bug fix according to "#2"

.metadata/.log

@@ -570,3 +570,29 @@ Project's 'SVPWM' active one is 'SVPWM.ioc' file
 !MESSAGE Invalid Input: Must be project's active .ioc file.
 
 Project's 'SVPWM' active one is 'SVPWM.ioc' file
+!SESSION 2024-01-27 22:36:16.844 -----------------------------------------------
+eclipse.buildId=Version 1.13.2
+java.version=17.0.6
+java.vendor=Eclipse Adoptium
+BootLoader constants: OS=macosx, ARCH=x86_64, WS=cocoa, NL=en_US
+Framework arguments:  -keyring /Users/haotian/.eclipse_keyring
+Command-line arguments:  -os macosx -ws cocoa -arch x86_64 -keyring /Users/haotian/.eclipse_keyring
+
+!ENTRY com.st.stm32cube.ide.mcu.informationcenter 1 1 2024-01-27 22:36:36.963
+!MESSAGE Log4j2 initialized with config file /Users/haotian/Documents/DengFOC_on_STM32/.metadata/.log4j2.xml
+
+!ENTRY com.st.stm32cube.ide.mcu.ide 1 1 2024-01-27 22:36:43.873
+!MESSAGE Started RMI Server, listening on port 41337
+!SESSION 2024-01-27 22:45:29.234 -----------------------------------------------
+eclipse.buildId=Version 1.13.2
+java.version=17.0.6
+java.vendor=Eclipse Adoptium
+BootLoader constants: OS=macosx, ARCH=x86_64, WS=cocoa, NL=en_US
+Framework arguments:  -keyring /Users/haotian/.eclipse_keyring
+Command-line arguments:  -os macosx -ws cocoa -arch x86_64 -keyring /Users/haotian/.eclipse_keyring
+
+!ENTRY com.st.stm32cube.ide.mcu.informationcenter 1 1 2024-01-27 22:45:35.661
+!MESSAGE Log4j2 initialized with config file /Users/haotian/Documents/DengFOC_on_STM32/.metadata/.log4j2.xml
+
+!ENTRY com.st.stm32cube.ide.mcu.ide 1 1 2024-01-27 22:45:43.085
+!MESSAGE Started RMI Server, listening on port 41337

.metadata/.plugins/org.eclipse.cdt.core/.log

@@ -5,3 +5,5 @@
 *** SESSION Dec 25, 2023 14:04:42.693 ------------------------------------------
 *** SESSION Dec 25, 2023 14:55:44.644 ------------------------------------------
 *** SESSION Dec 25, 2023 22:09:23.911 ------------------------------------------
+*** SESSION Jan 27, 2024 22:36:37.501 ------------------------------------------
+*** SESSION Jan 27, 2024 22:45:36.174 ------------------------------------------

.metadata/.plugins/org.eclipse.cdt.ui/SVPWM.build.log

@@ -1,18 +1,17 @@
-22:25:00 **** Incremental Build of configuration Debug for project SVPWM ****
+22:46:59 **** Build of configuration Debug for project SVPWM ****
 make -j7 all 
-arm-none-eabi-gcc "../Core/Src/motor_control.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../USB_DEVICE/App -I../USB_DEVICE/Target -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/motor_control.d" -MT"Core/Src/motor_control.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/motor_control.o"
-../Core/Src/motor_control.c: In function 'setPhaseVoltage':
-../Core/Src/motor_control.c:90:14: warning: implicit declaration of function 'abs' [-Wimplicit-function-declaration]
-   90 |           Uq=abs(Uq);
-      |              ^~~
-../Core/Src/motor_control.c:9:1: note: include '<stdlib.h>' or provide a declaration of 'abs'
-    8 | #include "motor_control.h"
-  +++ |+#include <stdlib.h>
-    9 | 
-../Core/Src/motor_control.c:90:18: warning: 'abs' argument 1 promotes to 'double' where 'int' is expected in a call to built-in function declared without prototype [-Wbuiltin-declaration-mismatch]
-   90 |           Uq=abs(Uq);
-      |                  ^~
-<built-in>: note: built-in 'abs' declared here
+arm-none-eabi-gcc "../Core/Src/main.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../USB_DEVICE/App -I../USB_DEVICE/Target -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/main.d" -MT"Core/Src/main.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/main.o"
+arm-none-eabi-gcc "../Core/Src/pid.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../USB_DEVICE/App -I../USB_DEVICE/Target -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/pid.d" -MT"Core/Src/pid.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/pid.o"
+../Core/Src/main.c: In function 'main':
+../Core/Src/main.c:151:26: warning: passing argument 2 of 'calibrateOffsets' from incompatible pointer type [-Wincompatible-pointer-types]
+  151 |   calibrateOffsets(hadc1,&current_offset);
+      |                          ^~~~~~~~~~~~~~~
+      |                          |
+      |                          uint16_t (*)[3] {aka short unsigned int (*)[3]}
+In file included from ../Core/Src/main.c:15:
+../Core/Inc/current_sense.h:23:41: note: expected 'uint16_t *' {aka 'short unsigned int *'} but argument is of type 'uint16_t (*)[3]' {aka 'short unsigned int (*)[3]'}
+   23 | void calibrateOffsets(ADC_HandleTypeDef,uint16_t *);
+      |                                         ^~~~~~~~~~
 arm-none-eabi-gcc -o "SVPWM.elf" @"objects.list"   -mcpu=cortex-m3 -T"/Users/haotian/Documents/DengFOC_on_STM32/SVPWM/STM32F103C8TX_FLASH.ld" --specs=nosys.specs -Wl,-Map="SVPWM.map" -Wl,--gc-sections -static --specs=nano.specs -mfloat-abi=soft -mthumb -Wl,--start-group -lc -lm -Wl,--end-group
 Finished building target: SVPWM.elf
 
@@ -25,5 +24,5 @@ Finished building: default.size.stdout
 Finished building: SVPWM.list
 
 
-22:25:01 Build Finished. 0 errors, 2 warnings. (took 1s.280ms)
+22:47:00 Build Finished. 0 errors, 1 warnings. (took 1s.226ms)
 

.metadata/.plugins/org.eclipse.cdt.ui/global-build.log

@@ -1234,3 +1234,28 @@ Finished building: default.size.stdout
 
 Finished building: SVPWM.list
 
+22:46:59 **** Build of configuration Debug for project SVPWM ****
+make -j7 all 
+arm-none-eabi-gcc "../Core/Src/main.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../USB_DEVICE/App -I../USB_DEVICE/Target -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/main.d" -MT"Core/Src/main.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/main.o"
+arm-none-eabi-gcc "../Core/Src/pid.c" -mcpu=cortex-m3 -std=gnu11 -g3 -DDEBUG -DUSE_HAL_DRIVER -DSTM32F103xB -c -I../USB_DEVICE/App -I../USB_DEVICE/Target -I../Core/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc -I../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy -I../Middlewares/ST/STM32_USB_Device_Library/Core/Inc -I../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc -I../Drivers/CMSIS/Device/ST/STM32F1xx/Include -I../Drivers/CMSIS/Include -O0 -ffunction-sections -fdata-sections -Wall -fstack-usage -fcyclomatic-complexity -MMD -MP -MF"Core/Src/pid.d" -MT"Core/Src/pid.o" --specs=nano.specs -mfloat-abi=soft -mthumb -o "Core/Src/pid.o"
+../Core/Src/main.c: In function 'main':
+../Core/Src/main.c:151:26: warning: passing argument 2 of 'calibrateOffsets' from incompatible pointer type [-Wincompatible-pointer-types]
+  151 |   calibrateOffsets(hadc1,&current_offset);
+      |                          ^~~~~~~~~~~~~~~
+      |                          |
+      |                          uint16_t (*)[3] {aka short unsigned int (*)[3]}
+In file included from ../Core/Src/main.c:15:
+../Core/Inc/current_sense.h:23:41: note: expected 'uint16_t *' {aka 'short unsigned int *'} but argument is of type 'uint16_t (*)[3]' {aka 'short unsigned int (*)[3]'}
+   23 | void calibrateOffsets(ADC_HandleTypeDef,uint16_t *);
+      |                                         ^~~~~~~~~~
+arm-none-eabi-gcc -o "SVPWM.elf" @"objects.list"   -mcpu=cortex-m3 -T"/Users/haotian/Documents/DengFOC_on_STM32/SVPWM/STM32F103C8TX_FLASH.ld" --specs=nosys.specs -Wl,-Map="SVPWM.map" -Wl,--gc-sections -static --specs=nano.specs -mfloat-abi=soft -mthumb -Wl,--start-group -lc -lm -Wl,--end-group
+Finished building target: SVPWM.elf
+
+arm-none-eabi-size   SVPWM.elf 
+arm-none-eabi-objdump -h -S  SVPWM.elf  > "SVPWM.list"
+   text	   data	    bss	    dec	    hex	filename
+  57640	    580	   6848	  65068	   fe2c	SVPWM.elf
+Finished building: default.size.stdout
+
+Finished building: SVPWM.list
+