From 4c3cb563ee6a2fff86e3aed8b07f1ebbe54f063e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E8=8D=89=E5=9B=A2=E5=90=9B?= <596017521@qq.com>
Date: Tue, 16 Apr 2024 17:06:22 +0800
Subject: [PATCH] =?UTF-8?q?=E5=A4=87=E4=BB=BD=EF=BC=8C=E6=9C=AA=E5=AE=8C?=
 =?UTF-8?q?=E6=88=90?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Core/Src/stm32l0xx_it.c |    1 +
 MDK-ARM/motor/motor.hex | 1826 +++++++++++++++++++++------------------
 MDK-ARM/motor/motor.lnp |   47 -
 User/app.c              |    3 +-
 User/app.h              |    2 +
 User/app_flow.c         |   12 +-
 User/board/board.c      |  310 ++++---
 User/board/board.h      |   45 +-
 User/board/motor.c      |    6 +
 User/board/motor.h      |    2 +-
 10 files changed, 1248 insertions(+), 1006 deletions(-)
 delete mode 100644 MDK-ARM/motor/motor.lnp

diff --git a/Core/Src/stm32l0xx_it.c b/Core/Src/stm32l0xx_it.c
index 6c5d0af..b589740 100644
--- a/Core/Src/stm32l0xx_it.c
+++ b/Core/Src/stm32l0xx_it.c
@@ -202,6 +202,7 @@ void TIM21_IRQHandler(void)
   /* USER CODE BEGIN TIM21_IRQn 1 */
   if (LL_TIM_IsActiveFlag_UPDATE(TIM21))
   {
+    step_motor_update(motor);
     LL_TIM_ClearFlag_UPDATE(TIM21);
   }
   /* USER CODE END TIM21_IRQn 1 */
diff --git a/MDK-ARM/motor/motor.hex b/MDK-ARM/motor/motor.hex
index 7230e85..d21e664 100644
--- a/MDK-ARM/motor/motor.hex
+++ b/MDK-ARM/motor/motor.hex
@@ -1,34 +1,34 @@
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+:10000000704600209D01000895200008650D00083D
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diff --git a/MDK-ARM/motor/motor.lnp b/MDK-ARM/motor/motor.lnp
deleted file mode 100644
index eb153cb..0000000
--- a/MDK-ARM/motor/motor.lnp
+++ /dev/null
@@ -1,47 +0,0 @@
---cpu Cortex-M0+
-"motor\startup_stm32l072xx.o"
-"motor\main.o"
-"motor\gpio.o"
-"motor\adc.o"
-"motor\dma.o"
-"motor\tim.o"
-"motor\usart.o"
-"motor\stm32l0xx_it.o"
-"motor\stm32l0xx_ll_gpio.o"
-"motor\stm32l0xx_ll_adc.o"
-"motor\stm32l0xx_ll_dma.o"
-"motor\stm32l0xx_ll_rcc.o"
-"motor\stm32l0xx_ll_utils.o"
-"motor\stm32l0xx_ll_exti.o"
-"motor\stm32l0xx_ll_pwr.o"
-"motor\stm32l0xx_ll_tim.o"
-"motor\stm32l0xx_ll_usart.o"
-"motor\system_stm32l0xx.o"
-"motor\app.o"
-"motor\app_flow.o"
-"motor\aes.o"
-"motor\clist.o"
-"motor\cmac.o"
-"motor\cmd.o"
-"motor\data_analysis.o"
-"motor\debug.o"
-"motor\filter.o"
-"motor\lib.o"
-"motor\malloc.o"
-"motor\mlist.o"
-"motor\pbuf.o"
-"motor\sqqueue.o"
-"motor\flow_core.o"
-"motor\btn.o"
-"motor\delay.o"
-"motor\sys.o"
-"motor\adcs.o"
-"motor\gpios.o"
-"motor\pwms.o"
-"motor\uarts.o"
-"motor\board.o"
-"motor\motor.o"
---strict --scatter "motor\motor.sct"
---summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols
---info sizes --info totals --info unused --info veneers
---list "motor.map" -o motor\motor.axf
\ No newline at end of file
diff --git a/User/app.c b/User/app.c
index 03d85aa..a80f3ec 100644
--- a/User/app.c
+++ b/User/app.c
@@ -1,5 +1,5 @@
 #include "app.h"
-// #include "board.h"
+#include "board.h"
 #include "uarts.h"
 #include "sys.h"
 #include <stdio.h>
@@ -12,6 +12,7 @@ uint8_t mem_percent = 0; // 内存使用率
 
 void app_init(void)
 {
+    motor_process_init();
     flow_init(); // 流程初始化
 }
 
diff --git a/User/app.h b/User/app.h
index f250b53..d9eff51 100644
--- a/User/app.h
+++ b/User/app.h
@@ -15,6 +15,8 @@ typedef struct
 typedef struct
 {
     calibration_sensor_data_t torsion_in13; // 扭力
+    calibration_sensor_data_t pressure_in7; // 压力
+    calibration_sensor_data_t pressure_in8; // 流量
 } adcs_t;
 
 typedef struct
diff --git a/User/app_flow.c b/User/app_flow.c
index 160fc75..63de744 100644
--- a/User/app_flow.c
+++ b/User/app_flow.c
@@ -17,7 +17,15 @@ static uint8_t adc_inspection(struct flow *fl)
     FL_HEAD(fl);
     for (;;)
     {
-        app.adc.torsion_in13.original_value = adc_get_result_average(IN13);
+        // 扭力
+        app.adc.torsion_in13.original_value = get_torsion_adc();
+        app.adc.torsion_in13.calibration_value = torsion_detect();
+        // 压力
+        app.adc.pressure_in7.original_value = get_pressure_adc();
+        app.adc.pressure_in7.calibration_value = pressure_detect();
+        // 流量
+        app.adc.pressure_in8.original_value = get_flow_adc();
+        app.adc.pressure_in8.calibration_value = flow_detect();
         FL_LOCK_DELAY(fl, FL_CLOCK_100MSEC); /* 延时100毫秒 */
     }
     FL_TAIL(fl);
@@ -28,7 +36,7 @@ static uint8_t systom_inspection(struct flow *fl)
     FL_HEAD(fl);
     for (;;)
     {
-        host_data_deal();
+        host_rx_msg_deal();
         FL_LOCK_DELAY(fl, FL_CLOCK_10MSEC); /* 延时100毫秒 */
     }
     FL_TAIL(fl);
diff --git a/User/board/board.c b/User/board/board.c
index 0fc0ca7..3768b00 100644
--- a/User/board/board.c
+++ b/User/board/board.c
@@ -6,10 +6,10 @@ void sensor_procss(frame_msg_t *rx, frame_msg_t *bk);
 
 /*************************************  串口通讯 *************************************/
 uart_t *uarts[UART_NUM_MAX];
-__IO static BOOL deal_done_flag = 0; // 数据处理标志
-__IO static frame_msg_t rx_frame;
-__IO static frame_msg_t bk_frame;
-__IO static uint8_t send_buffer[UART_TXSIZE];
+__IO static BOOL execute_state = 0;                 // 数据处理标志
+static frame_msg_t rx_msg;                          // 接收数据句柄
+static frame_msg_t bk_msg;                          // 回复数据句柄
+static uint8_t host_send_buffer[UART_TXSIZE] = {0}; // 数据发送缓存
 
 // 串口发送
 static void host_send_msg(uint8_t *data, uint16_t len)
@@ -17,65 +17,56 @@ static void host_send_msg(uint8_t *data, uint16_t len)
     uart_send_data(uarts[UART_NUM_1], data, len);
 }
 
-// 接收数据解码
-static void host_data_decode(uint8_t *data, uint16_t len, frame_msg_t *msg)
+// 数据有效性检查
+static BOOL host_data_verify(uint8_t *data, uint16_t len)
 {
-    DBG_ASSERT(data != NULL __DBG_LINE);
-    DBG_ASSERT(msg != NULL __DBG_LINE);
+    BOOL ret = TRUE;
+    uint8_t ver_len = 0;
+    uint8_t msg_crc = 0, ver_crc = 0;
 
-    msg->state = data[1];
-    msg->dev_no = data[2];
-    msg->cmd_no = data[3];
-    msg->len = data[4];
-    osel_memcpy(msg->data, (uint8_t *)&data[5], msg->len);
-}
-
-// 发送数据编码
-static void send_data_encode(frame_msg_t *msg)
-{
-    uint16_t ver_len = 0, ver_crc = 0;
-    uint8_t *sp = (uint8_t *)send_buffer;
-    DBG_ASSERT(msg != NULL __DBG_LINE);
-
-    *sp++ = PACKET_STX; // 包头
-    ver_len++;
-    *sp++ = msg->state; // 状态
-    ver_len++;
-    *sp++ = msg->dev_no; // 设备号
-    ver_len++;
-    *sp++ = msg->cmd_no; // 命令号
-    ver_len++;
-    *sp++ = msg->len; // 长度
-    ver_len++;
-    osel_memcpy(sp, msg->data, msg->len); // 数据
-    sp += msg->len;
-    ver_len += msg->len;
-
-    ver_crc = crc16_compute((uint8_t *)&send_buffer[1], (ver_len - 1)); // 减去包头
-    ver_crc = S2B_UINT16(ver_crc);
-    osel_memcpy(sp, (uint8_t *)&ver_crc, 2); // 校验
-    sp += 2;
-    ver_len += 2;
-
-    *sp++ = PACKET_ETX; // 包尾
-    ver_len++;
-
-    // 发送
-    host_send_msg((uint8_t *)send_buffer, ver_len);
-}
-
-// 数据处理
-void host_data_deal(void)
-{
-    frame_msg_t *rx_msg = (frame_msg_t *)&rx_frame;
-    frame_msg_t *bk_msg = (frame_msg_t *)&bk_frame;
-
-    if (deal_done_flag == TRUE)
+    // 包头包尾检查
+    if (data[0] != PACKET_STX || data[1] != ST_DEV_NORMAL || data[len - 1] != PACKET_ETX)
     {
-        return;
+        ret = FALSE;
+        return ret;
+    }
+    // 长度检查
+    ver_len = PACKET_MIN_LEN + data[DATA_LEN_INDEX];
+    if (ver_len != len)
+    {
+        ret = FALSE;
+        return ret;
+    }
+    // CRC校验
+    msg_crc = data[len - 2];
+    ver_crc = xor_compute((uint8_t *)&data[1], (len - 3)); // 减去包头、包尾、校验
+    if (msg_crc != ver_crc)
+    {
+        ret = FALSE;
+        return ret;
     }
 
-    // 执行
+    return ret;
+}
+
+// 数据解码
+static void host_data_decode(uint8_t *data, uint16_t len)
+{
+    DBG_ASSERT(data != NULL __DBG_LINE);
+
+    // 获取数据长度和消息长度
+    uint8_t data_len = data[DATA_LEN_INDEX];
+    uint8_t msg_len = DATA_INDEX + data_len;
+    // 获取消息数据
+    osel_memcpy((uint8_t *)&rx_msg, data, msg_len);
+}
+
+// 指令执行
+static void host_cmd_execute(frame_msg_t *rx_msg, frame_msg_t *bk_msg)
+{
+    DBG_ASSERT(rx_msg != NULL __DBG_LINE);
+    DBG_ASSERT(bk_msg != NULL __DBG_LINE);
+
     switch (rx_msg->dev_no)
     {
     case ADC_SENSOR:
@@ -85,47 +76,54 @@ void host_data_deal(void)
         motor_process(rx_msg, bk_msg);
         break;
     default:
-        return;
+        break;
     }
-    // 回复（组包 + 发送）
-    send_data_encode(bk_msg);
-    // 修改标志位
-    deal_done_flag = TRUE;
-    osel_memset((uint8_t *)rx_msg, 0, sizeof(rx_frame));
-    osel_memset((uint8_t *)bk_msg, 0, sizeof(bk_frame));
 }
 
-// 数据完整性检查
-static BOOL host_data_verify(uint8_t *data, uint16_t len)
+// 数据编码
+static void host_data_encode(frame_msg_t *msg)
 {
-    BOOL ret = TRUE;
-    uint16_t ver_len = 0;
-    uint16_t ver_crc = 0, rx_crc = 0;
+    DBG_ASSERT(msg != NULL __DBG_LINE);
 
-    // 包头包尾检查
-    if (data[0] != PACKET_STX || data[1] != MASTER_CODE || data[len - 1] != PACKET_ETX)
+    uint8_t *pbuf = (uint8_t *)host_send_buffer;
+    uint8_t index = 0, len = 0;
+
+    // 消息数据
+    uint8_t msg_len = DATA_INDEX + msg->len;
+    osel_memcpy(pbuf, (uint8_t *)msg, msg_len);
+    // 校验码
+    index += msg_len;
+    pbuf[index] = xor_compute((uint8_t *)&pbuf[1], (msg_len - 1)); // 减去包头
+    // 包尾
+    index += 1;
+    pbuf[index] = PACKET_ETX;
+
+    // 计算报文长度
+    len = msg_len + 2; // 加上校验、包尾
+    // 发送
+    host_send_msg(pbuf, len);
+}
+
+// 数据处理
+void host_rx_msg_deal(void)
+{
+    if (execute_state == TRUE)
     {
-        ret = FALSE;
-        return ret;
-    }
-    // 帧长度检查
-    ver_len = data[4] + PACKET_MIN_LEN;
-    if (ver_len != len)
-    {
-        ret = FALSE;
-        return ret;
-    }
-    // CRC校验
-    ver_crc = crc16_compute((uint8_t *)(data + 1), (len - 4)); // 减去包头、包尾、校验
-    ver_crc = S2B_UINT16(ver_crc);
-    osel_memcpy((uint8_t *)&rx_crc, (uint8_t *)(data + len - 3), 2);
-    if (ver_crc != rx_crc)
-    {
-        ret = FALSE;
-        return ret;
+        return;
     }
 
-    return ret;
+    frame_msg_t *p_rx_msg = (frame_msg_t *)&rx_msg;
+    frame_msg_t *p_bk_msg = (frame_msg_t *)&bk_msg;
+
+    // 执行
+    host_cmd_execute(p_rx_msg, p_bk_msg);
+    // 回复（组包 + 发送）
+    host_data_encode(p_bk_msg);
+    // 复位
+    osel_memset((uint8_t *)host_send_buffer, 0, UART_TXSIZE);
+    osel_memset((uint8_t *)&rx_msg, 0, sizeof(frame_msg_t));
+    osel_memset((uint8_t *)&bk_msg, 0, sizeof(frame_msg_t));
+    execute_state = IDLE;
 }
 
 // 串口接收回调
@@ -133,18 +131,18 @@ static void host_rx_cb(uint8_t uart_index, uint8_t *data, uint16_t len)
 {
     BOOL ret = FALSE;
 
-    // 数据完整性检查
+    // 数据有效性检查
     ret = host_data_verify(data, len);
-    // 数据处理
-    if (ret == TRUE && deal_done_flag == TRUE)
+    // 数据解码
+    if (ret == TRUE && execute_state == IDLE)
     {
-        host_data_decode(data, len, (frame_msg_t *)&rx_frame);
-        deal_done_flag = FALSE;
+        host_data_decode(data, len);
+        execute_state = BUSY;
     }
 }
 
 // 串口初始化
-void host_uart_init(void)
+static void host_uart_init(void)
 {
     if (uarts[UART_NUM_1] == NULL)
     {
@@ -160,6 +158,7 @@ void host_uart_init(void)
 /*************************************  电机 *************************************/
 // 电机对象
 motor_t *motor;
+motor_ctrl_t *motor_param = NULL;
 
 // 电机初始化
 static void motor_init(void)
@@ -176,29 +175,34 @@ static void motor_init(void)
     motor->handle.step_motor.interface.init(motor, dir, en, MIN_STEP_ANGLE, TIM21, LL_TIM_CHANNEL_CH2);
 }
 
+void motor_process_init(void)
+{
+    motor_param = (motor_ctrl_t *)osel_mem_alloc(sizeof(motor_ctrl_t));
+    DBG_ASSERT(motor_param != NULL __DBG_LINE);
+    osel_memset((uint8_t *)motor_param, 0, sizeof(motor_ctrl_t));
+}
+
 // 电机任务
 void motor_process(frame_msg_t *rx, frame_msg_t *bk)
 {
-    //    BOOL ret = TRUE;
+    DBG_ASSERT(rx != NULL __DBG_LINE);
+
+    //    step_motor_t *step_motor = &motor->handle.step_motor;
+    //    uint8_t state = ST_DEV_NORMAL;
 
     switch (rx->cmd_no)
     {
     case SET_MOTOR_SPEED: // 设置电机转速
         break;
-    case SET_DRIVER_PULSE: // 设置驱动器脉冲
-        break;
     case GET_MIN_STEP: // 获取最小步距
         break;
-    case GET_MOTOR_STATE: // 获取电机运行状态
-        break;
     case MOTOR_MOVE: // 运行电机
         break;
     case MOTOR_STOP: // 停止电机
         break;
+    default:
+        break;
     }
-
-    bk->dev_no = MOTOR;
-    bk->cmd_no = rx->cmd_no;
 }
 
 /*************************************  ADc传感器 *************************************/
@@ -209,33 +213,99 @@ adc_t adc1 = {
     .dma_channel = LL_DMA_CHANNEL_1,
 };
 
-// 获取扭力值
-static BOOL get_tors_value(frame_msg_t *bk)
+// 扭力，单位：N·m
+uint16_t get_torsion_adc(void)
 {
-    uint16_t value = 0;
+    uint16_t adc = adc_get_result_average(IN13);
+    return adc;
+}
 
-    bk->len = sizeof(uint16_t);
-    value = adc_get_result_average(IN13);
+float32 torsion_detect(void)
+{
+    float32 adc = 0.0, val = 0.0;
+
+    adc = get_torsion_adc();
+    val = adc / 4096 * 3000;
+    val = (val - 1500) / 101 / (1.934 * 3) * 10;
+
+    return val;
+}
+
+// 压力，单位：kPa
+uint16_t get_pressure_adc(void)
+{
+    uint16_t adc = adc_get_result_average(IN7);
+    return adc;
+}
+
+float32 pressure_detect(void)
+{
+    float32 adc = 0.0, val = 0.0;
+
+    adc = get_pressure_adc();
+    val = adc / 4096 * 3000;
+    val = (val - 600) / (10 * 15) / 16 * 1000;
+
+    return val;
+}
+
+// 流量，单位：SLPM
+uint16_t get_flow_adc(void)
+{
+    uint16_t adc = adc_get_result_average(IN8);
+    return adc;
+}
+
+float32 flow_detect(void)
+{
+    float32 adc = 0.0, val = 0.0;
+
+    adc = get_flow_adc();
+    val = adc / 4096 * 3000;
+    val = (val - 600) / (10 * 15) / 16 * 300;
+
+    return val;
+}
+
+// 获取扭力值
+static void cmd_torsion_value(frame_msg_t *bk)
+{
+
+    uint8_t state = ST_DEV_NORMAL;
+
+    // 计算数据长度
+    uint8_t data_len = sizeof(uint16_t);
+    // 采集
+    uint16_t value = get_torsion_adc();
+    // TODO 检查数据合法性
+
+    // 回复数据
+    bk->head = PACKET_STX;
+    bk->state = state;
+    bk->dev_no = ADC_SENSOR;
+    bk->cmd_no = GET_TORSION_VALUE;
+    bk->len = data_len;
     value = S2B_UINT16(value);
-    osel_memcpy(bk->data, (uint8_t *)&value, bk->len);
-    return TRUE;
+    osel_memcpy((uint8_t *)bk->data, (uint8_t *)&value, data_len);
 }
 
 // 传感器任务
 void sensor_procss(frame_msg_t *rx, frame_msg_t *bk)
 {
-    BOOL ret = TRUE;
-
     switch (rx->cmd_no)
     {
-    case GET_TORS_VALUE: // 获取扭力值
-        ret = get_tors_value(bk);
+    case GET_TORSION_VALUE: // 获取扭力值
+        cmd_torsion_value(bk);
+        break;
+    case GET_PRESSURE_VALUE:
+        break;
+    case GET_FLOW_VALUE:
+        break;
+    case GET_ALL_VALUE:
+        break;
+    default:
         break;
     }
-
-    bk->state = ret;
-    bk->dev_no = ADC_SENSOR;
-    bk->cmd_no = rx->cmd_no;
 }
 
 /*************************************  板卡 *************************************/
diff --git a/User/board/board.h b/User/board/board.h
index 3c4636e..5de2638 100644
--- a/User/board/board.h
+++ b/User/board/board.h
@@ -9,15 +9,16 @@
 #define UART_TXSIZE (240u) // 发送缓冲区 240个字节
 
 // 包头 + 状态码 + 设备号 + 命令号 + 长度 + 数据 + 校验 + 包尾
-//  1       1       1        1      1    0~128    2      1
-#define PACKET_STX 0xff  // 包头
-#define PACKET_ETX 0x3c  // 包尾
-#define MASTER_CODE 0x00 // 状态码-主机
-
+//  1       1       1        1      1    0~128    1      1
+#define PACKET_STX 0xff // 包头
+#define PACKET_ETX 0x3c // 包尾
+#define PACKET_
+#define DATA_LEN_INDEX 4 // 数据长度偏移
+#define DATA_INDEX 5     // 数据偏移
 // 最大数据长度
 #define DATA_MAX_LEN 128
 // 最小帧长度：包头 + 状态码 + 设备号 + 命令号 + 长度 + 校验 + 包尾
-#define PACKET_MIN_LEN 8
+#define PACKET_MIN_LEN 7
 // 最大帧长度
 #define PACKET_MAX_LEN (DATA_MAX_LEN + PACKET_MIN_LEN)
 
@@ -25,6 +26,12 @@
 #define PULSE_REV 18000.0                // 每圈脉冲数（驱动器脉冲）
 #define MIN_STEP_ANGLE (360 / PULSE_REV) // 最小步距
 
+typedef enum
+{
+    IDLE = 0, // 空闲
+    BUSY = 1, // 忙碌
+} host_state_e;
+
 typedef enum
 {
     ADC_SENSOR,
@@ -44,7 +51,6 @@ typedef enum
 typedef enum
 {
     SET_MOTOR_SPEED,
-    SET_DRIVER_PULSE,
     GET_MIN_STEP,
     GET_MOTOR_STATE,
     MOTOR_MOVE,
@@ -53,28 +59,43 @@ typedef enum
 
 typedef enum
 {
-    GET_TORS_VALUE,
+    GET_TORSION_VALUE,
+    GET_PRESSURE_VALUE,
+    GET_FLOW_VALUE,
+    GET_ALL_VALUE,
 } sensor_cmd_e;
 
 typedef enum
 {
     ST_DEV_NORMAL,
     ST_DEV_BUSY,
-    ST_MSG_MISS,
+    ST_DEV_MISS,
 } status_code_e;
 
 typedef struct
 {
+    uint8_t head;               // 包头
     uint8_t state;              // 状态
     uint8_t dev_no;             // 设备号
     uint8_t cmd_no;             // 命令号
     uint8_t len;                // 长度
     uint8_t data[DATA_MAX_LEN]; // 数据
-
 } frame_msg_t;
 
-extern void host_uart_init(void);
+typedef struct
+{
+    uint8_t dir;
+    float32 angle;
+} motor_ctrl_t;
+
 extern void board_init(void);
-extern void host_data_deal(void);
+extern uint16_t get_torsion_adc(void);
+extern float32 torsion_detect(void);
+extern uint16_t get_pressure_adc(void);
+extern float32 pressure_detect(void);
+extern uint16_t get_flow_adc(void);
+extern float32 flow_detect(void);
+extern void host_rx_msg_deal(void);
+extern void motor_process_init(void);
 
 #endif // __BOARD_H__
diff --git a/User/board/motor.c b/User/board/motor.c
index 327b0eb..39bb737 100644
--- a/User/board/motor.c
+++ b/User/board/motor.c
@@ -60,6 +60,11 @@ static void step_motor_set_angle(motor_t *motor, uint32_t angle, dir_e dir)
     }
 }
 
+static void step_motor_set_speed(motor_t *motor, uint32_t psc)
+{
+    
+}
+
 /**
  * @brief 步进电机中断处理函数
  * @param {motor_t} *motor
@@ -103,6 +108,7 @@ motor_t *motor_create(motor_type_e motor_type)
         motor->handle.step_motor.interface.run = step_motor_run;
         motor->handle.step_motor.interface.stop = step_motor_stop;
         motor->handle.step_motor.interface.set_angle = step_motor_set_angle;
+        motor->handle.step_motor.interface.set_speed = step_motor_set_speed;
         break;
 
     default:
diff --git a/User/board/motor.h b/User/board/motor.h
index bcd48b0..5aaa0b9 100644
--- a/User/board/motor.h
+++ b/User/board/motor.h
@@ -39,7 +39,7 @@ typedef struct
     void (*stop)(motor_t *motor);                                                                                              // 停止
     void (*set_angle)(motor_t *motor, uint32_t angle, dir_e dir);                                                              // 将角度转换成脉冲个数并运行
     void (*stop_cb)(motor_t *motor);                                                                                           // 停止回调函数,在stop中执行
-
+    void (*set_speed)(motor_t *motor, uint32_t psc);
 } step_motor_interface_t;
 
 typedef struct