第二路蓝牙修改为ENCODE

Core/Inc/main.h

@@ -23,7 +23,8 @@
 #define __MAIN_H
 
 #ifdef __cplusplus
-extern "C" {
+extern "C"
+{
 #endif
 
 /* Includes ------------------------------------------------------------------*/
@@ -89,6 +90,8 @@ extern "C" {
     void Error_Handler(void);
 
 /* USER CODE BEGIN EFP */
+#define ENCODE_TIM8 1
+#define BLE2_USART6 0
 
 /* USER CODE END EFP */
 
@@ -120,6 +123,8 @@ void Error_Handler(void);
 #define LED2_G_GPIO_Port GPIOE
 #define LED2_Y_Pin GPIO_PIN_14
 #define LED2_Y_GPIO_Port GPIOE
+#define ENCODE_Z_Pin GPIO_PIN_14
+#define ENCODE_Z_GPIO_Port GPIOB
 #define BLE2_TX_Pin GPIO_PIN_8
 #define BLE2_TX_GPIO_Port GPIOD
 #define BLE2_RX_Pin GPIO_PIN_9
@@ -134,10 +139,6 @@ void Error_Handler(void);
 #define DO_CH2_GPIO_Port GPIOD
 #define DO_EN_Pin GPIO_PIN_15
 #define DO_EN_GPIO_Port GPIOD
-#define BLE1_TX_Pin GPIO_PIN_6
-#define BLE1_TX_GPIO_Port GPIOC
-#define BLE1_RX_Pin GPIO_PIN_7
-#define BLE1_RX_GPIO_Port GPIOC
 #define DI_CH1_Pin GPIO_PIN_8
 #define DI_CH1_GPIO_Port GPIOC
 #define DI_CH2_Pin GPIO_PIN_9

Core/Inc/stm32f4xx_it.h

@@ -69,12 +69,9 @@ void USART3_IRQHandler(void);
 void DMA1_Stream7_IRQHandler(void);
 void UART4_IRQHandler(void);
 void UART5_IRQHandler(void);
-void DMA2_Stream1_IRQHandler(void);
 void DMA2_Stream2_IRQHandler(void);
 void ETH_IRQHandler(void);
-void DMA2_Stream6_IRQHandler(void);
 void DMA2_Stream7_IRQHandler(void);
-void USART6_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
 /* USER CODE END EFP */

Core/Inc/tim.h

@@ -22,7 +22,8 @@
 #define __TIM_H__
 
 #ifdef __cplusplus
-extern "C" {
+extern "C"
+{
 #endif
 
 /* Includes ------------------------------------------------------------------*/
@@ -38,6 +39,8 @@ extern TIM_HandleTypeDef htim2;
 
     extern TIM_HandleTypeDef htim3;
 
+    extern TIM_HandleTypeDef htim8;
+
 /* USER CODE BEGIN Private defines */
 #define IS_TIM_IT_FLAG(TIMx) (LL_TIM_IsActiveFlag_UPDATE(TIMx) == 1)
 
@@ -89,6 +92,7 @@ extern TIM_HandleTypeDef htim3;
     void MX_TIM1_Init(void);
     void MX_TIM2_Init(void);
     void MX_TIM3_Init(void);
+    void MX_TIM8_Init(void);
 
     void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
 
@@ -101,4 +105,3 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
 #endif
 
 #endif /* __TIM_H__ */
-

Core/Inc/usart.h

@@ -42,8 +42,6 @@ extern UART_HandleTypeDef huart2;
 
 extern UART_HandleTypeDef huart3;
 
-extern UART_HandleTypeDef huart6;
-
 /* USER CODE BEGIN Private defines */
 
     // #define BUFFER_SIZE 100
@@ -58,10 +56,10 @@ void MX_UART5_Init(void);
 void MX_USART1_UART_Init(void);
 void MX_USART2_UART_Init(void);
 void MX_USART3_UART_Init(void);
-void MX_USART6_UART_Init(void);
 
 /* USER CODE BEGIN Prototypes */
-    void dma_usart_send(UART_HandleTypeDef *huart, uint8_t *buf, uint8_t len); // 串å<C2B2>£å<C2A3>‘é?<3F>å°<C3A5>è£?
+    void dma_usart_send(UART_HandleTypeDef *huart, uint8_t *buf, uint8_t len); // DMA??
+
 /* USER CODE END Prototypes */
 
 #ifdef __cplusplus

Core/Src/dma.c

@@ -40,8 +40,8 @@ void MX_DMA_Init(void)
 {
 
   /* DMA controller clock enable */
-  __HAL_RCC_DMA2_CLK_ENABLE();
   __HAL_RCC_DMA1_CLK_ENABLE();
+  __HAL_RCC_DMA2_CLK_ENABLE();
 
   /* DMA interrupt init */
   /* DMA1_Stream0_IRQn interrupt configuration */
@@ -68,15 +68,9 @@ void MX_DMA_Init(void)
   /* DMA1_Stream7_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(DMA1_Stream7_IRQn, 5, 0);
   HAL_NVIC_EnableIRQ(DMA1_Stream7_IRQn);
-  /* DMA2_Stream1_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(DMA2_Stream1_IRQn, 5, 0);
-  HAL_NVIC_EnableIRQ(DMA2_Stream1_IRQn);
   /* DMA2_Stream2_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 5, 0);
   HAL_NVIC_EnableIRQ(DMA2_Stream2_IRQn);
-  /* DMA2_Stream6_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(DMA2_Stream6_IRQn, 5, 0);
-  HAL_NVIC_EnableIRQ(DMA2_Stream6_IRQn);
   /* DMA2_Stream7_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(DMA2_Stream7_IRQn, 5, 0);
   HAL_NVIC_EnableIRQ(DMA2_Stream7_IRQn);

Core/Src/freertos.c

@@ -103,8 +103,7 @@ void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer, StackTyp
   * @param  None
   * @retval None
   */
-void MX_FREERTOS_Init(void)
+void MX_FREERTOS_Init(void) {
-{
   /* USER CODE BEGIN Init */
 
   /* USER CODE END Init */
@@ -153,6 +152,7 @@ void MX_FREERTOS_Init(void)
   /* USER CODE BEGIN RTOS_THREADS */
   /* add threads, ... */
   /* USER CODE END RTOS_THREADS */
+
 }
 
 /* USER CODE BEGIN Header_start_tcp_task */
@@ -191,13 +191,12 @@ void start_led_toggle_task(void const *argument)
   /* Infinite loop */
   for (;;)
   {
-    HAL_GPIO_TogglePin(LED2_G_GPIO_Port, LED2_G_Pin);
+    HAL_GPIO_TogglePin(LED3_G_GPIO_Port, LED3_G_Pin);
-    // 旋转编码器确认按键状态，并切换<E58887>?<3F>道和确认电流<E794B5>?<3F>输<EFBFBD>?
+    // 旋转编码器确认按键状态，并切换<E58887>?<3F>道和确认电流<E794B5>?<3F>输<EFBFBD><EFBFBD>???
     // if (uart_lcd_state.page_num == 0)
     {
       if (ec11_data.confirm_key_flag == 0)
       {
-        // HAL_GPIO_TogglePin(LED2_Y_GPIO_Port, LED2_Y_Pin);
       }
       else if (ec11_data.confirm_key_flag == 1) // 确认按键确认电流输出
       {
@@ -267,7 +266,7 @@ void start_dac_task(void const *argument)
   /* Infinite loop */
   for (;;)
   {
-    osThreadSuspend(adc_taskHandle); // 暂停ADC任务，防止DAC采集时产生干<E7949F>?,因为ADC和DAC采用的是同一路SPI，但是时序不<E5BA8F>?
+    osThreadSuspend(adc_taskHandle); // 暂停ADC任务，防止DAC采集时产生干<E7949F><EFBFBD>???,因为ADC和DAC采用的是同一路SPI，但是时序不<E5BA8F><EFBFBD>???
     dac161s997_output(DAC161S997_1, current_buff[0]);
     dac161s997_output(DAC161S997_2, current_buff[1]);
     osThreadResume(adc_taskHandle);
@@ -290,7 +289,7 @@ void start_adc_task(void const *argument)
   /* Infinite loop */
   for (;;)
   {
-    osThreadSuspend(dac_taskHandle); // 暂停DAC任务，防止ADC采集时产生干<E7949F>?,因为ADC和DAC采用的是同一路SPI，但是时序不<E5BA8F>?
+    osThreadSuspend(dac_taskHandle); // 暂停DAC任务，防止ADC采集时产生干<E7949F><EFBFBD>???,因为ADC和DAC采用的是同一路SPI，但是时序不<E5BA8F><EFBFBD>???
     uint8_t ch = 0;
     for (ch = STOP_NC_ADC; ch < AD7124_CHANNEL_EN_MAX; ch++)
     {
@@ -331,7 +330,7 @@ void start_gpio_di_do_task(void const *argument)
     uint8_t tx_data_len = 7 + DI_MAX;
     uint8_t tx_data[32] = {0};
     tx_data[0] = FRAME_HEAD;     // 甯уご
-    tx_data[1] = COM_OK;         // 鐘讹<E99098>??锟界<E9949F>?
+    tx_data[1] = COM_OK;         // 鐘讹<E99098><EFBFBD>????锟界<E9949F><EFBFBD>???
     tx_data[2] = DEVICE_NUM;     // 璁惧锟??
     tx_data[3] = SEND_STATE_CMD; // 鍛戒护锟??
     tx_data[4] = DI_MAX;         // 鏁版嵁闀垮害
@@ -375,7 +374,7 @@ void start_ec11_task(void const *argument)
   for (;;)
   {
 
-    // 旋转编码器调节电流<E794B5>?<3F>画面显<E99DA2>?
+    // 旋转编码器调节电流<E794B5>?<3F>画面显<E99DA2><EFBFBD>???
     if (uart_lcd_state.page_num == 0)
     {
       ec11_data.direction = __HAL_TIM_IS_TIM_COUNTING_DOWN(&htim1);

Core/Src/gpio.c

@@ -105,6 +105,12 @@ void MX_GPIO_Init(void)
   GPIO_InitStruct.Pull = GPIO_PULLUP;
   HAL_GPIO_Init(EC11_KEY_GPIO_Port, &GPIO_InitStruct);
 
+  /*Configure GPIO pin : PtPin */
+  GPIO_InitStruct.Pin = ENCODE_Z_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
+  GPIO_InitStruct.Pull = GPIO_PULLUP;
+  HAL_GPIO_Init(ENCODE_Z_GPIO_Port, &GPIO_InitStruct);
+
   /*Configure GPIO pins : PDPin PDPin PDPin PDPin */
   GPIO_InitStruct.Pin = DO_CH4_Pin|DO_CH3_Pin|DO_CH1_Pin|DO_CH2_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;

Core/Src/main.c

@@ -117,7 +117,6 @@ int main(void)
   MX_DMA_Init();
   MX_TIM3_Init();
   MX_SPI1_Init();
-  MX_USART6_UART_Init();
   MX_UART4_Init();
   MX_TIM2_Init();
   MX_UART5_Init();
@@ -125,19 +124,26 @@ int main(void)
   MX_USART3_UART_Init();
   MX_TIM1_Init();
   MX_USART1_UART_Init();
+  MX_TIM8_Init();
   /* USER CODE BEGIN 2 */
-  //  串口DMA接收中断
+
+  /*串å<C2B2>£DMA接收中断*/
   // start
   HAL_UARTEx_ReceiveToIdle_DMA(&huart4, lcd_uart4.rx_data_temp, ARRAY_LEN(lcd_uart4.rx_data_temp));
+#if (BLE2_USART6 == 1)
   HAL_UARTEx_ReceiveToIdle_DMA(&huart6, ble1_uart6.rx_data_temp, ARRAY_LEN(ble1_uart6.rx_data_temp));
+#endif
   HAL_UARTEx_ReceiveToIdle_DMA(&huart3, ble2_uart3.rx_data_temp, ARRAY_LEN(ble2_uart3.rx_data_temp));
   HAL_UARTEx_ReceiveToIdle_DMA(&huart5, hart1_uart5.rx_data_temp, ARRAY_LEN(hart1_uart5.rx_data_temp));
   HAL_UARTEx_ReceiveToIdle_DMA(&huart2, hart2_uart2.rx_data_temp, ARRAY_LEN(hart2_uart2.rx_data_temp));
   HAL_UARTEx_ReceiveToIdle_DMA(&huart1, usb_uart1.rx_data_temp, ARRAY_LEN(usb_uart1.rx_data_temp));
   // end
-  hart_ht1200m_reset();                           // HART模块复位
+  hart_ht1200m_reset();                           // HART模å<C2A1>—å¤<C3A5>ä½<C3A4>
-  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);       // HART时钟信号
+  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);       // HART时钟信å<C2A1>·
-  HAL_TIM_Encoder_Start(&htim1, TIM_CHANNEL_ALL); // 　旋转编码器信号采集
+  HAL_TIM_Encoder_Start(&htim1, TIM_CHANNEL_ALL); // 旋转编ç <C3A7>器信å<C2A1>?
+#if (ENCODE_TIM8 == 1)
+  HAL_TIM_Encoder_Start(&htim8, TIM_CHANNEL_ALL); // ç¼–ç <C3A7>å™?
+#endif
   /* USER CODE END 2 */
 
   /* Call init function for freertos objects (in freertos.c) */
@@ -216,7 +222,7 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
     // ip地址更新
     IP4_ADDR(&ipaddr, usb_uart1.rx_data_temp[0], usb_uart1.rx_data_temp[1], usb_uart1.rx_data_temp[2], usb_uart1.rx_data_temp[3]);
     gnetif.ip_addr = ipaddr;
-    if (flash_write_data(FLASH_USER_START_ADDR, usb_uart1.rx_data_temp, Size) == HAL_OK) // 写入flash成功，更新ip地址显示
+    if (flash_write_data(FLASH_USER_START_ADDR, usb_uart1.rx_data_temp, Size) == HAL_OK) // 写入flashæˆ<EFBFBD>功，更新ip地å<EFBFBD>€æ˜¾ç¤º
     {
       uart_lcd_draw_ipaddr();
     }
@@ -230,6 +236,7 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
     HAL_UARTEx_ReceiveToIdle_DMA(&huart4, lcd_uart4.rx_data_temp, ARRAY_LEN(lcd_uart4.rx_data_temp));
     // dma_usart_send(&huart4, lcd_uart4.rx_data_temp, lcd_uart4.rx_num);
   }
+#if (BLE2_USART6 == 1)
   if (huart == &huart6)
   {
     __HAL_UNLOCK(huart);
@@ -242,6 +249,7 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
     }
     HAL_UARTEx_ReceiveToIdle_DMA(&huart6, ble1_uart6.rx_data_temp, ARRAY_LEN(ble1_uart6.rx_data_temp));
   }
+#endif
   if (huart == &huart3)
   {
     __HAL_UNLOCK(huart);

Core/Src/stm32f4xx_it.c

@@ -74,14 +74,11 @@ extern DMA_HandleTypeDef hdma_usart2_rx;
 extern DMA_HandleTypeDef hdma_usart2_tx;
 extern DMA_HandleTypeDef hdma_usart3_rx;
 extern DMA_HandleTypeDef hdma_usart3_tx;
-extern DMA_HandleTypeDef hdma_usart6_rx;
-extern DMA_HandleTypeDef hdma_usart6_tx;
 extern UART_HandleTypeDef huart4;
 extern UART_HandleTypeDef huart5;
 extern UART_HandleTypeDef huart1;
 extern UART_HandleTypeDef huart2;
 extern UART_HandleTypeDef huart3;
-extern UART_HandleTypeDef huart6;
 extern TIM_HandleTypeDef htim4;
 
 /* USER CODE BEGIN EV */
@@ -441,20 +438,6 @@ void UART5_IRQHandler(void)
   /* USER CODE END UART5_IRQn 1 */
 }
 
-/**
-  * @brief This function handles DMA2 stream1 global interrupt.
-  */
-void DMA2_Stream1_IRQHandler(void)
-{
-  /* USER CODE BEGIN DMA2_Stream1_IRQn 0 */
-
-  /* USER CODE END DMA2_Stream1_IRQn 0 */
-  HAL_DMA_IRQHandler(&hdma_usart6_rx);
-  /* USER CODE BEGIN DMA2_Stream1_IRQn 1 */
-
-  /* USER CODE END DMA2_Stream1_IRQn 1 */
-}
-
 /**
   * @brief This function handles DMA2 stream2 global interrupt.
   */
@@ -483,20 +466,6 @@ void ETH_IRQHandler(void)
   /* USER CODE END ETH_IRQn 1 */
 }
 
-/**
-  * @brief This function handles DMA2 stream6 global interrupt.
-  */
-void DMA2_Stream6_IRQHandler(void)
-{
-  /* USER CODE BEGIN DMA2_Stream6_IRQn 0 */
-
-  /* USER CODE END DMA2_Stream6_IRQn 0 */
-  HAL_DMA_IRQHandler(&hdma_usart6_tx);
-  /* USER CODE BEGIN DMA2_Stream6_IRQn 1 */
-
-  /* USER CODE END DMA2_Stream6_IRQn 1 */
-}
-
 /**
   * @brief This function handles DMA2 stream7 global interrupt.
   */
@@ -511,20 +480,6 @@ void DMA2_Stream7_IRQHandler(void)
   /* USER CODE END DMA2_Stream7_IRQn 1 */
 }
 
-/**
-  * @brief This function handles USART6 global interrupt.
-  */
-void USART6_IRQHandler(void)
-{
-  /* USER CODE BEGIN USART6_IRQn 0 */
-
-  /* USER CODE END USART6_IRQn 0 */
-  HAL_UART_IRQHandler(&huart6);
-  /* USER CODE BEGIN USART6_IRQn 1 */
-
-  /* USER CODE END USART6_IRQn 1 */
-}
-
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */

Core/Src/tim.c

@@ -27,6 +27,7 @@
 TIM_HandleTypeDef htim1;
 TIM_HandleTypeDef htim2;
 TIM_HandleTypeDef htim3;
+TIM_HandleTypeDef htim8;
 
 /* TIM1 init function */
 void MX_TIM1_Init(void)
@@ -180,6 +181,51 @@ void MX_TIM3_Init(void)
   /* USER CODE END TIM3_Init 2 */
   HAL_TIM_MspPostInit(&htim3);
 
+}
+/* TIM8 init function */
+void MX_TIM8_Init(void)
+{
+
+  /* USER CODE BEGIN TIM8_Init 0 */
+
+  /* USER CODE END TIM8_Init 0 */
+
+  TIM_Encoder_InitTypeDef sConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+
+  /* USER CODE BEGIN TIM8_Init 1 */
+
+  /* USER CODE END TIM8_Init 1 */
+  htim8.Instance = TIM8;
+  htim8.Init.Prescaler = 2;
+  htim8.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim8.Init.Period = 65535;
+  htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim8.Init.RepetitionCounter = 0;
+  htim8.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
+  sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
+  sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
+  sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
+  sConfig.IC1Filter = 0;
+  sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
+  sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
+  sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
+  sConfig.IC2Filter = 0;
+  if (HAL_TIM_Encoder_Init(&htim8, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim8, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM8_Init 2 */
+
+  /* USER CODE END TIM8_Init 2 */
+
 }
 
 void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle)
@@ -210,6 +256,30 @@ void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle)
 
   /* USER CODE END TIM1_MspInit 1 */
   }
+  else if(tim_encoderHandle->Instance==TIM8)
+  {
+  /* USER CODE BEGIN TIM8_MspInit 0 */
+
+  /* USER CODE END TIM8_MspInit 0 */
+    /* TIM8 clock enable */
+    __HAL_RCC_TIM8_CLK_ENABLE();
+
+    __HAL_RCC_GPIOC_CLK_ENABLE();
+    /**TIM8 GPIO Configuration
+    PC6     ------> TIM8_CH1
+    PC7     ------> TIM8_CH2
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
+    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN TIM8_MspInit 1 */
+
+  /* USER CODE END TIM8_MspInit 1 */
+  }
 }
 
 void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
@@ -307,6 +377,24 @@ void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* tim_encoderHandle)
 
   /* USER CODE END TIM1_MspDeInit 1 */
   }
+  else if(tim_encoderHandle->Instance==TIM8)
+  {
+  /* USER CODE BEGIN TIM8_MspDeInit 0 */
+
+  /* USER CODE END TIM8_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM8_CLK_DISABLE();
+
+    /**TIM8 GPIO Configuration
+    PC6     ------> TIM8_CH1
+    PC7     ------> TIM8_CH2
+    */
+    HAL_GPIO_DeInit(GPIOC, GPIO_PIN_6|GPIO_PIN_7);
+
+  /* USER CODE BEGIN TIM8_MspDeInit 1 */
+
+  /* USER CODE END TIM8_MspDeInit 1 */
+  }
 }
 
 void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)

Core/Src/usart.c

@@ -21,6 +21,7 @@
 #include "usart.h"
 
 /* USER CODE BEGIN 0 */
+
 /* USER CODE END 0 */
 
 UART_HandleTypeDef huart4;
@@ -28,7 +29,6 @@ UART_HandleTypeDef huart5;
 UART_HandleTypeDef huart1;
 UART_HandleTypeDef huart2;
 UART_HandleTypeDef huart3;
-UART_HandleTypeDef huart6;
 DMA_HandleTypeDef hdma_uart4_rx;
 DMA_HandleTypeDef hdma_uart4_tx;
 DMA_HandleTypeDef hdma_uart5_tx;
@@ -39,8 +39,6 @@ DMA_HandleTypeDef hdma_usart2_rx;
 DMA_HandleTypeDef hdma_usart2_tx;
 DMA_HandleTypeDef hdma_usart3_rx;
 DMA_HandleTypeDef hdma_usart3_tx;
-DMA_HandleTypeDef hdma_usart6_rx;
-DMA_HandleTypeDef hdma_usart6_tx;
 
 /* UART4 init function */
 void MX_UART4_Init(void)
@@ -68,7 +66,6 @@ void MX_UART4_Init(void)
   /* USER CODE BEGIN UART4_Init 2 */
   //__HAL_UART_ENABLE_IT(&huart4, UART_IT_IDLE); // 使能IDLE中断
   /* USER CODE END UART4_Init 2 */
-
 }
 /* UART5 init function */
 void MX_UART5_Init(void)
@@ -97,7 +94,6 @@ void MX_UART5_Init(void)
   // __HAL_UART_ENABLE_IT(&huart5, UART_IT_RXNE); // 接收中断
   // __HAL_UART_ENABLE_IT(&huart5, UART_IT_IDLE); // 空闲中断
   /* USER CODE END UART5_Init 2 */
-
 }
 /* USART1 init function */
 
@@ -126,7 +122,6 @@ void MX_USART1_UART_Init(void)
   /* USER CODE BEGIN USART1_Init 2 */
 
   /* USER CODE END USART1_Init 2 */
-
 }
 /* USART2 init function */
 
@@ -156,7 +151,6 @@ void MX_USART2_UART_Init(void)
   // __HAL_UART_ENABLE_IT(&huart2, UART_IT_RXNE); // 接收中断
   // __HAL_UART_ENABLE_IT(&huart2, UART_IT_IDLE); // 使能IDLE中断
   /* USER CODE END USART2_Init 2 */
-
 }
 /* USART3 init function */
 
@@ -185,36 +179,6 @@ void MX_USART3_UART_Init(void)
   /* USER CODE BEGIN USART3_Init 2 */
 
   /* USER CODE END USART3_Init 2 */
-
-}
-/* USART6 init function */
-
-void MX_USART6_UART_Init(void)
-{
-
-  /* USER CODE BEGIN USART6_Init 0 */
-
-  /* USER CODE END USART6_Init 0 */
-
-  /* USER CODE BEGIN USART6_Init 1 */
-
-  /* USER CODE END USART6_Init 1 */
-  huart6.Instance = USART6;
-  huart6.Init.BaudRate = 115200;
-  huart6.Init.WordLength = UART_WORDLENGTH_8B;
-  huart6.Init.StopBits = UART_STOPBITS_1;
-  huart6.Init.Parity = UART_PARITY_NONE;
-  huart6.Init.Mode = UART_MODE_TX_RX;
-  huart6.Init.HwFlowCtl = UART_HWCONTROL_NONE;
-  huart6.Init.OverSampling = UART_OVERSAMPLING_16;
-  if (HAL_UART_Init(&huart6) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN USART6_Init 2 */
-
-  /* USER CODE END USART6_Init 2 */
-
 }
 
 void HAL_UART_MspInit(UART_HandleTypeDef *uartHandle)
@@ -549,70 +513,6 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
 
     /* USER CODE END USART3_MspInit 1 */
   }
-  else if(uartHandle->Instance==USART6)
-  {
-  /* USER CODE BEGIN USART6_MspInit 0 */
-
-  /* USER CODE END USART6_MspInit 0 */
-    /* USART6 clock enable */
-    __HAL_RCC_USART6_CLK_ENABLE();
-
-    __HAL_RCC_GPIOC_CLK_ENABLE();
-    /**USART6 GPIO Configuration
-    PC6     ------> USART6_TX
-    PC7     ------> USART6_RX
-    */
-    GPIO_InitStruct.Pin = BLE1_TX_Pin|BLE1_RX_Pin;
-    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    GPIO_InitStruct.Pull = GPIO_PULLUP;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
-    GPIO_InitStruct.Alternate = GPIO_AF8_USART6;
-    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
-
-    /* USART6 DMA Init */
-    /* USART6_RX Init */
-    hdma_usart6_rx.Instance = DMA2_Stream1;
-    hdma_usart6_rx.Init.Channel = DMA_CHANNEL_5;
-    hdma_usart6_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
-    hdma_usart6_rx.Init.PeriphInc = DMA_PINC_DISABLE;
-    hdma_usart6_rx.Init.MemInc = DMA_MINC_ENABLE;
-    hdma_usart6_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
-    hdma_usart6_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
-    hdma_usart6_rx.Init.Mode = DMA_NORMAL;
-    hdma_usart6_rx.Init.Priority = DMA_PRIORITY_LOW;
-    hdma_usart6_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
-    if (HAL_DMA_Init(&hdma_usart6_rx) != HAL_OK)
-    {
-      Error_Handler();
-    }
-
-    __HAL_LINKDMA(uartHandle,hdmarx,hdma_usart6_rx);
-
-    /* USART6_TX Init */
-    hdma_usart6_tx.Instance = DMA2_Stream6;
-    hdma_usart6_tx.Init.Channel = DMA_CHANNEL_5;
-    hdma_usart6_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
-    hdma_usart6_tx.Init.PeriphInc = DMA_PINC_DISABLE;
-    hdma_usart6_tx.Init.MemInc = DMA_MINC_ENABLE;
-    hdma_usart6_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
-    hdma_usart6_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
-    hdma_usart6_tx.Init.Mode = DMA_NORMAL;
-    hdma_usart6_tx.Init.Priority = DMA_PRIORITY_LOW;
-    hdma_usart6_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
-    if (HAL_DMA_Init(&hdma_usart6_tx) != HAL_OK)
-    {
-      Error_Handler();
-    }
-
-    __HAL_LINKDMA(uartHandle,hdmatx,hdma_usart6_tx);
-
-    /* USART6 interrupt Init */
-    HAL_NVIC_SetPriority(USART6_IRQn, 5, 0);
-    HAL_NVIC_EnableIRQ(USART6_IRQn);
-  /* USER CODE BEGIN USART6_MspInit 1 */
-
-  /* USER CODE END USART6_MspInit 1 */
-  }
 }
 
 void HAL_UART_MspDeInit(UART_HandleTypeDef *uartHandle)
@@ -740,46 +640,18 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
 
     /* USER CODE END USART3_MspDeInit 1 */
   }
-  else if(uartHandle->Instance==USART6)
-  {
-  /* USER CODE BEGIN USART6_MspDeInit 0 */
-
-  /* USER CODE END USART6_MspDeInit 0 */
-    /* Peripheral clock disable */
-    __HAL_RCC_USART6_CLK_DISABLE();
-
-    /**USART6 GPIO Configuration
-    PC6     ------> USART6_TX
-    PC7     ------> USART6_RX
-    */
-    HAL_GPIO_DeInit(GPIOC, BLE1_TX_Pin|BLE1_RX_Pin);
-
-    /* USART6 DMA DeInit */
-    HAL_DMA_DeInit(uartHandle->hdmarx);
-    HAL_DMA_DeInit(uartHandle->hdmatx);
-
-    /* USART6 interrupt Deinit */
-    HAL_NVIC_DisableIRQ(USART6_IRQn);
-  /* USER CODE BEGIN USART6_MspDeInit 1 */
-
-  /* USER CODE END USART6_MspDeInit 1 */
-  }
 }
 
 /* USER CODE BEGIN 1 */
 
 /**
- * @brief 使用DMAæ–¹å¼<EFBFBD>通过串å<EFBFBD>£å<EFBFBD>‘é?<EFBFBD>æ•°æ<EFBFBD>?
+ * @brief ??DMA????USART????
  *
- * 该函数使用DMAæ–¹å¼<EFBFBD>通过指定的串å<EFBFBD>£å<EFBFBD>‘é€<EFBFBD>指定长度的数æ<EFBFBD>®ã€?
+ * ?????USART????DMA???????
  *
- * @param huart UART_HandleTypeDef结构体指针，指å<EFBFBD>‘éœ?è¦<EFBFBD>使用的串å<EFBFBD>£å<EFBFBD>¥æŸ„
+ * @param huart USART?????UART_HandleTypeDef??????
- * @param buf 指å<EFBFBD>‘éœ?è¦<EFBFBD>å<EFBFBD>‘é€<EFBFBD>çš„æ•°æ<EFBFBD>®ç¼“冲区的指针
+ * @param buf ???????????
- * @param len éœ?è¦<EFBFBD>å<EFBFBD>‘é€<EFBFBD>çš„æ•°æ<EFBFBD>®é•¿åº¦
+ * @param len ????????
- *
- * @return 无返回å??
- *
- * @note 如果å<EFBFBD>‘é?<EFBFBD>过程中出现错误，会调用Error_Handler函数处ç<EFBFBD>†é”™è¯¯
  */
 void dma_usart_send(UART_HandleTypeDef *huart, uint8_t *buf, uint8_t len)
 {

MDK-ARM/semi-finished_product_testing.uvoptx

@@ -327,7 +327,7 @@
         <periodic>1</periodic>
         <aLwin>1</aLwin>
         <aCover>0</aCover>
-        <aSer1>0</aSer1>
+        <aSer1>1</aSer1>
         <aSer2>0</aSer2>
         <aPa>0</aPa>
         <viewmode>1</viewmode>

User/application/inc/tcpserverc.h

@@ -5,8 +5,8 @@
 
 #define TCP_PORT_HART1 5001
 #define TCP_PORT_HART2 5002
-#define TCP_PORT_BLE1 6001
+#define TCP_PORT_BLE1 6002
-#define TCP_PORT_BLE2 6002
+#define TCP_PORT_BLE2 6001
 #define TCP_PORT_CONTROL 5003
 
 extern void tcp_echo_init(void);

User/application/src/tcpserverc.c

@@ -80,7 +80,7 @@ static err_t tcpecho_recv_hart2(void *arg, struct tcp_pcb *tpcb, struct pbuf *p,
     }
     return ERR_OK;
 }
-
+#if (BLE2_USART6 == 1)
 static err_t tcpecho_recv_ble1(void *arg, struct tcp_pcb *tpcb, struct pbuf *p, err_t err)
 { // 对应接收数据连接的控制块   接收到的数据
     if (p != NULL)
@@ -104,6 +104,7 @@ static err_t tcpecho_recv_ble1(void *arg, struct tcp_pcb *tpcb, struct pbuf *p,
     }
     return ERR_OK;
 }
+#endif
 
 static err_t tcpecho_recv_ble2(void *arg, struct tcp_pcb *tpcb, struct pbuf *p, err_t err)
 { // 对应接收数据连接的控制块   接收到的数据
@@ -208,8 +209,6 @@ static err_t tcpecho_recv_control(void *arg, struct tcp_pcb *tpcb, struct pbuf *
 
             /*2. 判断所要执行的操作 读或写指令*/
             /*3. 对要发送的数据进行校验，组包，返回数据*/
-
-            
         }
         pbuf_free(p);
     }
@@ -234,13 +233,14 @@ static err_t tcpecho_accept_hart2(void *arg, struct tcp_pcb *newpcb, err_t err)
 
     return ERR_OK;
 }
-
+#if (BLE2_USART6 == 1)
 static err_t tcpecho_accept_ble1(void *arg, struct tcp_pcb *newpcb, err_t err) // 由于这个函数是*tcp_accept_fn类型的
 {
     tcp_recv(newpcb, tcpecho_recv_ble1); // 当收到数据时，回调用户自己写的tcpecho_recv
 
     return ERR_OK;
 }
+#endif
 static err_t tcpecho_accept_ble2(void *arg, struct tcp_pcb *newpcb, err_t err) // 由于这个函数是*tcp_accept_fn类型的
 {
     tcp_recv(newpcb, tcpecho_recv_ble2); // 当收到数据时，回调用户自己写的tcpecho_recv
@@ -257,7 +257,9 @@ void tcp_echo_init(void)
 {
     struct tcp_pcb *server_hart1 = NULL;
     struct tcp_pcb *server_hart2 = NULL;
+#if (BLE2_USART6 == 1)
     struct tcp_pcb *server_ble1 = NULL;
+#endif
     struct tcp_pcb *server_ble2 = NULL;
     struct tcp_pcb *server_control = NULL;
 
@@ -284,7 +286,7 @@ void tcp_echo_init(void)
 
     /* 处理连接 注册函数，侦听到连接时被注册的函数被回调 */
     tcp_accept(server_hart2, tcpecho_accept_hart2); // 侦听到连接后，回调用户编写的tcpecho_accept
-
+#if (BLE2_USART6 == 1)
     /* 创建一路蓝牙  */
     server_ble1 = tcp_new();
 
@@ -296,7 +298,7 @@ void tcp_echo_init(void)
 
     /* 处理连接 注册函数，侦听到连接时被注册的函数被回调 */
     tcp_accept(server_ble1, tcpecho_accept_ble1); // 侦听到连接后，回调用户编写的tcpecho_accept
-
+#endif
     /* 创建二路蓝牙  */
     server_ble2 = tcp_new();
 
@@ -332,12 +334,13 @@ void user_send_data_hart2(uint8_t *data, uint16_t len)
 
     tcp_write(server_pcb_hart2, data, len, 1);
 }
-
+#if (BLE2_USART6 == 1)
 void user_send_data_ble1(uint8_t *data, uint16_t len)
 {
 
     tcp_write(server_pcb_ble1, data, len, 1);
 }
+#endif
 void user_send_data_ble2(uint8_t *data, uint16_t len)
 {
 

User/driver/uart_lcd.c

@@ -62,6 +62,7 @@ void uart_lcd_draw_ipaddr(void)
     ip_addr[10 + strlen(ip_addr_str)] = 0xFF;
     // uart_lcd_page2();
     // HAL_Delay(100);
+    uart_lcd_state.page_num = 1;
     dma_usart_send(&huart4, ip_addr, ARRAY_LEN(ip_addr));
     // HAL_Delay(100);
 }

semi-finished_product_testing.ioc

@@ -2,139 +2,117 @@
 CAD.formats=
 CAD.pinconfig=
 CAD.provider=
-Dma.Request0=USART6_RX
+Dma.Request0=UART4_RX
-Dma.Request1=USART6_TX
+Dma.Request1=UART4_TX
-Dma.Request10=USART1_RX
+Dma.Request2=USART3_RX
-Dma.Request11=USART1_TX
+Dma.Request3=USART3_TX
-Dma.Request2=UART4_RX
+Dma.Request4=UART5_TX
-Dma.Request3=UART4_TX
+Dma.Request5=UART5_RX
-Dma.Request4=USART3_RX
+Dma.Request6=USART2_RX
-Dma.Request5=USART3_TX
+Dma.Request7=USART2_TX
-Dma.Request6=UART5_TX
+Dma.Request8=USART1_RX
-Dma.Request7=UART5_RX
+Dma.Request9=USART1_TX
-Dma.Request8=USART2_RX
+Dma.RequestsNb=10
-Dma.Request9=USART2_TX
+Dma.UART4_RX.0.Direction=DMA_PERIPH_TO_MEMORY
-Dma.RequestsNb=12
+Dma.UART4_RX.0.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.UART4_RX.2.Direction=DMA_PERIPH_TO_MEMORY
+Dma.UART4_RX.0.Instance=DMA1_Stream2
-Dma.UART4_RX.2.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.UART4_RX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.UART4_RX.2.Instance=DMA1_Stream2
+Dma.UART4_RX.0.MemInc=DMA_MINC_ENABLE
-Dma.UART4_RX.2.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.UART4_RX.0.Mode=DMA_NORMAL
-Dma.UART4_RX.2.MemInc=DMA_MINC_ENABLE
+Dma.UART4_RX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.UART4_RX.2.Mode=DMA_NORMAL
+Dma.UART4_RX.0.PeriphInc=DMA_PINC_DISABLE
-Dma.UART4_RX.2.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.UART4_RX.0.Priority=DMA_PRIORITY_VERY_HIGH
-Dma.UART4_RX.2.PeriphInc=DMA_PINC_DISABLE
+Dma.UART4_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-Dma.UART4_RX.2.Priority=DMA_PRIORITY_VERY_HIGH
+Dma.UART4_TX.1.Direction=DMA_MEMORY_TO_PERIPH
-Dma.UART4_RX.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+Dma.UART4_TX.1.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.UART4_TX.3.Direction=DMA_MEMORY_TO_PERIPH
+Dma.UART4_TX.1.Instance=DMA1_Stream4
-Dma.UART4_TX.3.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.UART4_TX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.UART4_TX.3.Instance=DMA1_Stream4
+Dma.UART4_TX.1.MemInc=DMA_MINC_ENABLE
-Dma.UART4_TX.3.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.UART4_TX.1.Mode=DMA_NORMAL
-Dma.UART4_TX.3.MemInc=DMA_MINC_ENABLE
+Dma.UART4_TX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.UART4_TX.3.Mode=DMA_NORMAL
+Dma.UART4_TX.1.PeriphInc=DMA_PINC_DISABLE
-Dma.UART4_TX.3.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.UART4_TX.1.Priority=DMA_PRIORITY_VERY_HIGH
-Dma.UART4_TX.3.PeriphInc=DMA_PINC_DISABLE
+Dma.UART4_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-Dma.UART4_TX.3.Priority=DMA_PRIORITY_VERY_HIGH
+Dma.UART5_RX.5.Direction=DMA_PERIPH_TO_MEMORY
-Dma.UART4_TX.3.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+Dma.UART5_RX.5.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.UART5_RX.7.Direction=DMA_PERIPH_TO_MEMORY
+Dma.UART5_RX.5.Instance=DMA1_Stream0
-Dma.UART5_RX.7.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.UART5_RX.5.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.UART5_RX.7.Instance=DMA1_Stream0
+Dma.UART5_RX.5.MemInc=DMA_MINC_ENABLE
-Dma.UART5_RX.7.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.UART5_RX.5.Mode=DMA_NORMAL
-Dma.UART5_RX.7.MemInc=DMA_MINC_ENABLE
+Dma.UART5_RX.5.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.UART5_RX.7.Mode=DMA_NORMAL
+Dma.UART5_RX.5.PeriphInc=DMA_PINC_DISABLE
-Dma.UART5_RX.7.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.UART5_RX.5.Priority=DMA_PRIORITY_VERY_HIGH
-Dma.UART5_RX.7.PeriphInc=DMA_PINC_DISABLE
+Dma.UART5_RX.5.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-Dma.UART5_RX.7.Priority=DMA_PRIORITY_VERY_HIGH
+Dma.UART5_TX.4.Direction=DMA_MEMORY_TO_PERIPH
-Dma.UART5_RX.7.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+Dma.UART5_TX.4.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.UART5_TX.6.Direction=DMA_MEMORY_TO_PERIPH
+Dma.UART5_TX.4.Instance=DMA1_Stream7
-Dma.UART5_TX.6.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.UART5_TX.4.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.UART5_TX.6.Instance=DMA1_Stream7
+Dma.UART5_TX.4.MemInc=DMA_MINC_ENABLE
-Dma.UART5_TX.6.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.UART5_TX.4.Mode=DMA_NORMAL
-Dma.UART5_TX.6.MemInc=DMA_MINC_ENABLE
+Dma.UART5_TX.4.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.UART5_TX.6.Mode=DMA_NORMAL
+Dma.UART5_TX.4.PeriphInc=DMA_PINC_DISABLE
-Dma.UART5_TX.6.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.UART5_TX.4.Priority=DMA_PRIORITY_VERY_HIGH
-Dma.UART5_TX.6.PeriphInc=DMA_PINC_DISABLE
+Dma.UART5_TX.4.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-Dma.UART5_TX.6.Priority=DMA_PRIORITY_VERY_HIGH
+Dma.USART1_RX.8.Direction=DMA_PERIPH_TO_MEMORY
-Dma.UART5_TX.6.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+Dma.USART1_RX.8.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.USART1_RX.10.Direction=DMA_PERIPH_TO_MEMORY
+Dma.USART1_RX.8.Instance=DMA2_Stream2
-Dma.USART1_RX.10.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.USART1_RX.8.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.USART1_RX.10.Instance=DMA2_Stream2
+Dma.USART1_RX.8.MemInc=DMA_MINC_ENABLE
-Dma.USART1_RX.10.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART1_RX.8.Mode=DMA_NORMAL
-Dma.USART1_RX.10.MemInc=DMA_MINC_ENABLE
+Dma.USART1_RX.8.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.USART1_RX.10.Mode=DMA_NORMAL
+Dma.USART1_RX.8.PeriphInc=DMA_PINC_DISABLE
-Dma.USART1_RX.10.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART1_RX.8.Priority=DMA_PRIORITY_LOW
-Dma.USART1_RX.10.PeriphInc=DMA_PINC_DISABLE
+Dma.USART1_RX.8.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-Dma.USART1_RX.10.Priority=DMA_PRIORITY_LOW
+Dma.USART1_TX.9.Direction=DMA_MEMORY_TO_PERIPH
-Dma.USART1_RX.10.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+Dma.USART1_TX.9.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.USART1_TX.11.Direction=DMA_MEMORY_TO_PERIPH
+Dma.USART1_TX.9.Instance=DMA2_Stream7
-Dma.USART1_TX.11.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.USART1_TX.9.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.USART1_TX.11.Instance=DMA2_Stream7
+Dma.USART1_TX.9.MemInc=DMA_MINC_ENABLE
-Dma.USART1_TX.11.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART1_TX.9.Mode=DMA_NORMAL
-Dma.USART1_TX.11.MemInc=DMA_MINC_ENABLE
+Dma.USART1_TX.9.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.USART1_TX.11.Mode=DMA_NORMAL
+Dma.USART1_TX.9.PeriphInc=DMA_PINC_DISABLE
-Dma.USART1_TX.11.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART1_TX.9.Priority=DMA_PRIORITY_LOW
-Dma.USART1_TX.11.PeriphInc=DMA_PINC_DISABLE
+Dma.USART1_TX.9.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-Dma.USART1_TX.11.Priority=DMA_PRIORITY_LOW
+Dma.USART2_RX.6.Direction=DMA_PERIPH_TO_MEMORY
-Dma.USART1_TX.11.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+Dma.USART2_RX.6.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.USART2_RX.8.Direction=DMA_PERIPH_TO_MEMORY
+Dma.USART2_RX.6.Instance=DMA1_Stream5
-Dma.USART2_RX.8.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.USART2_RX.6.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.USART2_RX.8.Instance=DMA1_Stream5
+Dma.USART2_RX.6.MemInc=DMA_MINC_ENABLE
-Dma.USART2_RX.8.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART2_RX.6.Mode=DMA_NORMAL
-Dma.USART2_RX.8.MemInc=DMA_MINC_ENABLE
+Dma.USART2_RX.6.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.USART2_RX.8.Mode=DMA_NORMAL
+Dma.USART2_RX.6.PeriphInc=DMA_PINC_DISABLE
-Dma.USART2_RX.8.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART2_RX.6.Priority=DMA_PRIORITY_VERY_HIGH
-Dma.USART2_RX.8.PeriphInc=DMA_PINC_DISABLE
+Dma.USART2_RX.6.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-Dma.USART2_RX.8.Priority=DMA_PRIORITY_VERY_HIGH
+Dma.USART2_TX.7.Direction=DMA_MEMORY_TO_PERIPH
-Dma.USART2_RX.8.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+Dma.USART2_TX.7.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.USART2_TX.9.Direction=DMA_MEMORY_TO_PERIPH
+Dma.USART2_TX.7.Instance=DMA1_Stream6
-Dma.USART2_TX.9.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.USART2_TX.7.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.USART2_TX.9.Instance=DMA1_Stream6
+Dma.USART2_TX.7.MemInc=DMA_MINC_ENABLE
-Dma.USART2_TX.9.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART2_TX.7.Mode=DMA_NORMAL
-Dma.USART2_TX.9.MemInc=DMA_MINC_ENABLE
+Dma.USART2_TX.7.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.USART2_TX.9.Mode=DMA_NORMAL
+Dma.USART2_TX.7.PeriphInc=DMA_PINC_DISABLE
-Dma.USART2_TX.9.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART2_TX.7.Priority=DMA_PRIORITY_VERY_HIGH
-Dma.USART2_TX.9.PeriphInc=DMA_PINC_DISABLE
+Dma.USART2_TX.7.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-Dma.USART2_TX.9.Priority=DMA_PRIORITY_VERY_HIGH
+Dma.USART3_RX.2.Direction=DMA_PERIPH_TO_MEMORY
-Dma.USART2_TX.9.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+Dma.USART3_RX.2.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.USART3_RX.4.Direction=DMA_PERIPH_TO_MEMORY
+Dma.USART3_RX.2.Instance=DMA1_Stream1
-Dma.USART3_RX.4.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.USART3_RX.2.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.USART3_RX.4.Instance=DMA1_Stream1
+Dma.USART3_RX.2.MemInc=DMA_MINC_ENABLE
-Dma.USART3_RX.4.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART3_RX.2.Mode=DMA_NORMAL
-Dma.USART3_RX.4.MemInc=DMA_MINC_ENABLE
+Dma.USART3_RX.2.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.USART3_RX.4.Mode=DMA_NORMAL
+Dma.USART3_RX.2.PeriphInc=DMA_PINC_DISABLE
-Dma.USART3_RX.4.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART3_RX.2.Priority=DMA_PRIORITY_LOW
-Dma.USART3_RX.4.PeriphInc=DMA_PINC_DISABLE
+Dma.USART3_RX.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-Dma.USART3_RX.4.Priority=DMA_PRIORITY_LOW
+Dma.USART3_TX.3.Direction=DMA_MEMORY_TO_PERIPH
-Dma.USART3_RX.4.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+Dma.USART3_TX.3.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.USART3_TX.5.Direction=DMA_MEMORY_TO_PERIPH
+Dma.USART3_TX.3.Instance=DMA1_Stream3
-Dma.USART3_TX.5.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.USART3_TX.3.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.USART3_TX.5.Instance=DMA1_Stream3
+Dma.USART3_TX.3.MemInc=DMA_MINC_ENABLE
-Dma.USART3_TX.5.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART3_TX.3.Mode=DMA_NORMAL
-Dma.USART3_TX.5.MemInc=DMA_MINC_ENABLE
+Dma.USART3_TX.3.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.USART3_TX.5.Mode=DMA_NORMAL
+Dma.USART3_TX.3.PeriphInc=DMA_PINC_DISABLE
-Dma.USART3_TX.5.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART3_TX.3.Priority=DMA_PRIORITY_LOW
-Dma.USART3_TX.5.PeriphInc=DMA_PINC_DISABLE
+Dma.USART3_TX.3.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-Dma.USART3_TX.5.Priority=DMA_PRIORITY_LOW
-Dma.USART3_TX.5.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-Dma.USART6_RX.0.Direction=DMA_PERIPH_TO_MEMORY
-Dma.USART6_RX.0.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.USART6_RX.0.Instance=DMA2_Stream1
-Dma.USART6_RX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.USART6_RX.0.MemInc=DMA_MINC_ENABLE
-Dma.USART6_RX.0.Mode=DMA_NORMAL
-Dma.USART6_RX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.USART6_RX.0.PeriphInc=DMA_PINC_DISABLE
-Dma.USART6_RX.0.Priority=DMA_PRIORITY_LOW
-Dma.USART6_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-Dma.USART6_TX.1.Direction=DMA_MEMORY_TO_PERIPH
-Dma.USART6_TX.1.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.USART6_TX.1.Instance=DMA2_Stream6
-Dma.USART6_TX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.USART6_TX.1.MemInc=DMA_MINC_ENABLE
-Dma.USART6_TX.1.Mode=DMA_NORMAL
-Dma.USART6_TX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.USART6_TX.1.PeriphInc=DMA_PINC_DISABLE
-Dma.USART6_TX.1.Priority=DMA_PRIORITY_LOW
-Dma.USART6_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
 ETH.IPParameters=MediaInterface
 ETH.MediaInterface=HAL_ETH_RMII_MODE
 FREERTOS.FootprintOK=true
@@ -170,12 +148,12 @@ Mcu.Family=STM32F4
 Mcu.IP0=DMA
 Mcu.IP1=ETH
 Mcu.IP10=TIM3
-Mcu.IP11=UART4
+Mcu.IP11=TIM8
-Mcu.IP12=UART5
+Mcu.IP12=UART4
-Mcu.IP13=USART1
+Mcu.IP13=UART5
-Mcu.IP14=USART2
+Mcu.IP14=USART1
-Mcu.IP15=USART3
+Mcu.IP15=USART2
-Mcu.IP16=USART6
+Mcu.IP16=USART3
 Mcu.IP2=FREERTOS
 Mcu.IP3=LWIP
 Mcu.IP4=NVIC
@@ -204,56 +182,57 @@ Mcu.Pin20=PE14
 Mcu.Pin21=PB11
 Mcu.Pin22=PB12
 Mcu.Pin23=PB13
-Mcu.Pin24=PD8
+Mcu.Pin24=PB14
-Mcu.Pin25=PD9
+Mcu.Pin25=PD8
-Mcu.Pin26=PD11
+Mcu.Pin26=PD9
-Mcu.Pin27=PD12
+Mcu.Pin27=PD11
-Mcu.Pin28=PD13
+Mcu.Pin28=PD12
-Mcu.Pin29=PD14
+Mcu.Pin29=PD13
 Mcu.Pin3=PH1-OSC_OUT
-Mcu.Pin30=PD15
+Mcu.Pin30=PD14
-Mcu.Pin31=PC6
+Mcu.Pin31=PD15
-Mcu.Pin32=PC7
+Mcu.Pin32=PC6
-Mcu.Pin33=PC8
+Mcu.Pin33=PC7
-Mcu.Pin34=PC9
+Mcu.Pin34=PC8
-Mcu.Pin35=PA8
+Mcu.Pin35=PC9
-Mcu.Pin36=PA9
+Mcu.Pin36=PA8
-Mcu.Pin37=PA10
+Mcu.Pin37=PA9
-Mcu.Pin38=PA11
+Mcu.Pin38=PA10
-Mcu.Pin39=PA12
+Mcu.Pin39=PA11
 Mcu.Pin4=PC0
-Mcu.Pin40=PA13
+Mcu.Pin40=PA12
-Mcu.Pin41=PA14
+Mcu.Pin41=PA13
-Mcu.Pin42=PA15
+Mcu.Pin42=PA14
-Mcu.Pin43=PC10
+Mcu.Pin43=PA15
-Mcu.Pin44=PC11
+Mcu.Pin44=PC10
-Mcu.Pin45=PC12
+Mcu.Pin45=PC11
-Mcu.Pin46=PD0
+Mcu.Pin46=PC12
-Mcu.Pin47=PD1
+Mcu.Pin47=PD0
-Mcu.Pin48=PD2
+Mcu.Pin48=PD1
-Mcu.Pin49=PD3
+Mcu.Pin49=PD2
 Mcu.Pin5=PC1
-Mcu.Pin50=PD4
+Mcu.Pin50=PD3
-Mcu.Pin51=PD5
+Mcu.Pin51=PD4
-Mcu.Pin52=PD6
+Mcu.Pin52=PD5
-Mcu.Pin53=PD7
+Mcu.Pin53=PD6
-Mcu.Pin54=PB3
+Mcu.Pin54=PD7
-Mcu.Pin55=PB4
+Mcu.Pin55=PB3
-Mcu.Pin56=PB5
+Mcu.Pin56=PB4
-Mcu.Pin57=PB6
+Mcu.Pin57=PB5
-Mcu.Pin58=PB7
+Mcu.Pin58=PB6
-Mcu.Pin59=PE0
+Mcu.Pin59=PB7
 Mcu.Pin6=PA1
-Mcu.Pin60=PE1
+Mcu.Pin60=PE0
-Mcu.Pin61=VP_FREERTOS_VS_CMSIS_V1
+Mcu.Pin61=PE1
-Mcu.Pin62=VP_LWIP_VS_Enabled
+Mcu.Pin62=VP_FREERTOS_VS_CMSIS_V1
-Mcu.Pin63=VP_SYS_VS_tim4
+Mcu.Pin63=VP_LWIP_VS_Enabled
-Mcu.Pin64=VP_TIM2_VS_ClockSourceINT
+Mcu.Pin64=VP_SYS_VS_tim4
-Mcu.Pin65=VP_TIM3_VS_ClockSourceINT
+Mcu.Pin65=VP_TIM2_VS_ClockSourceINT
+Mcu.Pin66=VP_TIM3_VS_ClockSourceINT
 Mcu.Pin7=PA2
 Mcu.Pin8=PA7
 Mcu.Pin9=PC4
-Mcu.PinsNb=66
+Mcu.PinsNb=67
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F407VGTx
@@ -268,9 +247,7 @@ NVIC.DMA1_Stream4_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DMA1_Stream5_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DMA1_Stream6_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DMA1_Stream7_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
-NVIC.DMA2_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DMA2_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
-NVIC.DMA2_Stream6_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DMA2_Stream7_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.ETH_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
@@ -296,7 +273,6 @@ NVIC.UART5_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.USART1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.USART2_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.USART3_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.USART6_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 PA1.Mode=RMII
 PA1.Signal=ETH_REF_CLK
@@ -356,6 +332,11 @@ PB12.Mode=RMII
 PB12.Signal=ETH_TXD0
 PB13.Mode=RMII
 PB13.Signal=ETH_TXD1
+PB14.GPIOParameters=GPIO_PuPd,GPIO_Label
+PB14.GPIO_Label=ENCODE_Z
+PB14.GPIO_PuPd=GPIO_PULLUP
+PB14.Locked=true
+PB14.Signal=GPXTI14
 PB2.GPIOParameters=GPIO_Speed,PinState,GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultOutputPP
 PB2.GPIO_Label=LED3_G
 PB2.GPIO_ModeDefaultOutputPP=GPIO_MODE_OUTPUT_PP
@@ -419,16 +400,8 @@ PC4.Mode=RMII
 PC4.Signal=ETH_RXD0
 PC5.Mode=RMII
 PC5.Signal=ETH_RXD1
-PC6.GPIOParameters=GPIO_PuPd,GPIO_Label
+PC6.Signal=S_TIM8_CH1
-PC6.GPIO_Label=BLE1_TX
+PC7.Signal=S_TIM8_CH2
-PC6.GPIO_PuPd=GPIO_PULLUP
-PC6.Mode=Asynchronous
-PC6.Signal=USART6_TX
-PC7.GPIOParameters=GPIO_PuPd,GPIO_Label
-PC7.GPIO_Label=BLE1_RX
-PC7.GPIO_PuPd=GPIO_PULLUP
-PC7.Mode=Asynchronous
-PC7.Signal=USART6_RX
 PC8.GPIOParameters=GPIO_PuPd,GPIO_Label
 PC8.GPIO_Label=DI_CH1
 PC8.GPIO_PuPd=GPIO_PULLUP
@@ -632,7 +605,7 @@ ProjectManager.StackSize=0x400
 ProjectManager.TargetToolchain=MDK-ARM V5.32
 ProjectManager.ToolChainLocation=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_LWIP_Init-LWIP-false-HAL-false,5-MX_TIM3_Init-TIM3-false-HAL-true,6-MX_SPI1_Init-SPI1-false-HAL-true,7-MX_USART6_UART_Init-USART6-false-HAL-true,8-MX_UART4_Init-UART4-false-HAL-true,9-MX_TIM2_Init-TIM2-false-HAL-true,10-MX_UART5_Init-UART5-false-HAL-true,11-MX_USART2_UART_Init-USART2-false-HAL-true,12-MX_USART3_UART_Init-USART3-false-HAL-true,13-MX_TIM1_Init-TIM1-false-HAL-true,14-MX_USART1_UART_Init-USART1-false-HAL-true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_LWIP_Init-LWIP-false-HAL-false,5-MX_TIM3_Init-TIM3-false-HAL-true,6-MX_SPI1_Init-SPI1-false-HAL-true,7-MX_UART4_Init-UART4-false-HAL-true,8-MX_TIM2_Init-TIM2-false-HAL-true,9-MX_UART5_Init-UART5-false-HAL-true,10-MX_USART2_UART_Init-USART2-false-HAL-true,11-MX_USART3_UART_Init-USART3-false-HAL-true,12-MX_TIM1_Init-TIM1-false-HAL-true,13-MX_USART1_UART_Init-USART1-false-HAL-true,14-MX_TIM8_Init-TIM8-false-HAL-true
 RCC.48MHZClocksFreq_Value=55296000
 RCC.AHBFreq_Value=110592000
 RCC.APB1CLKDivider=RCC_HCLK_DIV4
@@ -668,6 +641,8 @@ RCC.VCOOutputFreq_Value=221184000
 RCC.VcooutputI2S=106168320
 SH.GPXTI1.0=GPIO_EXTI1
 SH.GPXTI1.ConfNb=1
+SH.GPXTI14.0=GPIO_EXTI14
+SH.GPXTI14.ConfNb=1
 SH.GPXTI3.0=GPIO_EXTI3
 SH.GPXTI3.ConfNb=1
 SH.GPXTI8.0=GPIO_EXTI8
@@ -680,6 +655,10 @@ SH.S_TIM2_CH1_ETR.0=TIM2_CH1,PWM Generation1 CH1
 SH.S_TIM2_CH1_ETR.ConfNb=1
 SH.S_TIM3_CH3.0=TIM3_CH3,PWM Generation3 CH3
 SH.S_TIM3_CH3.ConfNb=1
+SH.S_TIM8_CH1.0=TIM8_CH1,Encoder_Interface
+SH.S_TIM8_CH1.ConfNb=1
+SH.S_TIM8_CH2.0=TIM8_CH2,Encoder_Interface
+SH.S_TIM8_CH2.ConfNb=1
 SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_256
 SPI1.CLKPhase=SPI_PHASE_2EDGE
 SPI1.CLKPolarity=SPI_POLARITY_HIGH
@@ -700,6 +679,9 @@ TIM3.IPParameters=Channel-PWM Generation3 CH3,Prescaler,Period,Pulse-PWM Generat
 TIM3.Period=370
 TIM3.Prescaler=54
 TIM3.Pulse-PWM\ Generation3\ CH3=92
+TIM8.EncoderMode=TIM_ENCODERMODE_TI12
+TIM8.IPParameters=Prescaler,EncoderMode
+TIM8.Prescaler=2
 UART4.IPParameters=VirtualMode
 UART4.VirtualMode=Asynchronous
 UART5.BaudRate=1200
@@ -716,8 +698,6 @@ USART2.VirtualMode=VM_ASYNC
 USART2.WordLength=WORDLENGTH_9B
 USART3.IPParameters=VirtualMode
 USART3.VirtualMode=VM_ASYNC
-USART6.IPParameters=VirtualMode
-USART6.VirtualMode=VM_ASYNC
 VP_FREERTOS_VS_CMSIS_V1.Mode=CMSIS_V1
 VP_FREERTOS_VS_CMSIS_V1.Signal=FREERTOS_VS_CMSIS_V1
 VP_LWIP_VS_Enabled.Mode=Enabled