From 922d376bcc2f005d752a8f05b1fc747a997ad647 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E8=8D=89=E5=9B=A2=E5=90=9B?= <596017521@qq.com>
Date: Mon, 22 Apr 2024 11:18:07 +0800
Subject: [PATCH] =?UTF-8?q?=E4=B8=8A=E4=BD=8D=E6=9C=BA=E8=81=94=E8=B0=83?=
 =?UTF-8?q?=E6=AD=A3=E5=B8=B8?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Core/Src/adc.c                  |   21 +
 Core/Src/gpio.c                 |   12 -
 MDK-ARM/motor.uvoptx            |   23 +-
 MDK-ARM/motor/motor.hex         | 2215 ++++++++++++++++---------------
 MDK-ARM/startup_stm32l072xx.lst |  938 -------------
 User/app.h                      |    2 +-
 User/app_flow.c                 |    1 -
 User/board/board.c              |   41 +-
 User/board/board.h              |    5 +
 User/board/motor.c              |    3 +-
 User/board/motor.h              |    5 +-
 User/system/bsp/adcs.h          |   22 +-
 User/system/bsp/pwms.h          |    2 +
 motor.ioc                       |   30 +-
 14 files changed, 1250 insertions(+), 2070 deletions(-)
 delete mode 100644 MDK-ARM/startup_stm32l072xx.lst

diff --git a/Core/Src/adc.c b/Core/Src/adc.c
index 08ee03b..ed7d538 100644
--- a/Core/Src/adc.c
+++ b/Core/Src/adc.c
@@ -41,11 +41,14 @@ void MX_ADC_Init(void)
   LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_ADC1);
 
   LL_IOP_GRP1_EnableClock(LL_IOP_GRP1_PERIPH_GPIOC);
+  LL_IOP_GRP1_EnableClock(LL_IOP_GRP1_PERIPH_GPIOA);
   LL_IOP_GRP1_EnableClock(LL_IOP_GRP1_PERIPH_GPIOB);
   /**ADC GPIO Configuration
   PC0   ------> ADC_IN10
   PC3   ------> ADC_IN13
+  PA7   ------> ADC_IN7
   PB0   ------> ADC_IN8
+  PB1   ------> ADC_IN9
   */
   GPIO_InitStruct.Pin = LL_GPIO_PIN_0;
   GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG;
@@ -57,11 +60,21 @@ void MX_ADC_Init(void)
   GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
   LL_GPIO_Init(MG_ADC_IN13_GPIO_Port, &GPIO_InitStruct);
 
+  GPIO_InitStruct.Pin = LL_GPIO_PIN_7;
+  GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG;
+  GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
+  LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
   GPIO_InitStruct.Pin = LL_GPIO_PIN_0;
   GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG;
   GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
   LL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
+  GPIO_InitStruct.Pin = LL_GPIO_PIN_1;
+  GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG;
+  GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
+  LL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
   /* ADC DMA Init */
 
   /* ADC Init */
@@ -85,10 +98,18 @@ void MX_ADC_Init(void)
 
   /* USER CODE END ADC_Init 1 */
 
+  /** Configure Regular Channel
+  */
+  LL_ADC_REG_SetSequencerChAdd(ADC1, LL_ADC_CHANNEL_7);
+
   /** Configure Regular Channel
   */
   LL_ADC_REG_SetSequencerChAdd(ADC1, LL_ADC_CHANNEL_8);
 
+  /** Configure Regular Channel
+  */
+  LL_ADC_REG_SetSequencerChAdd(ADC1, LL_ADC_CHANNEL_9);
+
   /** Configure Regular Channel
   */
   LL_ADC_REG_SetSequencerChAdd(ADC1, LL_ADC_CHANNEL_10);
diff --git a/Core/Src/gpio.c b/Core/Src/gpio.c
index 3cfc573..255a858 100644
--- a/Core/Src/gpio.c
+++ b/Core/Src/gpio.c
@@ -132,12 +132,6 @@ void MX_GPIO_Init(void)
   GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
   LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
-  /**/
-  GPIO_InitStruct.Pin = LL_GPIO_PIN_7;
-  GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG;
-  GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
-  LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-
   /**/
   GPIO_InitStruct.Pin = LL_GPIO_PIN_4;
   GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG;
@@ -150,12 +144,6 @@ void MX_GPIO_Init(void)
   GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
   LL_GPIO_Init(GPIOC, &GPIO_InitStruct);
 
-  /**/
-  GPIO_InitStruct.Pin = LL_GPIO_PIN_1;
-  GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG;
-  GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
-  LL_GPIO_Init(GPIOB, &GPIO_InitStruct);
-
   /**/
   GPIO_InitStruct.Pin = LL_GPIO_PIN_2;
   GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG;
diff --git a/MDK-ARM/motor.uvoptx b/MDK-ARM/motor.uvoptx
index 4d573bd..4a49e55 100644
--- a/MDK-ARM/motor.uvoptx
+++ b/MDK-ARM/motor.uvoptx
@@ -165,6 +165,21 @@
           <WinNumber>1</WinNumber>
           <ItemText>self_test,0x0A</ItemText>
         </Ww>
+        <Ww>
+          <count>3</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>motor,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>4</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>motor_param,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>5</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>adc_value,0x0A</ItemText>
+        </Ww>
       </WatchWindow1>
       <MemoryWindow1>
         <Mm>
@@ -228,7 +243,7 @@
 
   <Group>
     <GroupName>Application/MDK-ARM</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -248,7 +263,7 @@
 
   <Group>
     <GroupName>Application/User/Core</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -476,7 +491,7 @@
 
   <Group>
     <GroupName>User</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -780,7 +795,7 @@
       <GroupNumber>9</GroupNumber>
       <FileNumber>41</FileNumber>
       <FileType>1</FileType>
-      <tvExp>1</tvExp>
+      <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>..\User\board\board.c</PathWithFileName>
diff --git a/MDK-ARM/motor/motor.hex b/MDK-ARM/motor/motor.hex
index ed5f096..1975be2 100644
--- a/MDK-ARM/motor/motor.hex
+++ b/MDK-ARM/motor/motor.hex
@@ -1,1105 +1,1152 @@
 :020000040800F2
-:10000000884700209D010008C9200008650D0008F0
+:10000000704600209D0100081D220008910E000886
 :1000100000000000000000000000000000000000E0
-:10002000000000000000000000000000692300083C
-:1000300000000000000000001F2200086B230008E1
+:10002000000000000000000000000000E7240008BD
+:10003000000000000000000073230008E92400080D
 :10004000AF010008AF010008AF010008AF010008D0
 :10005000AF010008AF010008AF010008AF010008C0
-:10006000AF010008450D0008550D0008AF0100085C
+:10006000AF010008710E0008810E0008AF01000802
 :10007000AF010008AF010008AF010008AF010008A0
-:10008000AF010008E1240008AF01000800000000F3
-:10009000B5240008AF010008AF010008AF01000857
-:1000A000AF010008AF010008AF01000815250008E6
+:10008000AF01000861260008AF0100080000000071
+:1000900035260008AF010008AF010008AF010008D5
+:1000A000AF010008AF010008AF0100089526000865
 :1000B000AF010008AF01000800000000AF01000818
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-:1000F00000D0FB1AA246AB46334318471843000012
-:1001000038430000103A02D378C878C1FAD85207B1
+:1000F00000D0FB1AA246AB46334318470C4600001B
+:100100002C460000103A02D378C878C1FAD85207BA
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+:1001400010B510BD00F024FE1146FFF7F7FF02F0D6
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+:1001600071FE000070B505460C46164602E00FCC45
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diff --git a/MDK-ARM/startup_stm32l072xx.lst b/MDK-ARM/startup_stm32l072xx.lst
deleted file mode 100644
index 1e9184e..0000000
--- a/MDK-ARM/startup_stm32l072xx.lst
+++ /dev/null
@@ -1,938 +0,0 @@
-
-
-
-ARM Macro Assembler    Page 1 
-
-
-    1 00000000         ;*******************************************************
-                       ***********************
-    2 00000000         ;* File Name          : startup_stm32l072xx.s
-    3 00000000         ;* Author             : MCD Application Team
-    4 00000000         ;* Description        : STM32l072xx Devices vector table
-                        for MDK-ARM toolchain.
-    5 00000000         ;*                      This module performs:
-    6 00000000         ;*                      - Set the initial SP
-    7 00000000         ;*                      - Set the initial PC == Reset_Ha
-                       ndler
-    8 00000000         ;*                      - Set the vector table entries w
-                       ith the exceptions ISR address
-    9 00000000         ;*                      - Branches to __main in the C lb
-                       rary (which eventually
-   10 00000000         ;*                        calls main()).
-   11 00000000         ;*                      After Reset the Cortex-M0+ proce
-                       ssor is in Thread mode,
-   12 00000000         ;*                      priority is Privileged, and the 
-                       Stack is set to Main.
-   13 00000000         ;*******************************************************
-                       ***********************
-   14 00000000         ;* @attention
-   15 00000000         ;*
-   16 00000000         ;* Copyright (c) 2016 STMicroelectronics.
-   17 00000000         ;* All rights reserved.
-   18 00000000         ;*
-   19 00000000         ;* This software is licensed under terms that can be fou
-                       nd in the LICENSE file
-   20 00000000         ;* in the root directory of this software component.
-   21 00000000         ;* If no LICENSE file comes with this software, it is pr
-                       ovided AS-IS.
-   22 00000000         ;*
-   23 00000000         ;*******************************************************
-                       ***********************
-   24 00000000         
-   25 00000000         ; Amount of memory (in bytes) allocated for Stack
-   26 00000000         ; Tailor this value to your application needs
-   27 00000000         ; <h> Stack Configuration
-   28 00000000         ;   <o> Stack Size (in Bytes) <0x0-0xFFFFFFFF:8>
-   29 00000000         ; </h>
-   30 00000000         
-   31 00000000 00000600 
-                       Stack_Size
-                               EQU              0x600
-   32 00000000         
-   33 00000000                 AREA             STACK, NOINIT, READWRITE, ALIGN
-=3
-   34 00000000         Stack_Mem
-                               SPACE            Stack_Size
-   35 00000600         __initial_sp
-   36 00000600         
-   37 00000600         
-   38 00000600         ; <h> Heap Configuration
-   39 00000600         ;   <o>  Heap Size (in Bytes) <0x0-0xFFFFFFFF:8>
-   40 00000600         ; </h>
-   41 00000600         
-   42 00000600 00000400 
-                       Heap_Size
-                               EQU              0x400
-
-
-
-ARM Macro Assembler    Page 2 
-
-
-   43 00000600         
-   44 00000600                 AREA             HEAP, NOINIT, READWRITE, ALIGN=
-3
-   45 00000000         __heap_base
-   46 00000000         Heap_Mem
-                               SPACE            Heap_Size
-   47 00000400         __heap_limit
-   48 00000400         
-   49 00000400                 PRESERVE8
-   50 00000400                 THUMB
-   51 00000400         
-   52 00000400         
-   53 00000400         ; Vector Table Mapped to Address 0 at Reset
-   54 00000400                 AREA             RESET, DATA, READONLY
-   55 00000000                 EXPORT           __Vectors
-   56 00000000                 EXPORT           __Vectors_End
-   57 00000000                 EXPORT           __Vectors_Size
-   58 00000000         
-   59 00000000 00000000 
-                       __Vectors
-                               DCD              __initial_sp ; Top of Stack
-   60 00000004 00000000        DCD              Reset_Handler ; Reset Handler
-   61 00000008 00000000        DCD              NMI_Handler ; NMI Handler
-   62 0000000C 00000000        DCD              HardFault_Handler ; Hard Fault 
-                                                            Handler
-   63 00000010 00000000        DCD              0           ; Reserved
-   64 00000014 00000000        DCD              0           ; Reserved
-   65 00000018 00000000        DCD              0           ; Reserved
-   66 0000001C 00000000        DCD              0           ; Reserved
-   67 00000020 00000000        DCD              0           ; Reserved
-   68 00000024 00000000        DCD              0           ; Reserved
-   69 00000028 00000000        DCD              0           ; Reserved
-   70 0000002C 00000000        DCD              SVC_Handler ; SVCall Handler
-   71 00000030 00000000        DCD              0           ; Reserved
-   72 00000034 00000000        DCD              0           ; Reserved
-   73 00000038 00000000        DCD              PendSV_Handler ; PendSV Handler
-                                                            
-   74 0000003C 00000000        DCD              SysTick_Handler 
-                                                            ; SysTick Handler
-   75 00000040         
-   76 00000040         ; External Interrupts
-   77 00000040 00000000        DCD              WWDG_IRQHandler 
-                                                            ; Window Watchdog
-   78 00000044 00000000        DCD              PVD_IRQHandler ; PVD through EX
-                                                            TI Line detect
-   79 00000048 00000000        DCD              RTC_IRQHandler ; RTC through EX
-                                                            TI Line
-   80 0000004C 00000000        DCD              FLASH_IRQHandler ; FLASH
-   81 00000050 00000000        DCD              RCC_CRS_IRQHandler 
-                                                            ; RCC and CRS
-   82 00000054 00000000        DCD              EXTI0_1_IRQHandler 
-                                                            ; EXTI Line 0 and 1
-                                                            
-   83 00000058 00000000        DCD              EXTI2_3_IRQHandler 
-                                                            ; EXTI Line 2 and 3
-                                                            
-   84 0000005C 00000000        DCD              EXTI4_15_IRQHandler 
-                                                            ; EXTI Line 4 to 15
-                                                            
-
-
-
-ARM Macro Assembler    Page 3 
-
-
-   85 00000060 00000000        DCD              TSC_IRQHandler ; TSC
-   86 00000064 00000000        DCD              DMA1_Channel1_IRQHandler 
-                                                            ; DMA1 Channel 1
-   87 00000068 00000000        DCD              DMA1_Channel2_3_IRQHandler ; DM
-                                                            A1 Channel 2 and Ch
-                                                            annel 3
-   88 0000006C 00000000        DCD              DMA1_Channel4_5_6_7_IRQHandler 
-                                                            ; DMA1 Channel 4, C
-                                                            hannel 5, Channel 6
-                                                             and Channel 7
-   89 00000070 00000000        DCD              ADC1_COMP_IRQHandler ; ADC1, CO
-                                                            MP1 and COMP2 
-   90 00000074 00000000        DCD              LPTIM1_IRQHandler ; LPTIM1
-   91 00000078 00000000        DCD              USART4_5_IRQHandler 
-                                                            ; USART4 and USART5
-                                                            
-   92 0000007C 00000000        DCD              TIM2_IRQHandler ; TIM2
-   93 00000080 00000000        DCD              TIM3_IRQHandler ; TIM3
-   94 00000084 00000000        DCD              TIM6_DAC_IRQHandler 
-                                                            ; TIM6 and DAC
-   95 00000088 00000000        DCD              TIM7_IRQHandler ; TIM7
-   96 0000008C 00000000        DCD              0           ; Reserved
-   97 00000090 00000000        DCD              TIM21_IRQHandler ; TIM21
-   98 00000094 00000000        DCD              I2C3_IRQHandler ; I2C3
-   99 00000098 00000000        DCD              TIM22_IRQHandler ; TIM22
-  100 0000009C 00000000        DCD              I2C1_IRQHandler ; I2C1
-  101 000000A0 00000000        DCD              I2C2_IRQHandler ; I2C2
-  102 000000A4 00000000        DCD              SPI1_IRQHandler ; SPI1
-  103 000000A8 00000000        DCD              SPI2_IRQHandler ; SPI2
-  104 000000AC 00000000        DCD              USART1_IRQHandler ; USART1
-  105 000000B0 00000000        DCD              USART2_IRQHandler ; USART2
-  106 000000B4 00000000        DCD              RNG_LPUART1_IRQHandler 
-                                                            ; RNG and LPUART1
-  107 000000B8 00000000        DCD              0           ; Reserved
-  108 000000BC 00000000        DCD              USB_IRQHandler ; USB
-  109 000000C0         
-  110 000000C0         __Vectors_End
-  111 000000C0         
-  112 000000C0 000000C0 
-                       __Vectors_Size
-                               EQU              __Vectors_End - __Vectors
-  113 000000C0         
-  114 000000C0                 AREA             |.text|, CODE, READONLY
-  115 00000000         
-  116 00000000         ; Reset handler routine
-  117 00000000         Reset_Handler
-                               PROC
-  118 00000000                 EXPORT           Reset_Handler                 [
-WEAK]
-  119 00000000                 IMPORT           __main
-  120 00000000                 IMPORT           SystemInit
-  121 00000000 4807            LDR              R0, =SystemInit
-  122 00000002 4780            BLX              R0
-  123 00000004 4807            LDR              R0, =__main
-  124 00000006 4700            BX               R0
-  125 00000008                 ENDP
-  126 00000008         
-  127 00000008         ; Dummy Exception Handlers (infinite loops which can be 
-                       modified)
-
-
-
-ARM Macro Assembler    Page 4 
-
-
-  128 00000008         
-  129 00000008         NMI_Handler
-                               PROC
-  130 00000008                 EXPORT           NMI_Handler                    
-[WEAK]
-  131 00000008 E7FE            B                .
-  132 0000000A                 ENDP
-  134 0000000A         HardFault_Handler
-                               PROC
-  135 0000000A                 EXPORT           HardFault_Handler              
-[WEAK]
-  136 0000000A E7FE            B                .
-  137 0000000C                 ENDP
-  138 0000000C         SVC_Handler
-                               PROC
-  139 0000000C                 EXPORT           SVC_Handler                    
-[WEAK]
-  140 0000000C E7FE            B                .
-  141 0000000E                 ENDP
-  142 0000000E         PendSV_Handler
-                               PROC
-  143 0000000E                 EXPORT           PendSV_Handler                 
-[WEAK]
-  144 0000000E E7FE            B                .
-  145 00000010                 ENDP
-  146 00000010         SysTick_Handler
-                               PROC
-  147 00000010                 EXPORT           SysTick_Handler                
-[WEAK]
-  148 00000010 E7FE            B                .
-  149 00000012                 ENDP
-  150 00000012         
-  151 00000012         Default_Handler
-                               PROC
-  152 00000012         
-  153 00000012                 EXPORT           WWDG_IRQHandler                
-[WEAK]
-  154 00000012                 EXPORT           PVD_IRQHandler                 
-[WEAK]
-  155 00000012                 EXPORT           RTC_IRQHandler                 
-[WEAK]
-  156 00000012                 EXPORT           FLASH_IRQHandler               
-[WEAK]
-  157 00000012                 EXPORT           RCC_CRS_IRQHandler             
-[WEAK]
-  158 00000012                 EXPORT           EXTI0_1_IRQHandler             
-[WEAK]
-  159 00000012                 EXPORT           EXTI2_3_IRQHandler             
-[WEAK]
-  160 00000012                 EXPORT           EXTI4_15_IRQHandler            
-[WEAK]
-  161 00000012                 EXPORT           TSC_IRQHandler                 
- [WEAK]
-  162 00000012                 EXPORT           DMA1_Channel1_IRQHandler       
-[WEAK]
-  163 00000012                 EXPORT           DMA1_Channel2_3_IRQHandler     
-[WEAK]
-  164 00000012                 EXPORT           DMA1_Channel4_5_6_7_IRQHandler 
-[WEAK]
-
-
-
-ARM Macro Assembler    Page 5 
-
-
-  165 00000012                 EXPORT           ADC1_COMP_IRQHandler           
-[WEAK]
-  166 00000012                 EXPORT           LPTIM1_IRQHandler              
-[WEAK]
-  167 00000012                 EXPORT           USART4_5_IRQHandler            
-[WEAK]
-  168 00000012                 EXPORT           TIM2_IRQHandler                
-[WEAK]
-  169 00000012                 EXPORT           TIM3_IRQHandler                
-[WEAK]
-  170 00000012                 EXPORT           TIM6_DAC_IRQHandler            
-[WEAK]
-  171 00000012                 EXPORT           TIM7_IRQHandler                
-[WEAK]
-  172 00000012                 EXPORT           TIM21_IRQHandler               
-[WEAK]
-  173 00000012                 EXPORT           TIM22_IRQHandler               
-[WEAK]
-  174 00000012                 EXPORT           I2C1_IRQHandler                
-[WEAK]
-  175 00000012                 EXPORT           I2C2_IRQHandler                
-[WEAK]
-  176 00000012                 EXPORT           I2C3_IRQHandler                
-[WEAK]
-  177 00000012                 EXPORT           SPI1_IRQHandler                
-[WEAK]
-  178 00000012                 EXPORT           SPI2_IRQHandler                
-[WEAK]
-  179 00000012                 EXPORT           USART1_IRQHandler              
-[WEAK]
-  180 00000012                 EXPORT           USART2_IRQHandler              
-[WEAK]
-  181 00000012                 EXPORT           RNG_LPUART1_IRQHandler         
-[WEAK]
-  182 00000012                 EXPORT           USB_IRQHandler                 
-[WEAK]
-  183 00000012         
-  184 00000012         
-  185 00000012         WWDG_IRQHandler
-  186 00000012         PVD_IRQHandler
-  187 00000012         RTC_IRQHandler
-  188 00000012         FLASH_IRQHandler
-  189 00000012         RCC_CRS_IRQHandler
-  190 00000012         EXTI0_1_IRQHandler
-  191 00000012         EXTI2_3_IRQHandler
-  192 00000012         EXTI4_15_IRQHandler
-  193 00000012         TSC_IRQHandler
-  194 00000012         DMA1_Channel1_IRQHandler
-  195 00000012         DMA1_Channel2_3_IRQHandler
-  196 00000012         DMA1_Channel4_5_6_7_IRQHandler
-  197 00000012         ADC1_COMP_IRQHandler
-  198 00000012         LPTIM1_IRQHandler
-  199 00000012         USART4_5_IRQHandler
-  200 00000012         TIM2_IRQHandler
-  201 00000012         TIM3_IRQHandler
-  202 00000012         TIM6_DAC_IRQHandler
-  203 00000012         TIM7_IRQHandler
-  204 00000012         TIM21_IRQHandler
-  205 00000012         TIM22_IRQHandler
-
-
-
-ARM Macro Assembler    Page 6 
-
-
-  206 00000012         I2C1_IRQHandler
-  207 00000012         I2C2_IRQHandler
-  208 00000012         I2C3_IRQHandler
-  209 00000012         SPI1_IRQHandler
-  210 00000012         SPI2_IRQHandler
-  211 00000012         USART1_IRQHandler
-  212 00000012         USART2_IRQHandler
-  213 00000012         RNG_LPUART1_IRQHandler
-  214 00000012         USB_IRQHandler
-  215 00000012         
-  216 00000012 E7FE            B                .
-  217 00000014         
-  218 00000014                 ENDP
-  219 00000014         
-  220 00000014                 ALIGN
-  221 00000014         
-  222 00000014         ;*******************************************************
-                       ************************
-  223 00000014         ; User Stack and Heap initialization
-  224 00000014         ;*******************************************************
-                       ************************
-  225 00000014                 IF               :DEF:__MICROLIB
-  232 00000014         
-  233 00000014                 IMPORT           __use_two_region_memory
-  234 00000014                 EXPORT           __user_initial_stackheap
-  235 00000014         
-  236 00000014         __user_initial_stackheap
-  237 00000014         
-  238 00000014 4804            LDR              R0, =  Heap_Mem
-  239 00000016 4905            LDR              R1, =(Stack_Mem + Stack_Size)
-  240 00000018 4A05            LDR              R2, = (Heap_Mem +  Heap_Size)
-  241 0000001A 4B06            LDR              R3, = Stack_Mem
-  242 0000001C 4770            BX               LR
-  243 0000001E         
-  244 0000001E 00 00           ALIGN
-  245 00000020         
-  246 00000020                 ENDIF
-  247 00000020         
-  248 00000020                 END
-              00000000 
-              00000000 
-              00000000 
-              00000600 
-              00000400 
-              00000000 
-Command Line: --debug --xref --diag_suppress=9931 --cpu=Cortex-M0+ --apcs=inter
-work --depend=motor\startup_stm32l072xx.d -omotor\startup_stm32l072xx.o -I.\RTE
-\_motor -IS:\software\MDK\ARM\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include -IS:\sof
-tware\MDK\ARM\Packs\Keil\STM32L0xx_DFP\2.2.0\Drivers\CMSIS\Device\ST\STM32L0xx\
-Include --predefine="__UVISION_VERSION SETA 538" --predefine="_RTE_ SETA 1" --p
-redefine="STM32L072xx SETA 1" --predefine="_RTE_ SETA 1" --list=startup_stm32l0
-72xx.lst startup_stm32l072xx.s
-
-
-
-ARM Macro Assembler    Page 1 Alphabetic symbol ordering
-Relocatable symbols
-
-STACK 00000000
-
-Symbol: STACK
-   Definitions
-      At line 33 in file startup_stm32l072xx.s
-   Uses
-      None
-Comment: STACK unused
-Stack_Mem 00000000
-
-Symbol: Stack_Mem
-   Definitions
-      At line 34 in file startup_stm32l072xx.s
-   Uses
-      At line 239 in file startup_stm32l072xx.s
-      At line 241 in file startup_stm32l072xx.s
-
-__initial_sp 00000600
-
-Symbol: __initial_sp
-   Definitions
-      At line 35 in file startup_stm32l072xx.s
-   Uses
-      At line 59 in file startup_stm32l072xx.s
-Comment: __initial_sp used once
-3 symbols
-
-
-
-ARM Macro Assembler    Page 1 Alphabetic symbol ordering
-Relocatable symbols
-
-HEAP 00000000
-
-Symbol: HEAP
-   Definitions
-      At line 44 in file startup_stm32l072xx.s
-   Uses
-      None
-Comment: HEAP unused
-Heap_Mem 00000000
-
-Symbol: Heap_Mem
-   Definitions
-      At line 46 in file startup_stm32l072xx.s
-   Uses
-      At line 238 in file startup_stm32l072xx.s
-      At line 240 in file startup_stm32l072xx.s
-
-__heap_base 00000000
-
-Symbol: __heap_base
-   Definitions
-      At line 45 in file startup_stm32l072xx.s
-   Uses
-      None
-Comment: __heap_base unused
-__heap_limit 00000400
-
-Symbol: __heap_limit
-   Definitions
-      At line 47 in file startup_stm32l072xx.s
-   Uses
-      None
-Comment: __heap_limit unused
-4 symbols
-
-
-
-ARM Macro Assembler    Page 1 Alphabetic symbol ordering
-Relocatable symbols
-
-RESET 00000000
-
-Symbol: RESET
-   Definitions
-      At line 54 in file startup_stm32l072xx.s
-   Uses
-      None
-Comment: RESET unused
-__Vectors 00000000
-
-Symbol: __Vectors
-   Definitions
-      At line 59 in file startup_stm32l072xx.s
-   Uses
-      At line 55 in file startup_stm32l072xx.s
-      At line 112 in file startup_stm32l072xx.s
-
-__Vectors_End 000000C0
-
-Symbol: __Vectors_End
-   Definitions
-      At line 110 in file startup_stm32l072xx.s
-   Uses
-      At line 56 in file startup_stm32l072xx.s
-      At line 112 in file startup_stm32l072xx.s
-
-3 symbols
-
-
-
-ARM Macro Assembler    Page 1 Alphabetic symbol ordering
-Relocatable symbols
-
-.text 00000000
-
-Symbol: .text
-   Definitions
-      At line 114 in file startup_stm32l072xx.s
-   Uses
-      None
-Comment: .text unused
-ADC1_COMP_IRQHandler 00000012
-
-Symbol: ADC1_COMP_IRQHandler
-   Definitions
-      At line 197 in file startup_stm32l072xx.s
-   Uses
-      At line 89 in file startup_stm32l072xx.s
-      At line 165 in file startup_stm32l072xx.s
-
-DMA1_Channel1_IRQHandler 00000012
-
-Symbol: DMA1_Channel1_IRQHandler
-   Definitions
-      At line 194 in file startup_stm32l072xx.s
-   Uses
-      At line 86 in file startup_stm32l072xx.s
-      At line 162 in file startup_stm32l072xx.s
-
-DMA1_Channel2_3_IRQHandler 00000012
-
-Symbol: DMA1_Channel2_3_IRQHandler
-   Definitions
-      At line 195 in file startup_stm32l072xx.s
-   Uses
-      At line 87 in file startup_stm32l072xx.s
-      At line 163 in file startup_stm32l072xx.s
-
-DMA1_Channel4_5_6_7_IRQHandler 00000012
-
-Symbol: DMA1_Channel4_5_6_7_IRQHandler
-   Definitions
-      At line 196 in file startup_stm32l072xx.s
-   Uses
-      At line 88 in file startup_stm32l072xx.s
-      At line 164 in file startup_stm32l072xx.s
-
-Default_Handler 00000012
-
-Symbol: Default_Handler
-   Definitions
-      At line 151 in file startup_stm32l072xx.s
-   Uses
-      None
-Comment: Default_Handler unused
-EXTI0_1_IRQHandler 00000012
-
-Symbol: EXTI0_1_IRQHandler
-   Definitions
-      At line 190 in file startup_stm32l072xx.s
-   Uses
-      At line 82 in file startup_stm32l072xx.s
-
-
-
-ARM Macro Assembler    Page 2 Alphabetic symbol ordering
-Relocatable symbols
-
-      At line 158 in file startup_stm32l072xx.s
-
-EXTI2_3_IRQHandler 00000012
-
-Symbol: EXTI2_3_IRQHandler
-   Definitions
-      At line 191 in file startup_stm32l072xx.s
-   Uses
-      At line 83 in file startup_stm32l072xx.s
-      At line 159 in file startup_stm32l072xx.s
-
-EXTI4_15_IRQHandler 00000012
-
-Symbol: EXTI4_15_IRQHandler
-   Definitions
-      At line 192 in file startup_stm32l072xx.s
-   Uses
-      At line 84 in file startup_stm32l072xx.s
-      At line 160 in file startup_stm32l072xx.s
-
-FLASH_IRQHandler 00000012
-
-Symbol: FLASH_IRQHandler
-   Definitions
-      At line 188 in file startup_stm32l072xx.s
-   Uses
-      At line 80 in file startup_stm32l072xx.s
-      At line 156 in file startup_stm32l072xx.s
-
-HardFault_Handler 0000000A
-
-Symbol: HardFault_Handler
-   Definitions
-      At line 134 in file startup_stm32l072xx.s
-   Uses
-      At line 62 in file startup_stm32l072xx.s
-      At line 135 in file startup_stm32l072xx.s
-
-I2C1_IRQHandler 00000012
-
-Symbol: I2C1_IRQHandler
-   Definitions
-      At line 206 in file startup_stm32l072xx.s
-   Uses
-      At line 100 in file startup_stm32l072xx.s
-      At line 174 in file startup_stm32l072xx.s
-
-I2C2_IRQHandler 00000012
-
-Symbol: I2C2_IRQHandler
-   Definitions
-      At line 207 in file startup_stm32l072xx.s
-   Uses
-      At line 101 in file startup_stm32l072xx.s
-      At line 175 in file startup_stm32l072xx.s
-
-I2C3_IRQHandler 00000012
-
-Symbol: I2C3_IRQHandler
-
-
-
-ARM Macro Assembler    Page 3 Alphabetic symbol ordering
-Relocatable symbols
-
-   Definitions
-      At line 208 in file startup_stm32l072xx.s
-   Uses
-      At line 98 in file startup_stm32l072xx.s
-      At line 176 in file startup_stm32l072xx.s
-
-LPTIM1_IRQHandler 00000012
-
-Symbol: LPTIM1_IRQHandler
-   Definitions
-      At line 198 in file startup_stm32l072xx.s
-   Uses
-      At line 90 in file startup_stm32l072xx.s
-      At line 166 in file startup_stm32l072xx.s
-
-NMI_Handler 00000008
-
-Symbol: NMI_Handler
-   Definitions
-      At line 129 in file startup_stm32l072xx.s
-   Uses
-      At line 61 in file startup_stm32l072xx.s
-      At line 130 in file startup_stm32l072xx.s
-
-PVD_IRQHandler 00000012
-
-Symbol: PVD_IRQHandler
-   Definitions
-      At line 186 in file startup_stm32l072xx.s
-   Uses
-      At line 78 in file startup_stm32l072xx.s
-      At line 154 in file startup_stm32l072xx.s
-
-PendSV_Handler 0000000E
-
-Symbol: PendSV_Handler
-   Definitions
-      At line 142 in file startup_stm32l072xx.s
-   Uses
-      At line 73 in file startup_stm32l072xx.s
-      At line 143 in file startup_stm32l072xx.s
-
-RCC_CRS_IRQHandler 00000012
-
-Symbol: RCC_CRS_IRQHandler
-   Definitions
-      At line 189 in file startup_stm32l072xx.s
-   Uses
-      At line 81 in file startup_stm32l072xx.s
-      At line 157 in file startup_stm32l072xx.s
-
-RNG_LPUART1_IRQHandler 00000012
-
-Symbol: RNG_LPUART1_IRQHandler
-   Definitions
-      At line 213 in file startup_stm32l072xx.s
-   Uses
-      At line 106 in file startup_stm32l072xx.s
-      At line 181 in file startup_stm32l072xx.s
-
-
-
-ARM Macro Assembler    Page 4 Alphabetic symbol ordering
-Relocatable symbols
-
-
-RTC_IRQHandler 00000012
-
-Symbol: RTC_IRQHandler
-   Definitions
-      At line 187 in file startup_stm32l072xx.s
-   Uses
-      At line 79 in file startup_stm32l072xx.s
-      At line 155 in file startup_stm32l072xx.s
-
-Reset_Handler 00000000
-
-Symbol: Reset_Handler
-   Definitions
-      At line 117 in file startup_stm32l072xx.s
-   Uses
-      At line 60 in file startup_stm32l072xx.s
-      At line 118 in file startup_stm32l072xx.s
-
-SPI1_IRQHandler 00000012
-
-Symbol: SPI1_IRQHandler
-   Definitions
-      At line 209 in file startup_stm32l072xx.s
-   Uses
-      At line 102 in file startup_stm32l072xx.s
-      At line 177 in file startup_stm32l072xx.s
-
-SPI2_IRQHandler 00000012
-
-Symbol: SPI2_IRQHandler
-   Definitions
-      At line 210 in file startup_stm32l072xx.s
-   Uses
-      At line 103 in file startup_stm32l072xx.s
-      At line 178 in file startup_stm32l072xx.s
-
-SVC_Handler 0000000C
-
-Symbol: SVC_Handler
-   Definitions
-      At line 138 in file startup_stm32l072xx.s
-   Uses
-      At line 70 in file startup_stm32l072xx.s
-      At line 139 in file startup_stm32l072xx.s
-
-SysTick_Handler 00000010
-
-Symbol: SysTick_Handler
-   Definitions
-      At line 146 in file startup_stm32l072xx.s
-   Uses
-      At line 74 in file startup_stm32l072xx.s
-      At line 147 in file startup_stm32l072xx.s
-
-TIM21_IRQHandler 00000012
-
-Symbol: TIM21_IRQHandler
-   Definitions
-
-
-
-ARM Macro Assembler    Page 5 Alphabetic symbol ordering
-Relocatable symbols
-
-      At line 204 in file startup_stm32l072xx.s
-   Uses
-      At line 97 in file startup_stm32l072xx.s
-      At line 172 in file startup_stm32l072xx.s
-
-TIM22_IRQHandler 00000012
-
-Symbol: TIM22_IRQHandler
-   Definitions
-      At line 205 in file startup_stm32l072xx.s
-   Uses
-      At line 99 in file startup_stm32l072xx.s
-      At line 173 in file startup_stm32l072xx.s
-
-TIM2_IRQHandler 00000012
-
-Symbol: TIM2_IRQHandler
-   Definitions
-      At line 200 in file startup_stm32l072xx.s
-   Uses
-      At line 92 in file startup_stm32l072xx.s
-      At line 168 in file startup_stm32l072xx.s
-
-TIM3_IRQHandler 00000012
-
-Symbol: TIM3_IRQHandler
-   Definitions
-      At line 201 in file startup_stm32l072xx.s
-   Uses
-      At line 93 in file startup_stm32l072xx.s
-      At line 169 in file startup_stm32l072xx.s
-
-TIM6_DAC_IRQHandler 00000012
-
-Symbol: TIM6_DAC_IRQHandler
-   Definitions
-      At line 202 in file startup_stm32l072xx.s
-   Uses
-      At line 94 in file startup_stm32l072xx.s
-      At line 170 in file startup_stm32l072xx.s
-
-TIM7_IRQHandler 00000012
-
-Symbol: TIM7_IRQHandler
-   Definitions
-      At line 203 in file startup_stm32l072xx.s
-   Uses
-      At line 95 in file startup_stm32l072xx.s
-      At line 171 in file startup_stm32l072xx.s
-
-TSC_IRQHandler 00000012
-
-Symbol: TSC_IRQHandler
-   Definitions
-      At line 193 in file startup_stm32l072xx.s
-   Uses
-      At line 85 in file startup_stm32l072xx.s
-      At line 161 in file startup_stm32l072xx.s
-
-
-
-
-ARM Macro Assembler    Page 6 Alphabetic symbol ordering
-Relocatable symbols
-
-USART1_IRQHandler 00000012
-
-Symbol: USART1_IRQHandler
-   Definitions
-      At line 211 in file startup_stm32l072xx.s
-   Uses
-      At line 104 in file startup_stm32l072xx.s
-      At line 179 in file startup_stm32l072xx.s
-
-USART2_IRQHandler 00000012
-
-Symbol: USART2_IRQHandler
-   Definitions
-      At line 212 in file startup_stm32l072xx.s
-   Uses
-      At line 105 in file startup_stm32l072xx.s
-      At line 180 in file startup_stm32l072xx.s
-
-USART4_5_IRQHandler 00000012
-
-Symbol: USART4_5_IRQHandler
-   Definitions
-      At line 199 in file startup_stm32l072xx.s
-   Uses
-      At line 91 in file startup_stm32l072xx.s
-      At line 167 in file startup_stm32l072xx.s
-
-USB_IRQHandler 00000012
-
-Symbol: USB_IRQHandler
-   Definitions
-      At line 214 in file startup_stm32l072xx.s
-   Uses
-      At line 108 in file startup_stm32l072xx.s
-      At line 182 in file startup_stm32l072xx.s
-
-WWDG_IRQHandler 00000012
-
-Symbol: WWDG_IRQHandler
-   Definitions
-      At line 185 in file startup_stm32l072xx.s
-   Uses
-      At line 77 in file startup_stm32l072xx.s
-      At line 153 in file startup_stm32l072xx.s
-
-__user_initial_stackheap 00000014
-
-Symbol: __user_initial_stackheap
-   Definitions
-      At line 236 in file startup_stm32l072xx.s
-   Uses
-      At line 234 in file startup_stm32l072xx.s
-Comment: __user_initial_stackheap used once
-39 symbols
-
-
-
-ARM Macro Assembler    Page 1 Alphabetic symbol ordering
-Absolute symbols
-
-Heap_Size 00000400
-
-Symbol: Heap_Size
-   Definitions
-      At line 42 in file startup_stm32l072xx.s
-   Uses
-      At line 46 in file startup_stm32l072xx.s
-      At line 240 in file startup_stm32l072xx.s
-
-Stack_Size 00000600
-
-Symbol: Stack_Size
-   Definitions
-      At line 31 in file startup_stm32l072xx.s
-   Uses
-      At line 34 in file startup_stm32l072xx.s
-      At line 239 in file startup_stm32l072xx.s
-
-__Vectors_Size 000000C0
-
-Symbol: __Vectors_Size
-   Definitions
-      At line 112 in file startup_stm32l072xx.s
-   Uses
-      At line 57 in file startup_stm32l072xx.s
-Comment: __Vectors_Size used once
-3 symbols
-
-
-
-ARM Macro Assembler    Page 1 Alphabetic symbol ordering
-External symbols
-
-SystemInit 00000000
-
-Symbol: SystemInit
-   Definitions
-      At line 120 in file startup_stm32l072xx.s
-   Uses
-      At line 121 in file startup_stm32l072xx.s
-Comment: SystemInit used once
-__main 00000000
-
-Symbol: __main
-   Definitions
-      At line 119 in file startup_stm32l072xx.s
-   Uses
-      At line 123 in file startup_stm32l072xx.s
-Comment: __main used once
-__use_two_region_memory 00000000
-
-Symbol: __use_two_region_memory
-   Definitions
-      At line 233 in file startup_stm32l072xx.s
-   Uses
-      None
-Comment: __use_two_region_memory unused
-3 symbols
-392 symbols in table
diff --git a/User/app.h b/User/app.h
index 1f04332..6738e41 100644
--- a/User/app.h
+++ b/User/app.h
@@ -8,7 +8,7 @@
 typedef struct
 {
     bool is_open;
-    uint32_t calibration_value;
+    float32 calibration_value;
     uint32_t original_value;
 } calibration_sensor_data_t;
 
diff --git a/User/app_flow.c b/User/app_flow.c
index 1b2ebee..ae105b3 100644
--- a/User/app_flow.c
+++ b/User/app_flow.c
@@ -7,7 +7,6 @@
 
 extern __IO app_t app;
 extern motor_t *motor;
-uint8_t detect_result = ST_DEV_NORMAL;
 
 static struct flow fl_adc_inspection;    // ADC
 static struct flow fl_systom_inspection; // 系统
diff --git a/User/board/board.c b/User/board/board.c
index dc6d09a..8bfcc90 100644
--- a/User/board/board.c
+++ b/User/board/board.c
@@ -1,6 +1,7 @@
 #include "board.h"
 #include "motor.h"
 
+extern uint8_t detect_result;
 void motor_process(frame_msg_t *rx, frame_msg_t *bk);
 void sensor_process(frame_msg_t *rx, frame_msg_t *bk);
 void error_process(uint8_t err, frame_msg_t *rx, frame_msg_t *bk);
@@ -126,6 +127,7 @@ void host_rx_msg_deal(void)
     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;
+    detect_result = ST_DEV_NORMAL;
 }
 
 // 串口接收回调
@@ -162,8 +164,6 @@ static void host_uart_init(void)
 motor_t *motor;
 motor_ctrl_t *motor_param = NULL;
 
-extern uint8_t detect_result;
-
 // 电机初始化
 static void motor_init(void)
 {
@@ -213,6 +213,22 @@ static uint8_t motor_ctrl(uint8_t sw, motor_ctrl_t *param)
     return state;
 }
 
+static void motor_state(frame_msg_t *rx, frame_msg_t *bk)
+{
+    DBG_ASSERT(bk != NULL __DBG_LINE);
+
+    step_motor_t *step_motor = &motor->handle.step_motor;
+    uint8_t state = ST_DEV_NORMAL;
+
+    // 回复数据
+    bk->head = PACKET_STX;
+    bk->state = state;
+    bk->dev_no = rx->dev_no;
+    bk->cmd_no = rx->cmd_no;
+    bk->len = sizeof(uint8_t);
+    bk->data[0] = step_motor->attribute.state;
+}
+
 void motor_process_init(void)
 {
     motor_param = (motor_ctrl_t *)osel_mem_alloc(sizeof(motor_ctrl_t));
@@ -256,6 +272,9 @@ void motor_process(frame_msg_t *rx, frame_msg_t *bk)
         bk->state = state;
         break;
     }
+    case MOTOR_STATE:
+        motor_state(rx, bk);
+        break;
     default:
         error_process(ST_CMD_IVALID, rx, bk);
         break;
@@ -263,6 +282,7 @@ void motor_process(frame_msg_t *rx, frame_msg_t *bk)
 }
 
 /*************************************  ADc传感器 *************************************/
+uint8_t detect_result = ST_DEV_NORMAL; // 数据转换结果
 uint16_t sensor_adc[GET_ALL_VALUE] = {0};
 
 // AD传感器
@@ -304,6 +324,10 @@ float32 torsion_detect(void)
 
     adc = get_sensor_adc(GET_TORSION_VALUE);
     val = adc / 4096 * 3000;
+    if (val < 914 || val > 2086)
+    {
+        detect_result = ST_DEV_MISS;
+    }
     val = (val - 1500) / 101 / (1.934 * 3) * 10;
 
     return val;
@@ -315,6 +339,10 @@ float32 pressure_detect(uint8_t id)
 
     adc = get_sensor_adc(id);
     val = adc / 4096 * 3000;
+    if (val < 600 || val > 3000)
+    {
+        detect_result = ST_DEV_MISS;
+    }
     val = (val - 600) / (10 * 15) / 16 * 1000;
 
     return val;
@@ -326,6 +354,10 @@ float32 flow_detect(uint8_t id)
 
     adc = get_sensor_adc(id);
     val = adc / 4096 * 3000;
+    if (val < 600 || val > 3000)
+    {
+        detect_result = ST_DEV_MISS;
+    }
     val = (val - 600) / (10 * 15) / 16 * 300;
 
     return val;
@@ -405,7 +437,7 @@ static uint8_t test_motor_cmd(uint8_t cmd, uint8_t *buf)
     motor_ctrl_t motor_param;
     msg.head = PACKET_STX;
     msg.state = ST_DEV_NORMAL;
-    msg.dev_no = ADC_SENSOR;
+    msg.dev_no = MOTOR;
     msg.cmd_no = cmd;
     switch (cmd)
     {
@@ -422,7 +454,8 @@ static uint8_t test_motor_cmd(uint8_t cmd, uint8_t *buf)
     if (cmd == MOTOR_MOVE)
     {
         motor_param.dir = DIR_CW;
-        motor_param.angle = 1.2;
+        motor_param.angle = 90;
+        motor_param.angle = S2B_FLOAT32(motor_param.angle);
     }
     osel_memcpy((uint8_t *)&buf[index], (uint8_t *)&motor_param, sizeof(motor_ctrl_t));
     index += sizeof(motor_ctrl_t);
diff --git a/User/board/board.h b/User/board/board.h
index 4ea7f40..1484637 100644
--- a/User/board/board.h
+++ b/User/board/board.h
@@ -63,6 +63,7 @@ typedef enum
     SET_MOTOR_SPEED, // 设置电机速度
     MOTOR_MOVE,      // 电机启动（参数1：方向，参数2：角度）
     MOTOR_STOP,      // 电机停止
+    MOTOR_STATE,     // 电机状态
 } motor_cmd_e;
 
 // 传感器命令号
@@ -94,6 +95,8 @@ typedef enum
     TEST_DEV_MAX,
 } test_dev_e;
 
+#pragma pack(1)
+
 typedef struct
 {
     uint8_t head;               // 包头
@@ -116,6 +119,8 @@ typedef struct
     uint8_t cmd_id;
 } test_t;
 
+#pragma pack()
+
 extern uint16_t sensor_adc[GET_ALL_VALUE];
 
 extern void board_init(void);
diff --git a/User/board/motor.c b/User/board/motor.c
index 8a537da..def4ffa 100644
--- a/User/board/motor.c
+++ b/User/board/motor.c
@@ -21,6 +21,7 @@ static void step_motor_run(motor_t *motor, dir_e dir)
     handle->attribute.en = TRUE;
     dir == DIR_CCW ? handle->gpios.dir->set(*handle->gpios.dir) : handle->gpios.dir->reset(*handle->gpios.dir);
     PWM_START(handle->pwm_timer, handle->pwm_channel);
+    handle->attribute.state = TRUE;
 }
 
 static void step_motor_stop(motor_t *motor)
@@ -32,6 +33,7 @@ static void step_motor_stop(motor_t *motor)
     handle->attribute.angle = 0;
     handle->attribute.pulse_count = 0;
     PWM_STOP(handle->pwm_timer, handle->pwm_channel);
+    handle->attribute.state = FALSE;
     if (handle->interface.stop_cb != NULL)
     {
         handle->interface.stop_cb(motor);
@@ -62,7 +64,6 @@ static void step_motor_set_angle(motor_t *motor, float32 angle, dir_e dir)
 
 static void step_motor_set_speed(motor_t *motor, uint32_t psc)
 {
-    
 }
 
 /**
diff --git a/User/board/motor.h b/User/board/motor.h
index ee6cd75..7f0ab53 100644
--- a/User/board/motor.h
+++ b/User/board/motor.h
@@ -15,8 +15,8 @@ typedef struct MOTOR motor_t;
 
 typedef enum
 {
-    DIR_CW = 0, /* 顺时针旋转 */
-    DIR_CCW,    /* 逆时针旋转 */
+    DIR_CW = 0, /* 逆时针旋转 */
+    DIR_CCW,    /* 顺时针旋转 */
 } dir_e;
 typedef enum
 {
@@ -51,6 +51,7 @@ typedef struct
     __IO uint32_t pulse_count; /* 脉冲个数记录 */
     __IO int add_pulse_count;  /* 脉冲个数累计 */
     __IO uint32_t step_angle;  /* 步距 */
+    uint8_t state;             // 运动状态
 } step_motor_attribute_t;
 
 typedef struct
diff --git a/User/system/bsp/adcs.h b/User/system/bsp/adcs.h
index cf7d374..3815ff8 100644
--- a/User/system/bsp/adcs.h
+++ b/User/system/bsp/adcs.h
@@ -65,24 +65,24 @@
 
 typedef enum
 {
-    IN0 = 0,
-    IN1,
-    // IN2,
-    // IN3,
-    // IN4,
-    // IN5,
-    IN6,
+    // IN0 = 0,
+    // IN1,
+    //  IN2,
+    //  IN3,
+    //  IN4,
+    //  IN5,
+    // IN6,
     IN7,
     IN8,
     IN9,
     IN10,
-    IN11,
-    IN12,
+    // IN11,
+    // IN12,
     IN13,
     // IN14,
     // IN15,
-    INVREF,
-    INTEMP,
+    // INVREF,
+    // INTEMP,
     INMAX,
 } adc_num_t; // ADC通道号，根据cubemax配置的通道数量而定
 
diff --git a/User/system/bsp/pwms.h b/User/system/bsp/pwms.h
index a312834..1c4ffe1 100644
--- a/User/system/bsp/pwms.h
+++ b/User/system/bsp/pwms.h
@@ -8,6 +8,7 @@
     {                                       \
         LL_TIM_EnableCounter(TIMx);         \
         LL_TIM_CC_EnableChannel(TIMx, CHx); \
+        LL_TIM_EnableIT_UPDATE(TIMx);       \
     } while (__LINE__ == -1)
 
 // 停止PWM输出
@@ -16,6 +17,7 @@
     {                                        \
         LL_TIM_DisableCounter(TIMx);         \
         LL_TIM_CC_DisableChannel(TIMx, CHx); \
+        LL_TIM_ClearFlag_UPDATE(TIMx);       \
     } while (__LINE__ == -1)
 
 // 修改比较值，修改占空比
diff --git a/motor.ioc b/motor.ioc
index 9cdc193..c3128b2 100644
--- a/motor.ioc
+++ b/motor.ioc
@@ -57,20 +57,22 @@ Mcu.Name=STM32L072R(B-Z)Tx
 Mcu.Package=LQFP64
 Mcu.Pin0=PH0-OSC_IN
 Mcu.Pin1=PH1-OSC_OUT
-Mcu.Pin10=PA10
-Mcu.Pin11=PA13
-Mcu.Pin12=PA14
-Mcu.Pin13=VP_SYS_VS_Systick
-Mcu.Pin14=VP_TIM6_VS_ClockSourceINT
+Mcu.Pin10=PB15
+Mcu.Pin11=PA9
+Mcu.Pin12=PA10
+Mcu.Pin13=PA13
+Mcu.Pin14=PA14
+Mcu.Pin15=VP_SYS_VS_Systick
+Mcu.Pin16=VP_TIM6_VS_ClockSourceINT
 Mcu.Pin2=PC0
 Mcu.Pin3=PC3
-Mcu.Pin4=PB0
-Mcu.Pin5=PB12
-Mcu.Pin6=PB13
-Mcu.Pin7=PB14
-Mcu.Pin8=PB15
-Mcu.Pin9=PA9
-Mcu.PinsNb=15
+Mcu.Pin4=PA7
+Mcu.Pin5=PB0
+Mcu.Pin6=PB1
+Mcu.Pin7=PB12
+Mcu.Pin8=PB13
+Mcu.Pin9=PB14
+Mcu.PinsNb=17
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32L072RBTx
@@ -93,10 +95,14 @@ PA13.Mode=Serial_Wire
 PA13.Signal=SYS_SWDIO
 PA14.Mode=Serial_Wire
 PA14.Signal=SYS_SWCLK
+PA7.Mode=IN7
+PA7.Signal=ADC_IN7
 PA9.Mode=Asynchronous
 PA9.Signal=USART1_TX
 PB0.Mode=IN8
 PB0.Signal=ADC_IN8
+PB1.Mode=IN9
+PB1.Signal=ADC_IN9
 PB12.GPIOParameters=GPIO_Speed,PinState,GPIO_Label
 PB12.GPIO_Label=ENA
 PB12.GPIO_Speed=GPIO_SPEED_FREQ_HIGH