III\uCOS-III-KA-CSpy.ewplugin</file>
+                <loadFlag>0</loadFlag>
+            </plugin>
             <plugin>
                 <file>$EW_DIR$\common\plugins\Orti\Orti.ENU.ewplugin</file>
                 <loadFlag>0</loadFlag>

PROJECT/OS2.ewp

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project>
-    <fileVersion>3</fileVersion>
+    <fileVersion>4</fileVersion>
     <configuration>
         <name>Debug</name>
         <toolchain>
@@ -11,7 +11,7 @@
             <name>General</name>
             <archiveVersion>3</archiveVersion>
             <data>
-                <version>34</version>
+                <version>36</version>
                 <wantNonLocal>1</wantNonLocal>
                 <debug>1</debug>
                 <option>
@@ -62,7 +62,7 @@
                 </option>
                 <option>
                     <name>RTDescription</name>
-                    <state>Use the normal configuration of the C/C++ runtime library. No locale interface, C locale, no file descriptor support, no multibytes in printf and scanf, and no hex floats in strtod.</state>
+                    <state>A compact configuration of the C/C++14 runtime library. No locale interface, C locale, no file descriptor support, no multibytes in printf and scanf, and no hex floats in strtod.</state>
                 </option>
                 <option>
                     <name>OGProductVersion</name>
@@ -70,7 +70,7 @@
                 </option>
                 <option>
                     <name>OGLastSavedByProductVersion</name>
-                    <state>9.20.1.43525</state>
+                    <state>9.40.2.67586</state>
                 </option>
                 <option>
                     <name>OGChipSelectEditMenu</name>
@@ -98,7 +98,7 @@
                 </option>
                 <option>
                     <name>GBECoreSlave</name>
-                    <version>31</version>
+                    <version>33</version>
                     <state>39</state>
                 </option>
                 <option>
@@ -115,7 +115,7 @@
                 </option>
                 <option>
                     <name>CoreVariant</name>
-                    <version>31</version>
+                    <version>33</version>
                     <state>39</state>
                 </option>
                 <option>
@@ -138,7 +138,7 @@
                 </option>
                 <option>
                     <name>GFPUCoreSlave2</name>
-                    <version>31</version>
+                    <version>33</version>
                     <state>39</state>
                 </option>
                 <option>
@@ -203,13 +203,26 @@
                     <name>BuildFilesPath</name>
                     <state>Debug</state>
                 </option>
+                <option>
+                    <name>PointerAuthentication</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>FPU64</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>OG_32_64DeviceCoreSlave</name>
+                    <version>33</version>
+                    <state>39</state>
+                </option>
             </data>
         </settings>
         <settings>
             <name>ICCARM</name>
             <archiveVersion>2</archiveVersion>
             <data>
-                <version>37</version>
+                <version>38</version>
                 <wantNonLocal>1</wantNonLocal>
                 <debug>1</debug>
                 <option>
@@ -511,13 +524,21 @@
                     <name>CCStackProtection</name>
                     <state>0</state>
                 </option>
+                <option>
+                    <name>CCPointerAutentiction</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCBranchTargetIdentification</name>
+                    <state>0</state>
+                </option>
             </data>
         </settings>
         <settings>
             <name>AARM</name>
             <archiveVersion>2</archiveVersion>
             <data>
-                <version>11</version>
+                <version>12</version>
                 <wantNonLocal>1</wantNonLocal>
                 <debug>1</debug>
                 <option>
@@ -677,6 +698,10 @@
                     <name>PreInclude</name>
                     <state></state>
                 </option>
+                <option>
+                    <name>A_32_64Device</name>
+                    <state>1</state>
+                </option>
             </data>
         </settings>
         <settings>
@@ -719,19 +744,11 @@
                 <buildSequence>inputOutputBased</buildSequence>
             </data>
         </settings>
-        <settings>
-            <name>BUILDACTION</name>
-            <archiveVersion>1</archiveVersion>
-            <data>
-                <prebuild></prebuild>
-                <postbuild></postbuild>
-            </data>
-        </settings>
         <settings>
             <name>ILINK</name>
             <archiveVersion>0</archiveVersion>
             <data>
-                <version>26</version>
+                <version>27</version>
                 <wantNonLocal>1</wantNonLocal>
                 <debug>1</debug>
                 <option>
@@ -808,7 +825,7 @@
                 </option>
                 <option>
                     <name>IlinkIcfFile</name>
-                    <state>I:\HY-2.0\HY2.0\trunk\iar9_2\4.0 LW21-01B\Hyt2\BSP\IAR\GD32F450xE.icf</state>
+                    <state>D:\psx\Pan-Tilt\1.software\HY\4.0 LW21-01B\BSP\IAR\GD32F450xE_APP.icf</state>
                 </option>
                 <option>
                     <name>IlinkIcfFileSlave</name>
@@ -1091,6 +1108,14 @@
                     <name>IlinkWrapperFile</name>
                     <state></state>
                 </option>
+                <option>
+                    <name>IlinkProcessor</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>IlinkFpuProcessor</name>
+                    <state>1</state>
+                </option>
             </data>
         </settings>
         <settings>
@@ -1114,6 +1139,11 @@
                 </option>
             </data>
         </settings>
+        <settings>
+            <name>BUILDACTION</name>
+            <archiveVersion>2</archiveVersion>
+            <data />
+        </settings>
     </configuration>
     <configuration>
         <name>Release</name>
@@ -1125,7 +1155,7 @@
             <name>General</name>
             <archiveVersion>3</archiveVersion>
             <data>
-                <version>34</version>
+                <version>36</version>
                 <wantNonLocal>1</wantNonLocal>
                 <debug>0</debug>
                 <option>
@@ -1184,7 +1214,7 @@
                 </option>
                 <option>
                     <name>OGLastSavedByProductVersion</name>
-                    <state>9.20.1.43525</state>
+                    <state>9.40.2.67586</state>
                 </option>
                 <option>
                     <name>OGChipSelectEditMenu</name>
@@ -1212,7 +1242,7 @@
                 </option>
                 <option>
                     <name>GBECoreSlave</name>
-                    <version>31</version>
+                    <version>33</version>
                     <state>39</state>
                 </option>
                 <option>
@@ -1229,7 +1259,7 @@
                 </option>
                 <option>
                     <name>CoreVariant</name>
-                    <version>31</version>
+                    <version>33</version>
                     <state>39</state>
                 </option>
                 <option>
@@ -1252,7 +1282,7 @@
                 </option>
                 <option>
                     <name>GFPUCoreSlave2</name>
-                    <version>31</version>
+                    <version>33</version>
                     <state>39</state>
                 </option>
                 <option>
@@ -1317,13 +1347,26 @@
                     <name>BuildFilesPath</name>
                     <state>Release</state>
                 </option>
+                <option>
+                    <name>PointerAuthentication</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>FPU64</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>OG_32_64DeviceCoreSlave</name>
+                    <version>33</version>
+                    <state>39</state>
+                </option>
             </data>
         </settings>
         <settings>
             <name>ICCARM</name>
             <archiveVersion>2</archiveVersion>
             <data>
-                <version>37</version>
+                <version>38</version>
                 <wantNonLocal>1</wantNonLocal>
                 <debug>0</debug>
                 <option>
@@ -1610,13 +1653,21 @@
                     <name>CCStackProtection</name>
                     <state>0</state>
                 </option>
+                <option>
+                    <name>CCPointerAutentiction</name>
+                    <state>0</state>
+                </option>
+                <option>
+                    <name>CCBranchTargetIdentification</name>
+                    <state>0</state>
+                </option>
             </data>
         </settings>
         <settings>
             <name>AARM</name>
             <archiveVersion>2</archiveVersion>
             <data>
-                <version>11</version>
+                <version>12</version>
                 <wantNonLocal>1</wantNonLocal>
                 <debug>0</debug>
                 <option>
@@ -1776,6 +1827,10 @@
                     <name>PreInclude</name>
                     <state></state>
                 </option>
+                <option>
+                    <name>A_32_64Device</name>
+                    <state>1</state>
+                </option>
             </data>
         </settings>
         <settings>
@@ -1818,19 +1873,11 @@
                 <buildSequence>inputOutputBased</buildSequence>
             </data>
         </settings>
-        <settings>
-            <name>BUILDACTION</name>
-            <archiveVersion>1</archiveVersion>
-            <data>
-                <prebuild></prebuild>
-                <postbuild></postbuild>
-            </data>
-        </settings>
         <settings>
             <name>ILINK</name>
             <archiveVersion>0</archiveVersion>
             <data>
-                <version>26</version>
+                <version>27</version>
                 <wantNonLocal>1</wantNonLocal>
                 <debug>0</debug>
                 <option>
@@ -2190,6 +2237,14 @@
                     <name>IlinkWrapperFile</name>
                     <state></state>
                 </option>
+                <option>
+                    <name>IlinkProcessor</name>
+                    <state>1</state>
+                </option>
+                <option>
+                    <name>IlinkFpuProcessor</name>
+                    <state>1</state>
+                </option>
             </data>
         </settings>
         <settings>
@@ -2213,6 +2268,11 @@
                 </option>
             </data>
         </settings>
+        <settings>
+            <name>BUILDACTION</name>
+            <archiveVersion>2</archiveVersion>
+            <data />
+        </settings>
     </configuration>
     <group>
         <name>APP</name>
@@ -2375,7 +2435,7 @@
                     <settings>
                         <name>ICCARM</name>
                         <data>
-                            <version>37</version>
+                            <version>38</version>
                             <wantNonLocal>0</wantNonLocal>
                             <debug>1</debug>
                             <option>
@@ -2669,6 +2729,14 @@
                                 <name>CCStackProtection</name>
                                 <state>0</state>
                             </option>
+                            <option>
+                                <name>CCPointerAutentiction</name>
+                                <state>0</state>
+                            </option>
+                            <option>
+                                <name>CCBranchTargetIdentification</name>
+                                <state>0</state>
+                            </option>
                         </data>
                     </settings>
                 </configuration>
@@ -2900,7 +2968,7 @@
                 <settings>
                     <name>ICCARM</name>
                     <data>
-                        <version>37</version>
+                        <version>38</version>
                         <wantNonLocal>0</wantNonLocal>
                         <debug>1</debug>
                         <option>
@@ -3192,6 +3260,14 @@
                             <name>CCStackProtection</name>
                             <state>0</state>
                         </option>
+                        <option>
+                            <name>CCPointerAutentiction</name>
+                            <state>0</state>
+                        </option>
+                        <option>
+                            <name>CCBranchTargetIdentification</name>
+                            <state>0</state>
+                        </option>
                     </data>
                 </settings>
             </configuration>