From fba5f0720cbf753f8726dc6b796fcbd95ceb54b5 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, 15 Apr 2024 14:42:11 +0800
Subject: [PATCH] =?UTF-8?q?=E9=80=9A=E8=AE=AF=E5=BE=85=E6=B5=8B=E8=AF=95?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 MDK-ARM/motor.uvoptx    |   46 +-
 MDK-ARM/motor.uvprojx   |    4 +-
 MDK-ARM/motor/motor.hex | 1266 ++++++++++++++++++++++++---------------
 MDK-ARM/motor/motor.lnp |   47 ++
 User/app_flow.c         |    3 +-
 User/board/board.c      |   12 +-
 User/board/board.h      |    3 +-
 User/system/bsp/bsp.h   |   27 +
 User/system/bsp/uarts.c |    4 +-
 9 files changed, 894 insertions(+), 518 deletions(-)
 create mode 100644 MDK-ARM/motor/motor.lnp

diff --git a/MDK-ARM/motor.uvoptx b/MDK-ARM/motor.uvoptx
index 16e224c..de29cce 100644
--- a/MDK-ARM/motor.uvoptx
+++ b/MDK-ARM/motor.uvoptx
@@ -145,27 +145,10 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>ST-LINKIII-KEIL_SWO</Key>
-          <Name>-U-O142 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(0BC11477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32L0xx_128.FLM -FS08000000 -FL020000 -FP0($$Device:STM32L072RBTx$CMSIS\Flash\STM32L0xx_128.FLM) -WA0 -WE0 -WVCE4 -WS2710 -WM0 -WP2</Name>
+          <Name>-US -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(0BC11477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32L0xx_128.FLM -FS08000000 -FL020000 -FP0($$Device:STM32L072RBTx$CMSIS\Flash\STM32L0xx_128.FLM) -WA0 -WE0 -WVCE4 -WS2710 -WM0 -WP2</Name>
         </SetRegEntry>
       </TargetDriverDllRegistry>
-      <Breakpoint>
-        <Bp>
-          <Number>0</Number>
-          <Type>0</Type>
-          <LineNumber>207</LineNumber>
-          <EnabledFlag>1</EnabledFlag>
-          <Address>134223234</Address>
-          <ByteObject>0</ByteObject>
-          <HtxType>0</HtxType>
-          <ManyObjects>0</ManyObjects>
-          <SizeOfObject>0</SizeOfObject>
-          <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>1</BreakIfRCount>
-          <Filename>../Core/Src/stm32l0xx_it.c</Filename>
-          <ExecCommand></ExecCommand>
-          <Expression>\\motor\../Core/Src/stm32l0xx_it.c\207</Expression>
-        </Bp>
-      </Breakpoint>
+      <Breakpoint/>
       <WatchWindow1>
         <Ww>
           <count>0</count>
@@ -197,6 +180,21 @@
           <WinNumber>1</WinNumber>
           <ItemText>motor_dir</ItemText>
         </Ww>
+        <Ww>
+          <count>6</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>deal_done_flag,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>7</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>uarts</ItemText>
+        </Ww>
+        <Ww>
+          <count>8</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>uart</ItemText>
+        </Ww>
       </WatchWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>
@@ -242,12 +240,12 @@
       <pMultCmdsp></pMultCmdsp>
       <SystemViewers>
         <Entry>
-          <Name>System Viewer\TIM21</Name>
-          <WinId>35905</WinId>
+          <Name>System Viewer\DMA1</Name>
+          <WinId>35904</WinId>
         </Entry>
         <Entry>
-          <Name>System Viewer\TIM6</Name>
-          <WinId>35904</WinId>
+          <Name>System Viewer\USART1</Name>
+          <WinId>35905</WinId>
         </Entry>
       </SystemViewers>
       <DebugDescription>
@@ -262,7 +260,7 @@
 
   <Group>
     <GroupName>Application/MDK-ARM</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
diff --git a/MDK-ARM/motor.uvprojx b/MDK-ARM/motor.uvprojx
index 370114d..756e848 100644
--- a/MDK-ARM/motor.uvprojx
+++ b/MDK-ARM/motor.uvprojx
@@ -54,7 +54,7 @@
           <CreateLib>0</CreateLib>
           <CreateHexFile>1</CreateHexFile>
           <DebugInformation>1</DebugInformation>
-          <BrowseInformation>1</BrowseInformation>
+          <BrowseInformation>0</BrowseInformation>
           <ListingPath></ListingPath>
           <HexFormatSelection>1</HexFormatSelection>
           <Merge32K>0</Merge32K>
@@ -314,7 +314,7 @@
           </ArmAdsMisc>
           <Cads>
             <interw>1</interw>
-            <Optim>0</Optim>
+            <Optim>1</Optim>
             <oTime>0</oTime>
             <SplitLS>0</SplitLS>
             <OneElfS>1</OneElfS>
diff --git a/MDK-ARM/motor/motor.hex b/MDK-ARM/motor/motor.hex
index e9fd637..7230e85 100644
--- a/MDK-ARM/motor/motor.hex
+++ b/MDK-ARM/motor/motor.hex
@@ -1,32 +1,32 @@
 :020000040800F2
-:10000000504600209D0100081D140008FD05000851
+:10000000504600209D01000835190008050600082B
 :1000100000000000000000000000000000000000E0
-:1000200000000000000000000000000011150008A2
-:1000300000000000000000001F1400081315000855
+:10002000000000000000000000000000D51B0008D8
+:1000300000000000000000008B1A0008D71B000819
 :10004000AF010008AF010008AF010008AF010008D0
 :10005000AF010008AF010008AF010008AF010008C0
-:10006000AF010008DD050008ED050008AF0100083C
+:10006000AF010008E5050008F5050008AF0100082C
 :10007000AF010008AF010008AF010008AF010008A0
-:10008000AF010008F1150008AF01000800000000F2
-:10009000D9150008AF010008AF010008AF01000842
-:1000A000AF010008AF010008AF01000815160008F5
+:10008000AF010008411D0008AF010008000000009A
+:10009000211D0008AF010008AF010008AF010008F2
+:1000A000AF010008AF010008AF010008751D00088E
 :1000B000AF010008AF01000800000000AF01000818
 :1000C00000F002F800F03EF80CA030C80838241800
 :1000D0002D18A246671EAB4654465D46AC4201D180
 :1000E00000F030F87E460F3E0FCCB6460126334274
-:1000F00000D0FB1AA246AB46334318474C21000000
-:100100006C210000103A02D378C878C1FAD852079F
+:1000F00000D0FB1AA246AB46334318473434000005
+:1001000054340000103A02D378C878C1FAD85207A4
 :1001100001D330C830C101D504680C6070470000BD
 :100120000023002400250026103A01D378C1FBD813
 :10013000520700D330C100D50B6070471FB51FBDFB
-:1001400010B510BD00F00DFA1146FFF7F7FF01F0F2
-:1001500077FC00F025FA03B4FFF7F2FF03BC00F0D0
+:1001400010B510BD00F00DFA1146FFF7F7FF02F0F1
+:1001500047FA00F025FA03B4FFF7F2FF03BC00F002
 :100160002BFA000070B505460C46164602E00FCC8F
 :100170000FC5103E102EFAD2082E02D303CC03C5B1
 :10018000083E042E07D301CC01C5361F03E02178B9
 :100190002970641C6D1C761EF9D270BD074880471B
 :1001A00007480047FEE7FEE7FEE7FEE7FEE7FEE75B
-:1001B00004480549054A064B70470000D51500085C
+:1001B00004480549054A064B704700001D1D00080C
 :1001C000C1000008503C0020504600205040002054
 :1001D0005040002001E004C0091F0429FBD28B0716
 :1001E00001D50280801CC90700D002707047002929
@@ -75,7 +75,7 @@
 :10049000AB42F9D84900A942F6D8AB4201D1A942F2
 :1004A000F2D0A94201D1002101E061004908D00544
 :1004B0000843F0BD1102090EFBD0FF200243D00516
-:1004C000F0BD0A460146104654E70000421E0000F7
+:1004C000F0BD0A460146104654E700002A310000FC
 :1004D0000000C07F0102C21504D00123DB071943CD
 :1004E000002A0ADB9E239A1A02D40846D04070479D
 :1004F000FF2241001206914201D900207047C01727
@@ -91,474 +91,776 @@
 :10059000C0C5C0C5C0C5C0C5403D49008D467047F7
 :1005A00010B50446C046C0462046FFF7D4FD10BD36
 :1005B00000487047EC3B002001491820ABBEFEE725
-:1005C0002600020070470000002801D0012070477B
-:1005D00001480180FEE70000A800002010B5024895
-:1005E00007C801F0D3F810BD8000002010B5024804
-:1005F000006801F018FC10BDE0390020FEE70000A3
-:1006000070B583680022DB07DB0F02D001221046A1
-:1006100070BD8C684B68C5682343CC68054E354077
-:100620002C432343C360036909689B009B080B4369
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-:10064000DB0F02D00122104630BD18C94D6823438C
-:100650000C6889682C4323430B43C168024C21403A
-:100660000B43C360EFE700003CC2FEFF044A511891
-:100670002039C97F4258520852004250704700004A
-:10068000CF210008044A51182039C97F425801235C
-:100690001A43425070470000CF210008054B10B5A7
-:1006A00059182039C97F435803242403A343134313
-:1006B000435010BD71210008054B59182039C97FDE
-:1006C000001D0B581B0C1B0413430B5070470000FC
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+:10354000EC3500089C000020B44500002001000874
+:10355000000020000000000000000000000000004B
+:10356000000000000000000000000000000000005B
+:10357000000000000000000000000000000000004B
+:10358000000000000000000000000000000000003B
+:10359000000000006127000855280008C000002036
+:1035A00040000020C0340020420000200000000045
+:1035B000000000000000000000000000000000000B
+:1035C00000000000000000000000000000000000FB
+:1035D00000240140000002400100000022340008E5
+:0C35E00028340008C6E533B4DD1F0008E5
 :04000005080000C12E
 :00000001FF
diff --git a/MDK-ARM/motor/motor.lnp b/MDK-ARM/motor/motor.lnp
new file mode 100644
index 0000000..eb153cb
--- /dev/null
+++ b/MDK-ARM/motor/motor.lnp
@@ -0,0 +1,47 @@
+--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_flow.c b/User/app_flow.c
index 1ee5738..160fc75 100644
--- a/User/app_flow.c
+++ b/User/app_flow.c
@@ -28,7 +28,8 @@ static uint8_t systom_inspection(struct flow *fl)
     FL_HEAD(fl);
     for (;;)
     {
-        FL_LOCK_DELAY(fl, FL_CLOCK_100MSEC); /* 延时100毫秒 */
+        host_data_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 dc18dc6..0fc0ca7 100644
--- a/User/board/board.c
+++ b/User/board/board.c
@@ -6,7 +6,7 @@ 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 = FALSE; // 数据处理标志
+__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];
@@ -65,7 +65,7 @@ static void send_data_encode(frame_msg_t *msg)
 }
 
 // 数据处理
-void host_data_deal(uint8_t *data, uint16_t len)
+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;
@@ -74,8 +74,7 @@ void host_data_deal(uint8_t *data, uint16_t len)
     {
         return;
     }
-    // 解析
-    host_data_decode(data, len, rx_msg);
+
     // 执行
     switch (rx_msg->dev_no)
     {
@@ -139,6 +138,7 @@ static void host_rx_cb(uint8_t uart_index, uint8_t *data, uint16_t len)
     // 数据处理
     if (ret == TRUE && deal_done_flag == TRUE)
     {
+        host_data_decode(data, len, (frame_msg_t *)&rx_frame);
         deal_done_flag = FALSE;
     }
 }
@@ -179,7 +179,7 @@ static void motor_init(void)
 // 电机任务
 void motor_process(frame_msg_t *rx, frame_msg_t *bk)
 {
-//    BOOL ret = TRUE;
+    //    BOOL ret = TRUE;
 
     switch (rx->cmd_no)
     {
@@ -243,10 +243,10 @@ void sensor_procss(frame_msg_t *rx, frame_msg_t *bk)
 void board_init(void)
 {
     motor = NULL;
-    osel_memset((uint8_t *)uarts, 0, sizeof(uarts));
     my_mem_init(SRAMIN);
 
     motor_init();     // 电机初始化
     adc_init(adc1);   // 初始化ADC1通道，默认采集AD
+    host_uart_init(); // 串口初始化
     ENABLE_TIM(TIM6); // 任务流程定时器使能
 }
diff --git a/User/board/board.h b/User/board/board.h
index 24c81f0..3c4636e 100644
--- a/User/board/board.h
+++ b/User/board/board.h
@@ -73,7 +73,8 @@ typedef struct
 
 } frame_msg_t;
 
+extern void host_uart_init(void);
 extern void board_init(void);
-void host_data_deal(uint8_t *data, uint16_t len);
+extern void host_data_deal(void);
 
 #endif // __BOARD_H__
diff --git a/User/system/bsp/bsp.h b/User/system/bsp/bsp.h
index b117084..a1665d1 100644
--- a/User/system/bsp/bsp.h
+++ b/User/system/bsp/bsp.h
@@ -24,4 +24,31 @@
     } while (__LINE__ == -1);
 
 #define WATCHDOG_RESET() LL_IWDG_ReloadCounter(IWDG)
+
+/**
+ * @brief Clears the flags of a DMA channel
+ * @param DMAX DMAx register base
+ * @param CHx DMA channel number
+ * @param Flag a boolean variable that indicates if the transfer is complete
+ * @note This function should be called within the interrupt service routine of the DMA channel
+ */
+#define DMA_ClEAR_FLAG(DMAX, CHx, Flag)        \
+    do                                         \
+    {                                          \
+        if (LL_DMA_IsActiveFlag_TC##CHx(DMAX)) \
+        {                                      \
+            LL_DMA_ClearFlag_TC##CHx(DMAX);    \
+            LL_DMA_ClearFlag_GI##CHx(DMAX);    \
+            Flag = TRUE;                       \
+        }                                      \
+        if (LL_DMA_IsActiveFlag_TE##CHx(DMAX)) \
+        {                                      \
+            LL_DMA_ClearFlag_TE##CHx(DMAX);    \
+        }                                      \
+        if (LL_DMA_IsActiveFlag_GI##CHx(DMAX)) \
+        {                                      \
+            LL_DMA_ClearFlag_GI##CHx(DMAX);    \
+        }                                      \
+    } while (__LINE__ == -1)
+
 #endif // __BSP_H__
diff --git a/User/system/bsp/uarts.c b/User/system/bsp/uarts.c
index f0b157b..9df55d7 100644
--- a/User/system/bsp/uarts.c
+++ b/User/system/bsp/uarts.c
@@ -365,12 +365,12 @@ void uart_dma_reception_callback(uart_t *uart)
     LL_DMA_DisableChannel(uart->dma, uart->dma_tx_channel);
 
     // 清除发送中断标志位
-    DMA_CLEAR_FLAG_TC_CHANNEL(uart->dma, uart->dma_tx_channel + 1);
+    DMA_CLEAR_FLAG_TC_CHANNEL(uart->dma, uart->dma_tx_channel);
 
     // 使能发送中断，用于关闭发送使能引脚
     LL_USART_EnableIT_TC(uart->huart); // 使能发送中断，用于关闭发送使能引脚
     uart->tx_dma_ok = TRUE;
 
     // 清除传输错误标志
-    DMA_CLEAR_FLAG_TE_CHANNEL(uart->dma, uart->dma_tx_channel + 1);
+    DMA_CLEAR_FLAG_TE_CHANNEL(uart->dma, uart->dma_tx_channel);
 }