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2025-01-02 · 2024-04-19 16:37:51 +08:00 · 2024-04-15 16:51:29 +08:00 · 2024-04-15 14:43:16 +08:00
20 changed files with 887 additions and 2046 deletions
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@ -4,8 +4,7 @@
        "board.h": "c",
        "motor.h": "c",
        "main.h": "c",
-        "app.h": "c",
-        "type_traits": "c"
+        "app.h": "c"
    },
    "C_Cpp.errorSquiggles": "disabled"
 }
--- a/Core/Src/adc.c
+++ b/Core/Src/adc.c
@ -41,14 +41,28 @@ 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
  PC3   ------> ADC_IN13
+  PA7   ------> ADC_IN7
+  PB0   ------> ADC_IN8
  */
  GPIO_InitStruct.Pin = MG_ADC_IN13_Pin;
  GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG;
  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);
+
  /* ADC DMA Init */

  /* ADC Init */
@ -72,6 +86,14 @@ 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_13);
--- a/Core/Src/gpio.c
+++ b/Core/Src/gpio.c
@ -138,12 +138,6 @@ 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;
@ -156,12 +150,6 @@ void MX_GPIO_Init(void)
  GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
  LL_GPIO_Init(GPIOC, &GPIO_InitStruct);

-  /**/
-  GPIO_InitStruct.Pin = LL_GPIO_PIN_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;
--- a/Core/Src/stm32l0xx_it.c
+++ b/Core/Src/stm32l0xx_it.c
@ -154,7 +154,7 @@ void DMA1_Channel1_IRQHandler(void)
  /* USER CODE END DMA1_Channel1_IRQn 0 */

  /* USER CODE BEGIN DMA1_Channel1_IRQn 1 */
-  adc_convert_callback(adc1);
+
  /* USER CODE END DMA1_Channel1_IRQn 1 */
 }

@ -168,7 +168,7 @@ void DMA1_Channel2_3_IRQHandler(void)
  /* USER CODE END DMA1_Channel2_3_IRQn 0 */

  /* USER CODE BEGIN DMA1_Channel2_3_IRQn 1 */
-  uart_dma_reception_callback(uarts[UART_NUM_1]);
+
  /* USER CODE END DMA1_Channel2_3_IRQn 1 */
 }

@ -198,11 +198,13 @@ void TIM21_IRQHandler(void)
  /* USER CODE BEGIN TIM21_IRQn 0 */

  /* USER CODE END TIM21_IRQn 0 */
-
  /* USER CODE BEGIN TIM21_IRQn 1 */
  if (LL_TIM_IsActiveFlag_UPDATE(TIM21))
  {
+    __NOP();
+    step_motor_update(motor);
    LL_TIM_ClearFlag_UPDATE(TIM21);
+    __NOP();
  }
  /* USER CODE END TIM21_IRQn 1 */
 }
@ -216,7 +218,7 @@ void USART1_IRQHandler(void)

  /* USER CODE END USART1_IRQn 0 */
  /* USER CODE BEGIN USART1_IRQn 1 */
-  uart_reception_callback(uarts[UART_NUM_1]);
+
  /* USER CODE END USART1_IRQn 1 */
 }

--- 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>
@ -175,27 +158,22 @@
        <Ww>
          <count>1</count>
          <WinNumber>1</WinNumber>
-          <ItemText>motor_state</ItemText>
+          <ItemText>motor_state,0x0A</ItemText>
        </Ww>
        <Ww>
          <count>2</count>
          <WinNumber>1</WinNumber>
-          <ItemText>motor_ccr</ItemText>
+          <ItemText>motor-&gt;handle.step_motor.attribute,0x0A</ItemText>
        </Ww>
        <Ww>
          <count>3</count>
          <WinNumber>1</WinNumber>
-          <ItemText>step_motor_flag</ItemText>
+          <ItemText>motor_param,0x0A</ItemText>
        </Ww>
        <Ww>
          <count>4</count>
          <WinNumber>1</WinNumber>
-          <ItemText>motor-&gt;handle.step_motor.attribute,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>5</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>motor_dir</ItemText>
+          <ItemText>\\motor\../User/board/board.c\motor_state,0x0A</ItemText>
        </Ww>
      </WatchWindow1>
      <Tracepoint>
@ -240,16 +218,6 @@
      <pszMrulep></pszMrulep>
      <pSingCmdsp></pSingCmdsp>
      <pMultCmdsp></pMultCmdsp>
-      <SystemViewers>
-        <Entry>
-          <Name>System Viewer\TIM21</Name>
-          <WinId>35905</WinId>
-        </Entry>
-        <Entry>
-          <Name>System Viewer\TIM6</Name>
-          <WinId>35904</WinId>
-        </Entry>
-      </SystemViewers>
      <DebugDescription>
        <Enable>1</Enable>
        <EnableFlashSeq>0</EnableFlashSeq>
@ -282,7 +250,7 @@

  <Group>
    <GroupName>Application/User/Core</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
    <tvExpOptDlg>0</tvExpOptDlg>
    <cbSel>0</cbSel>
    <RteFlg>0</RteFlg>
@ -510,7 +478,7 @@

  <Group>
    <GroupName>User</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
    <tvExpOptDlg>0</tvExpOptDlg>
    <cbSel>0</cbSel>
    <RteFlg>0</RteFlg>
@ -806,7 +774,7 @@

  <Group>
    <GroupName>User/board</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
    <tvExpOptDlg>0</tvExpOptDlg>
    <cbSel>0</cbSel>
    <RteFlg>0</RteFlg>
--- a/MDK-ARM/motor/motor.hex
+++ b/MDK-ARM/motor/motor.hex
--- a/MDK-ARM/startup_stm32l072xx.lst
+++ b/MDK-ARM/startup_stm32l072xx.lst
@ -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
--- 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
 }

--- a/User/app.h
+++ b/User/app.h
@ -8,13 +8,15 @@
 typedef struct
 {
    bool is_open;
-    uint32_t calibration_value;
+    float32 calibration_value;
    uint32_t original_value;
 } calibration_sensor_data_t;

 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
--- 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 (;;)
    {
+        // 扭力
        app.adc.torsion_in13.original_value = adc_get_result_average(IN13);
+        app.adc.torsion_in13.calibration_value = torsion_detect(app.adc.torsion_in13.original_value);
+        // 压力
+        app.adc.pressure_in7.original_value = adc_get_result_average(IN7);
+        app.adc.pressure_in7.calibration_value = pressure_detect(app.adc.pressure_in7.original_value);
+        // 流量
+        app.adc.pressure_in8.original_value = adc_get_result_average(IN8);
+        app.adc.pressure_in8.calibration_value = flow_detect(app.adc.pressure_in8.original_value);
        FL_LOCK_DELAY(fl, FL_CLOCK_100MSEC); /* 延时100毫秒 */
    }
    FL_TAIL(fl);
@ -28,6 +36,7 @@ static uint8_t systom_inspection(struct flow *fl)
    FL_HEAD(fl);
    for (;;)
    {
+        motor_process();
        FL_LOCK_DELAY(fl, FL_CLOCK_100MSEC); /* 延时100毫秒 */
    }
    FL_TAIL(fl);
--- a/User/application/motor_app.c
+++ b/User/application/motor_app.c
@ -1,2 +0,0 @@
-#include "motor.h"
-
--- a/User/application/motor_app.h
+++ b/User/application/motor_app.h
@ -1,8 +0,0 @@
-#ifndef __MOTOR_APP_H__
-#define __MOTOR_APP_H__
-
-
-
-extern void motor_process(void);
-
-#endif
--- a/User/board/board.c
+++ b/User/board/board.c
@ -1,167 +1,47 @@
 #include "board.h"
 #include "motor.h"

-void motor_process(frame_msg_t *rx, frame_msg_t *bk);
-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 frame_msg_t rx_frame;
-__IO static frame_msg_t bk_frame;
-__IO static uint8_t send_buffer[UART_TXSIZE];
-
-// 串口发送
-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)
-{
-    DBG_ASSERT(data != NULL __DBG_LINE);
-    DBG_ASSERT(msg != NULL __DBG_LINE);
-
-    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(uint8_t *data, uint16_t len)
-{
-    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)
-    {
-        return;
-    }
-    // 解析
-    host_data_decode(data, len, rx_msg);
-    // 执行
-    switch (rx_msg->dev_no)
-    {
-    case ADC_SENSOR:
-        sensor_procss(rx_msg, bk_msg);
-        break;
-    case MOTOR:
-        motor_process(rx_msg, bk_msg);
-        break;
-    default:
-        return;
-    }
-    // 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)
-{
-    BOOL ret = TRUE;
-    uint16_t ver_len = 0;
-    uint16_t ver_crc = 0, rx_crc = 0;
-
-    // 包头包尾检查
-    if (data[0] != PACKET_STX || data[1] != MASTER_CODE || data[len - 1] != PACKET_ETX)
-    {
-        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 ret;
-}
-
-// 串口接收回调
-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
-    ret = host_data_verify(data, len);
-    // 数据处理
-    if (ret == TRUE && deal_done_flag == TRUE)
-    {
-        deal_done_flag = FALSE;
-    }
-}
-
-// 串口初始化
-void host_uart_init(void)
-{
-    if (uarts[UART_NUM_1] == NULL)
-    {
-        uarts[UART_NUM_1] = uart_create(USART1, TRUE, UART_RXSIZE, host_rx_cb, TRUE, UART_TXSIZE, NULL);
-        uarts[UART_NUM_1]->uart_index = UART_NUM_1;
-        uarts[UART_NUM_1]->dma = DMA1;
-        uarts[UART_NUM_1]->dma_rx_channel = LL_DMA_CHANNEL_3;
-        uarts[UART_NUM_1]->dma_tx_channel = LL_DMA_CHANNEL_2;
-        uart_recv_en(uarts[UART_NUM_1]);
-    }
-}
-
-/*************************************  电机 *************************************/
-// 电机对象
 motor_t *motor;
+motor_ctrl_t *motor_param = NULL;
+uint8_t motor_state = MOTOR_IDEL;
+
+adc_t adc1 = {
+    .adc = ADC1,
+    .dma = DMA1,
+    .dma_channel = LL_DMA_CHANNEL_1,
+};
+
+// 单位：N·m
+float32 torsion_detect(uint16_t adc)
+{
+    float32 val = 0;
+    val = (float32)adc / 4096 * 3000;
+    val = (val - 1500) / 101 / (1.934 * 3) * 10;
+
+    return val;
+}
+
+// 单位：kPa
+float32 pressure_detect(uint16_t adc)
+{
+    float32 val = 0;
+    val = (float32)adc / 4096 * 3000;
+    val = (val - 600) / (10 * 15) / 16 * 1000;
+
+    return val;
+}
+
+// 单位：SLPM
+float32 flow_detect(uint16_t adc)
+{
+    float32 val = 0;
+    val = (float32)adc / 4096 * 3000;
+    val = (val - 600) / (10 * 15) / 16 * 300;
+
+    return val;
+}

-// 电机初始化
 static void motor_init(void)
 {
    motor = motor_create(STEP_MOTOR);
@ -173,73 +53,41 @@ static void motor_init(void)
        .port = ENA_GPIO_Port,
        .pin = ENA_Pin,
    };
-    motor->handle.step_motor.interface.init(motor, dir, en, MIN_STEP_ANGLE, TIM21, LL_TIM_CHANNEL_CH2);
+    motor->handle.step_motor.interface.init(motor, dir, en, MAX_STEP_ANGLE, TIM21, LL_TIM_CHANNEL_CH2);
 }

-// 电机任务
-void motor_process(frame_msg_t *rx, frame_msg_t *bk)
+void motor_process_init(void)
 {
-//    BOOL ret = TRUE;
+    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));
+}

-    switch (rx->cmd_no)
+void motor_process(void)
+{
+    step_motor_t *step_motor = &motor->handle.step_motor;
+
+    switch (motor_state)
    {
-    case SET_MOTOR_SPEED: // 设置电机转速
+    case MOTOR_RUN:
+        step_motor->interface.run(motor, (dir_e)motor_param->dir);
+        motor_state = MOTOR_IDEL;
        break;
-    case SET_DRIVER_PULSE: // 设置驱动器脉冲
+    case MOTOR_STOP:
+        step_motor->interface.stop(motor);
+        motor_state = MOTOR_IDEL;
        break;
-    case GET_MIN_STEP: // 获取最小步距
+    case MOTOR_STEP:
+        step_motor->interface.set_angle(motor, motor_param->angle, (dir_e)motor_param->dir);
+        motor_state = MOTOR_IDEL;
        break;
-    case GET_MOTOR_STATE: // 获取电机运行状态
+    case MOTOR_IDEL:
        break;
-    case MOTOR_MOVE: // 运行电机
-        break;
-    case MOTOR_STOP: // 停止电机
+    default:
        break;
    }
-
-    bk->dev_no = MOTOR;
-    bk->cmd_no = rx->cmd_no;
 }

-/*************************************  ADc传感器 *************************************/
-// AD传感器
-adc_t adc1 = {
-    .adc = ADC1,
-    .dma = DMA1,
-    .dma_channel = LL_DMA_CHANNEL_1,
-};
-
-// 获取扭力值
-static BOOL get_tors_value(frame_msg_t *bk)
-{
-    uint16_t value = 0;
-
-    bk->len = sizeof(uint16_t);
-    value = adc_get_result_average(IN13);
-    value = S2B_UINT16(value);
-    osel_memcpy(bk->data, (uint8_t *)&value, bk->len);
-    return TRUE;
-}
-
-// 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);
-        break;
-    }
-
-    bk->state = ret;
-    bk->dev_no = ADC_SENSOR;
-    bk->cmd_no = rx->cmd_no;
-}
-
-/*************************************  板卡 *************************************/
-// 板卡初始化
 void board_init(void)
 {
    motor = NULL;
--- a/User/board/board.h
+++ b/User/board/board.h
@ -4,32 +4,11 @@
 #include "adcs.h"
 #include "uarts.h"

-// 串口协议参数
-#define UART_RXSIZE (240u) // 接收缓冲区 240个字节
-#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
-
-// 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
-// 最大帧长度
-#define PACKET_MAX_LEN (DATA_MAX_LEN + PACKET_MIN_LEN)
-
-// 电机初始默认值
-#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
-{
-    ADC_SENSOR,
-    MOTOR,
-} dev_id_e;
+#define UART_RXSIZE (240u)               // 接收240个字节
+#define UART_TXSIZE (240u)               // 发送240个字节
+#define PULSE_REV (18000.0 * 5)          /* 每圈脉冲数 */
+#define MAX_STEP_ANGLE (360 / PULSE_REV) /* 最小步距(360/PULSE_REV) */
+#define ANGLE 180                        // 步进电机180度，转盘转动1度

 typedef enum
 {
@ -43,37 +22,23 @@ typedef enum

 typedef enum
 {
-    SET_MOTOR_SPEED,
-    SET_DRIVER_PULSE,
-    GET_MIN_STEP,
-    GET_MOTOR_STATE,
-    MOTOR_MOVE,
+    MOTOR_IDEL,
+    MOTOR_RUN,
    MOTOR_STOP,
-} motor_cmd_e;
-
-typedef enum
-{
-    GET_TORS_VALUE,
-} sensor_cmd_e;
-
-typedef enum
-{
-    ST_DEV_NORMAL,
-    ST_DEV_BUSY,
-    ST_MSG_MISS,
-} status_code_e;
+    MOTOR_STEP,
+} motor_process_t;

 typedef struct
 {
-    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;
+    uint8_t dir;
+    float32 angle;
+} motor_ctrl_t;

 extern void board_init(void);
-void host_data_deal(uint8_t *data, uint16_t len);
+extern void motor_process_init(void);
+extern void motor_process(void);
+extern float32 torsion_detect(uint16_t adc);
+extern float32 pressure_detect(uint16_t adc);
+extern float32 flow_detect(uint16_t adc);

 #endif // __BOARD_H__
--- a/User/board/motor.c
+++ b/User/board/motor.c
@ -20,6 +20,8 @@ static void step_motor_run(motor_t *motor, dir_e dir)
    handle->attribute.dir = dir;
    handle->attribute.en = TRUE;
    dir == DIR_CCW ? handle->gpios.dir->set(*handle->gpios.dir) : handle->gpios.dir->reset(*handle->gpios.dir);
+    LL_TIM_EnableIT_UPDATE(handle->pwm_timer);
+    // LL_TIM_EnableIT_CC2(handle->pwm_timer);
    PWM_START(handle->pwm_timer, handle->pwm_channel);
 }

@ -32,13 +34,15 @@ 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);
+    LL_TIM_DisableIT_UPDATE(handle->pwm_timer);
+    LL_TIM_ClearFlag_UPDATE(TIM21);
    if (handle->interface.stop_cb != NULL)
    {
        handle->interface.stop_cb(motor);
    }
 }

-static void step_motor_set_angle(motor_t *motor, uint32_t angle, dir_e dir)
+static void step_motor_set_angle(motor_t *motor, float32 angle, dir_e dir)
 {
    DBG_ASSERT(motor != NULL __DBG_LINE);
    step_motor_t *handle = &motor->handle.step_motor;
@ -86,7 +90,8 @@ void step_motor_update(motor_t *motor)
    if (handle->attribute.pulse_count <= 0) /* 当脉冲数等于0的时候 代表需要发送的脉冲个数已完成，停止定时器输出 */
    {
        LOG_PRINT("累计旋转的角度:%d\r\n", (int)(handle->attribute.add_pulse_count * handle->attribute.min_step_angle)); /* 打印累计转动了多少角度 */
-        handle->interface.stop(motor);                                                                                   /* 停止接口一输出 */
+        handle->interface.stop(motor);
+        /* 停止接口一输出 */
    }
 }

--- a/User/board/motor.h
+++ b/User/board/motor.h
@ -37,7 +37,7 @@ typedef struct
    void (*init)(motor_t *motor, gpio_t dir, gpio_t en, float32 min_step_angle, TIM_TypeDef *pwm_timer, uint32_t pwm_channel); // 初始化
    void (*run)(motor_t *motor, dir_e dir);                                                                                    // 运行
    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 (*set_angle)(motor_t *motor, float32 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

 } step_motor_interface_t;
@ -45,7 +45,7 @@ typedef struct
 typedef struct
 {
    float32 min_step_angle;    /* 最小步距角 */
-    int angle;                 /* 设置需要旋转的角度 */
+    float32 angle;             /* 设置需要旋转的角度 */
    dir_e dir;                 /* 方向 */
    uint8_t en;                /* 使能 */
    __IO uint32_t pulse_count; /* 脉冲个数记录 */
--- a/User/system/bsp/adcs.h
+++ b/User/system/bsp/adcs.h
@ -65,24 +65,24 @@

 typedef enum
 {
-    IN0 = 0,
-    IN1,
+    // IN0 = 0,
+    // IN1,
    //  IN2,
    //  IN3,
    //  IN4,
    //  IN5,
-    IN6,
+    //  IN6,
    IN7,
    IN8,
-    IN9,
-    IN10,
-    IN11,
-    IN12,
+    // IN9,
+    // IN10,
+    // 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

--- a/User/system/bsp/uarts.c
+++ b/User/system/bsp/uarts.c
@ -41,79 +41,6 @@
        }                                      \
    } while (__LINE__ == -1)

-/**
- * @file uarts.c
- * @brief This file contains the implementation of DMA_CLEAR_FLAG_TC_CHANNEL macro.
- */
-
-/**
- * @brief Clear the Transfer Complete (TC) flag of a specific DMA channel.
- *
- * @param dma The DMA peripheral.
- * @param channel The DMA channel number.
- */
-#define DMA_CLEAR_FLAG_TC_CHANNEL(dma, channel) \
-    switch (channel)                            \
-    {                                           \
-    case 1:                                     \
-        DMA_ClEAR_FLAG_TC(dma, 1);              \
-        break;                                  \
-    case 2:                                     \
-        DMA_ClEAR_FLAG_TC(dma, 2);              \
-        break;                                  \
-    case 3:                                     \
-        DMA_ClEAR_FLAG_TC(dma, 3);              \
-        break;                                  \
-    case 4:                                     \
-        DMA_ClEAR_FLAG_TC(dma, 4);              \
-        break;                                  \
-    case 5:                                     \
-        DMA_ClEAR_FLAG_TC(dma, 5);              \
-        break;                                  \
-    case 6:                                     \
-        DMA_ClEAR_FLAG_TC(dma, 6);              \
-        break;                                  \
-    case 7:                                     \
-        DMA_ClEAR_FLAG_TC(dma, 7);              \
-        break;                                  \
-    default:                                    \
-        break;                                  \
-    }
-
-/**
- * @brief Clear the Transfer Error (TE) flag for the specified DMA channel.
- *
- * @param dma The DMA peripheral.
- * @param channel The DMA channel number.
- */
-#define DMA_CLEAR_FLAG_TE_CHANNEL(dma, channel) \
-    switch (channel)                            \
-    {                                           \
-    case 1:                                     \
-        DMA_ClEAR_FLAG_TE(dma, 1);              \
-        break;                                  \
-    case 2:                                     \
-        DMA_ClEAR_FLAG_TE(dma, 2);              \
-        break;                                  \
-    case 3:                                     \
-        DMA_ClEAR_FLAG_TE(dma, 3);              \
-        break;                                  \
-    case 4:                                     \
-        DMA_ClEAR_FLAG_TE(dma, 4);              \
-        break;                                  \
-    case 5:                                     \
-        DMA_ClEAR_FLAG_TE(dma, 5);              \
-        break;                                  \
-    case 6:                                     \
-        DMA_ClEAR_FLAG_TE(dma, 6);              \
-        break;                                  \
-    case 7:                                     \
-        DMA_ClEAR_FLAG_TE(dma, 7);              \
-        break;                                  \
-    default:                                    \
-        break;                                  \
-    }
-
 /**
 * @brief 创建一个UART设备
 * @param {USART_TypeDef} *huart USART总线设备句柄
@ -203,8 +130,6 @@ void uart_recv_en(uart_t *uart)
        LL_DMA_SetMemoryAddress(uart->dma, uart->dma_tx_channel, (uint32_t)uart->txbuf);
        LL_DMA_EnableIT_TC(uart->dma, uart->dma_tx_channel);
        LL_USART_EnableDMAReq_TX(uart->huart);
-
-        uart->tx_dma_ok = TRUE;
    }
 }

@ -244,9 +169,8 @@ void uart_send_data(uart_t *uart, uint8_t *data, uint16_t len)
    DBG_ASSERT(data != NULL __DBG_LINE);
    DBG_ASSERT(len > 0 __DBG_LINE);
    uint8_t count = 0;
-    if (TRUE == uart->tx_dma_en && uart->tx_dma_ok == TRUE)
+    if (TRUE == uart->tx_dma_en)
    {
-        uart->tx_dma_ok = FALSE;
        osel_memcpy(uart->txbuf, data, len); // 拷贝数据到发送缓冲区
        LL_DMA_DisableChannel(uart->dma, uart->dma_tx_channel);
        // 配置数据长度
@ -256,7 +180,6 @@ void uart_send_data(uart_t *uart, uint8_t *data, uint16_t len)
    }
    else
    {
-        count = 0;
        for (uint16_t i = 0; i < len; i++)
        {
            count = 0;
@ -268,7 +191,6 @@ void uart_send_data(uart_t *uart, uint8_t *data, uint16_t len)
                }
            }
            LL_USART_TransmitData8(uart->huart, data[i]);
-        }
            count = 0;
            while (!LL_USART_IsActiveFlag_TC(uart->huart))
            {
@ -278,6 +200,7 @@ void uart_send_data(uart_t *uart, uint8_t *data, uint16_t len)
                }
            }
        }
+    }
 }

 /**
@ -365,12 +288,13 @@ 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(uart->dma, 2);
+    DMA_ClEAR_FLAG_TC(uart->dma, 7);

    // 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);
+    // 清除接收中断标志位
+    DMA_ClEAR_FLAG_TE(uart->dma, 2);
+    DMA_ClEAR_FLAG_TE(uart->dma, 7);
 }
--- a/User/system/bsp/uarts.h
+++ b/User/system/bsp/uarts.h
@ -1,132 +1,47 @@
-/**
- * @file uarts.h
- * @brief Header file for UARTs module.
- *
- * This file contains the definitions and function prototypes for UARTs module.
- * The UARTs module provides functions for creating and managing UART instances,
- * enabling reception, sending data, and handling interrupts.
- */
-
 #ifndef __UARTS_H__
 #define __UARTS_H__
-
 #include "lib.h"
 #include "main.h"

-/**
- * @brief Callback function type for UART receive interrupt.
- *
- * This function type is used to define the callback function for UART receive interrupt.
- * The callback function is called when data is received on the UART.
- *
- * @param uart_index The index of the UART.
- * @param data The received data.
- * @param len The length of the received data.
- */
+//
 typedef void (*rx_interupt_cb_t)(uint8_t uart_index, uint8_t *data, uint16_t len);

-/**
- * @brief Callback function type for UART transmit complete.
- *
- * This function type is used to define the callback function for UART transmit complete.
- * The callback function is called when the UART transmission is complete.
- */
+//
 typedef void (*tx_complete_cb_t)(void);

-/**
- * @brief Enumeration for UART status.
- */
-typedef enum
-{
-    UART_OK = 0x00u,   /**< The action was successful. */
-    UART_ERROR = 0xFFu /**< Generic error. */
-} uart_status_e;
-
-/**
- * @brief Structure representing a UART instance.
- */
+//
 typedef struct
 {
-    uint8_t uart_index;         /**< The index of the UART. */
-    USART_TypeDef *huart;       /**< The UART peripheral. */
-    DMA_TypeDef *dma;           /**< The DMA peripheral. */
-    uint32_t dma_rx_channel;    /**< The DMA receive channel. */
-    uint32_t dma_tx_channel;    /**< The DMA transmit channel. */
-    uint16_t rx_index;          /**< The receive data index. */
-    BOOL rx_dma_en;             /**< Flag indicating if DMA reception is enabled. */
-    uint8_t *rxbuf;             /**< The receive buffer. */
-    uint16_t rxsize;            /**< The size of the receive buffer. */
-    uint16_t tx_index;          /**< The transmit data index. */
-    BOOL tx_dma_en;             /**< Flag indicating if DMA transmission is enabled. */
-    uint8_t *txbuf;             /**< The transmit buffer. */
-    uint16_t txsize;            /**< The size of the transmit buffer. */
-    __IO BOOL tx_dma_ok;        /**< Flag indicating if DMA transmission is complete. */
-    rx_interupt_cb_t rx_interupt_cb;     /**< The receive interrupt callback function. */
-    tx_complete_cb_t tx_complete_cb;     /**< The transmit complete callback function. */
+    uint8_t uart_index; // 串口索引
+    USART_TypeDef *huart;
+    DMA_TypeDef *dma;        // 外部设置
+    uint32_t dma_rx_channel; // 外部设置
+    uint32_t dma_tx_channel; // 外部设置
+
+    uint16_t rx_index; // 接收数据索引
+    BOOL rx_dma_en;
+    uint8_t *rxbuf;
+    uint16_t rx_sta;
+    uint16_t rxsize;
+
+    uint16_t tx_index;
+    BOOL tx_dma_en;
+    uint8_t *txbuf;
+    uint16_t txsize;
+
+    // 接收中断回调
+    rx_interupt_cb_t rx_interupt_cb;
+    // 发生完成回调
+    tx_complete_cb_t tx_complete_cb;
+
 } uart_t;

-/**
- * @brief Creates a UART instance.
- *
- * This function creates a UART instance with the specified parameters.
- *
- * @param huart The UART peripheral.
- * @param rx_dma_en Flag indicating if DMA reception is enabled.
- * @param rxsize The size of the receive buffer.
- * @param rx_cb The receive interrupt callback function.
- * @param tx_dma_en Flag indicating if DMA transmission is enabled.
- * @param txsize The size of the transmit buffer.
- * @param tx_complete_cb The transmit complete callback function.
- * @return The created UART instance.
- */
 extern uart_t *uart_create(USART_TypeDef *huart, BOOL rx_dma_en, uint16_t rxsize, rx_interupt_cb_t rx_cb,
-                           BOOL tx_dma_en, uint16_t txsize, tx_complete_cb_t tx_complete_cb);
-
-/**
- * @brief Frees the resources of a UART instance.
- *
- * This function frees the resources allocated for a UART instance.
- *
- * @param uart The UART instance to free.
- */
-extern void uart_free(uart_t *uart);
-
-/**
- * @brief Enables UART reception.
- *
- * This function enables reception on the specified UART instance.
- *
- * @param uart The UART instance.
- */
-extern void uart_recv_en(uart_t *uart);
-
-/**
- * @brief Sends data over UART.
- *
- * This function sends the specified data over the specified UART instance.
- *
- * @param uart The UART instance.
- * @param data The data to send.
- * @param len The length of the data.
- */
-extern void uart_send_data(uart_t *uart, uint8_t *data, uint16_t len);
-
-/**
- * @brief UART receive interrupt callback.
- *
- * This function is the interrupt callback for UART receive interrupt.
- *
- * @param uart The UART instance.
- */
-extern void uart_reception_callback(uart_t *uart);
-
-/**
- * @brief DMA receive interrupt callback.
- *
- * This function is the interrupt callback for DMA receive interrupt.
- *
- * @param uart The UART instance.
- */
-extern void uart_dma_reception_callback(uart_t *uart);
+                           BOOL tx_dma_en, uint16_t txsize, tx_complete_cb_t tx_complete_cb); // 创建uart
+extern void uart_free(uart_t *uart);                                                          // 释放uart资源
+extern void uart_recv_en(uart_t *uart);                                                       // 使能接收
+extern void uart_send_data(uart_t *uart, uint8_t *data, uint16_t len);                        // 发送数据
+extern void uart_reception_callback(uart_t *uart);                                            // 接收中断回调
+extern void uart_dma_reception_callback(uart_t *uart);                                        // DMA接收中断回调

 #endif // __UARTS_H__
--- a/motor.ioc
+++ b/motor.ioc
@ -57,18 +57,20 @@ Mcu.Name=STM32L072R(B-Z)Tx
 Mcu.Package=LQFP64
 Mcu.Pin0=PH0-OSC_IN
 Mcu.Pin1=PH1-OSC_OUT
-Mcu.Pin10=PA14
-Mcu.Pin11=VP_SYS_VS_Systick
-Mcu.Pin12=VP_TIM6_VS_ClockSourceINT
+Mcu.Pin10=PA10
+Mcu.Pin11=PA13
+Mcu.Pin12=PA14
+Mcu.Pin13=VP_SYS_VS_Systick
+Mcu.Pin14=VP_TIM6_VS_ClockSourceINT
 Mcu.Pin2=PC3
-Mcu.Pin3=PB12
-Mcu.Pin4=PB13
-Mcu.Pin5=PB14
-Mcu.Pin6=PB15
-Mcu.Pin7=PA9
-Mcu.Pin8=PA10
-Mcu.Pin9=PA13
-Mcu.PinsNb=13
+Mcu.Pin3=PA7
+Mcu.Pin4=PB0
+Mcu.Pin5=PB12
+Mcu.Pin6=PB13
+Mcu.Pin7=PB14
+Mcu.Pin8=PB15
+Mcu.Pin9=PA9
+Mcu.PinsNb=15
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32L072RBTx
@ -91,8 +93,12 @@ 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
 PB12.GPIOParameters=GPIO_Speed,PinState,GPIO_Label
 PB12.GPIO_Label=ENA
 PB12.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
Author	SHA1	Message	Date
草团君	e063b10a80	测试程序	2024-04-19 16:37:51 +08:00
草团君	dd74e17915	测试通过	2024-04-15 16:51:29 +08:00
草团君	a9eb7a6831	测试	2024-04-15 14:43:16 +08:00