修改压力计算公式

修改ADC采样时间
上位机联调正常
2025-01-02 · 2024-04-22 17:04:53 +08:00 · 2024-04-22 11:51:26 +08:00 · 2024-04-22 11:18:07 +08:00 · 2024-04-19 16:34:45 +08:00 · 2024-04-18 11:10:45 +08:00
20 changed files with 1826 additions and 1756 deletions
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@ -5,7 +5,9 @@
        "motor.h": "c",
        "main.h": "c",
        "app.h": "c",
-        "type_traits": "c"
+        "type_traits": "c",
+        "adcs.h": "c",
+        "uarts.h": "c"
    },
    "C_Cpp.errorSquiggles": "disabled"
 }
--- a/Core/Src/adc.c
+++ b/Core/Src/adc.c
@ -41,14 +41,40 @@ 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;
+  GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
+  LL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
  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);
+
+  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 */
@ -72,6 +98,22 @@ 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);
+
  /** Configure Regular Channel
  */
  LL_ADC_REG_SetSequencerChAdd(ADC1, LL_ADC_CHANNEL_13);
--- a/Core/Src/gpio.c
+++ b/Core/Src/gpio.c
@ -78,12 +78,6 @@ 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(GPIOC, &GPIO_InitStruct);
-
  /**/
  GPIO_InitStruct.Pin = LL_GPIO_PIN_1;
  GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG;
@ -138,12 +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;
@ -156,18 +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_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);
-
  /**/
  GPIO_InitStruct.Pin = LL_GPIO_PIN_2;
  GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG;
--- a/Core/Src/stm32l0xx_it.c
+++ b/Core/Src/stm32l0xx_it.c
@ -68,8 +68,8 @@ extern motor_t *motor;
 /*           Cortex-M0+ Processor Interruption and Exception Handlers          */
 /******************************************************************************/
 /**
- * @brief This function handles Non maskable Interrupt.
- */
+  * @brief This function handles Non maskable Interrupt.
+  */
 void NMI_Handler(void)
 {
  /* USER CODE BEGIN NonMaskableInt_IRQn 0 */
@ -83,8 +83,8 @@ void NMI_Handler(void)
 }

 /**
- * @brief This function handles Hard fault interrupt.
- */
+  * @brief This function handles Hard fault interrupt.
+  */
 void HardFault_Handler(void)
 {
  /* USER CODE BEGIN HardFault_IRQn 0 */
@ -98,8 +98,8 @@ void HardFault_Handler(void)
 }

 /**
- * @brief This function handles System service call via SWI instruction.
- */
+  * @brief This function handles System service call via SWI instruction.
+  */
 void SVC_Handler(void)
 {
  /* USER CODE BEGIN SVC_IRQn 0 */
@ -111,8 +111,8 @@ void SVC_Handler(void)
 }

 /**
- * @brief This function handles Pendable request for system service.
- */
+  * @brief This function handles Pendable request for system service.
+  */
 void PendSV_Handler(void)
 {
  /* USER CODE BEGIN PendSV_IRQn 0 */
@ -124,8 +124,8 @@ void PendSV_Handler(void)
 }

 /**
- * @brief This function handles System tick timer.
- */
+  * @brief This function handles System tick timer.
+  */
 void SysTick_Handler(void)
 {
  /* USER CODE BEGIN SysTick_IRQn 0 */
@ -145,8 +145,8 @@ void SysTick_Handler(void)
 /******************************************************************************/

 /**
- * @brief This function handles DMA1 channel 1 interrupt.
- */
+  * @brief This function handles DMA1 channel 1 interrupt.
+  */
 void DMA1_Channel1_IRQHandler(void)
 {
  /* USER CODE BEGIN DMA1_Channel1_IRQn 0 */
@ -159,8 +159,8 @@ void DMA1_Channel1_IRQHandler(void)
 }

 /**
- * @brief This function handles DMA1 channel 2 and channel 3 interrupts.
- */
+  * @brief This function handles DMA1 channel 2 and channel 3 interrupts.
+  */
 void DMA1_Channel2_3_IRQHandler(void)
 {
  /* USER CODE BEGIN DMA1_Channel2_3_IRQn 0 */
@ -173,8 +173,8 @@ void DMA1_Channel2_3_IRQHandler(void)
 }

 /**
- * @brief This function handles TIM6 global interrupt and DAC1/DAC2 underrun error interrupts.
- */
+  * @brief This function handles TIM6 global interrupt and DAC1/DAC2 underrun error interrupts.
+  */
 void TIM6_DAC_IRQHandler(void)
 {
  /* USER CODE BEGIN TIM6_DAC_IRQn 0 */
@ -191,25 +191,25 @@ void TIM6_DAC_IRQHandler(void)
 }

 /**
- * @brief This function handles TIM21 global interrupt.
- */
+  * @brief This function handles TIM21 global interrupt.
+  */
 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))
  {
+    step_motor_update(motor);
    LL_TIM_ClearFlag_UPDATE(TIM21);
  }
  /* USER CODE END TIM21_IRQn 1 */
 }

 /**
- * @brief This function handles USART1 global interrupt / USART1 wake-up interrupt through EXTI line 25.
- */
+  * @brief This function handles USART1 global interrupt / USART1 wake-up interrupt through EXTI line 25.
+  */
 void USART1_IRQHandler(void)
 {
  /* USER CODE BEGIN USART1_IRQn 0 */
--- 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($$Device:STM32L072RBTx$CMSIS\Flash\STM32L0xx_128.FLM) -WA0 -WE0 -WVCE4 -WS2710 -WM0 -WP2</Name>
+          <Name>-US -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(0BC11477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8000 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC800 -FN1 -FF0STM32L0xx_128.FLM -FS08000000 -FL020000 -FP0($$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>
@ -175,29 +158,37 @@
        <Ww>
          <count>1</count>
          <WinNumber>1</WinNumber>
-          <ItemText>motor_state</ItemText>
+          <ItemText>test_buffer,0x10</ItemText>
        </Ww>
        <Ww>
          <count>2</count>
          <WinNumber>1</WinNumber>
-          <ItemText>motor_ccr</ItemText>
+          <ItemText>self_test,0x0A</ItemText>
        </Ww>
        <Ww>
          <count>3</count>
          <WinNumber>1</WinNumber>
-          <ItemText>step_motor_flag</ItemText>
+          <ItemText>motor,0x0A</ItemText>
        </Ww>
        <Ww>
          <count>4</count>
          <WinNumber>1</WinNumber>
-          <ItemText>motor-&gt;handle.step_motor.attribute,0x0A</ItemText>
+          <ItemText>motor_param,0x0A</ItemText>
        </Ww>
        <Ww>
          <count>5</count>
          <WinNumber>1</WinNumber>
-          <ItemText>motor_dir</ItemText>
+          <ItemText>detect_result,0x0A</ItemText>
        </Ww>
      </WatchWindow1>
+      <MemoryWindow1>
+        <Mm>
+          <WinNumber>1</WinNumber>
+          <SubType>0</SubType>
+          <ItemText>0x20000090</ItemText>
+          <AccSizeX>0</AccSizeX>
+        </Mm>
+      </MemoryWindow1>
      <Tracepoint>
        <THDelay>0</THDelay>
      </Tracepoint>
@ -240,16 +231,6 @@
      <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 +263,7 @@

  <Group>
    <GroupName>Application/User/Core</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
    <tvExpOptDlg>0</tvExpOptDlg>
    <cbSel>0</cbSel>
    <RteFlg>0</RteFlg>
--- 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>
@ -138,7 +138,7 @@
          </Flash1>
          <bUseTDR>1</bUseTDR>
          <Flash2>BIN\UL2V8M.DLL</Flash2>
-          <Flash3></Flash3>
+          <Flash3>"" ()</Flash3>
          <Flash4></Flash4>
          <pFcarmOut></pFcarmOut>
          <pFcarmGrp></pFcarmGrp>
@ -314,7 +314,7 @@
          </ArmAdsMisc>
          <Cads>
            <interw>1</interw>
-            <Optim>0</Optim>
+            <Optim>1</Optim>
            <oTime>0</oTime>
            <SplitLS>0</SplitLS>
            <OneElfS>1</OneElfS>
--- 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 +8,17 @@
 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 torsion_in13;  // 扭力
+    calibration_sensor_data_t ipressure_in7; // 压力
+    calibration_sensor_data_t iflow_in8;     // 流量
+    calibration_sensor_data_t opressure_in9; // 压力
+    calibration_sensor_data_t oflow_in10;    // 流量
 } adcs_t;

 typedef struct
--- a/User/app_flow.c
+++ b/User/app_flow.c
@ -7,6 +7,7 @@

 extern __IO app_t app;
 extern motor_t *motor;
+extern uint8_t detect_result;

 static struct flow fl_adc_inspection;    // ADC
 static struct flow fl_systom_inspection; // 系统
@ -17,8 +18,29 @@ static uint8_t adc_inspection(struct flow *fl)
    FL_HEAD(fl);
    for (;;)
    {
-        app.adc.torsion_in13.original_value = adc_get_result_average(IN13);
-        FL_LOCK_DELAY(fl, FL_CLOCK_100MSEC); /* 延时100毫秒 */
+        detect_result = ST_DEV_NORMAL;
+        // 扭力
+        app.adc.torsion_in13.original_value = get_sensor_adc(GET_TORSION_VALUE);
+        app.adc.torsion_in13.calibration_value = torsion_detect();
+        sensor_adc[GET_TORSION_VALUE] = S2B_UINT16(app.adc.torsion_in13.original_value);
+        // 输入压力
+        app.adc.ipressure_in7.original_value = get_sensor_adc(GET_INPUT_PRESS_VALUE);
+        app.adc.ipressure_in7.calibration_value = pressure_detect(GET_INPUT_PRESS_VALUE);
+        sensor_adc[GET_INPUT_PRESS_VALUE] = S2B_UINT16(app.adc.ipressure_in7.original_value);
+        // 输出压力
+        app.adc.opressure_in9.original_value = get_sensor_adc(GET_OUTPUT_PRESS_VALUE);
+        app.adc.opressure_in9.calibration_value = pressure_detect(GET_OUTPUT_PRESS_VALUE);
+        sensor_adc[GET_OUTPUT_PRESS_VALUE] = S2B_UINT16(app.adc.opressure_in9.original_value);
+        // 输入流量
+        app.adc.iflow_in8.original_value = get_sensor_adc(GET_INPUT_FLOW_VALUE);
+        app.adc.iflow_in8.calibration_value = flow_detect(GET_INPUT_FLOW_VALUE);
+        sensor_adc[GET_INPUT_FLOW_VALUE] = S2B_UINT16(app.adc.iflow_in8.original_value);
+        // 输出流量
+        app.adc.oflow_in10.original_value = get_sensor_adc(GET_OUTPUT_FLOW_VALUE);
+        app.adc.oflow_in10.calibration_value = flow_detect(GET_OUTPUT_FLOW_VALUE);
+        sensor_adc[GET_OUTPUT_FLOW_VALUE] = S2B_UINT16(app.adc.oflow_in10.original_value);
+
+        FL_LOCK_DELAY(fl, FL_CLOCK_10MSEC); /* 延时10毫秒 */
    }
    FL_TAIL(fl);
 }
@ -28,7 +50,8 @@ 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_rx_msg_deal();
+        FL_LOCK_DELAY(fl, FL_CLOCK_10MSEC); /* 延时10毫秒 */
    }
    FL_TAIL(fl);
 }
@ -38,8 +61,9 @@ static uint8_t idle_inspection(struct flow *fl)
    FL_HEAD(fl);
    for (;;)
    {
+        test_process();
        cpu_percent = scheduler_time_occupancy_get(1000);
-        FL_LOCK_DELAY(fl, FL_CLOCK_SEC);
+        FL_LOCK_DELAY(fl, FL_CLOCK_10MSEC);
    }
    FL_TAIL(fl);
 }
--- a/User/board/board.c
+++ b/User/board/board.c
@ -1,15 +1,17 @@
 #include "board.h"
 #include "motor.h"

+extern uint8_t detect_result;
 void motor_process(frame_msg_t *rx, frame_msg_t *bk);
-void sensor_procss(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);

 /*************************************  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];
+__IO static BOOL execute_state = IDLE;              // 数据处理标志
+static frame_msg_t rx_msg;                          // 接收数据句柄
+static frame_msg_t bk_msg;                          // 回复数据句柄
+static uint8_t host_send_buffer[UART_TXSIZE] = {0}; // 数据发送缓存

 // 串口发送
 static void host_send_msg(uint8_t *data, uint16_t len)
@ -17,110 +19,30 @@ 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
+// 数据有效性检查
 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;
+    uint8_t ver_len = 0;
+    uint8_t msg_crc = 0, ver_crc = 0;

    // 包头包尾检查
-    if (data[0] != PACKET_STX || data[1] != MASTER_CODE || data[len - 1] != PACKET_ETX)
+    if (data[0] != PACKET_STX || data[1] != ST_DEV_NORMAL || data[len - 1] != PACKET_ETX)
    {
        ret = FALSE;
        return ret;
    }
-    // 帧长度检查
-    ver_len = data[4] + PACKET_MIN_LEN;
+    // 长度检查
+    ver_len = PACKET_MIN_LEN + data[DATA_LEN_INDEX];
    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)
+    msg_crc = data[len - 2];
+    ver_crc = xor_compute((uint8_t *)&data[1], (len - 3)); // 减去包头、包尾、校验
+    if (msg_crc != ver_crc)
    {
        ret = FALSE;
        return ret;
@ -129,22 +51,102 @@ static BOOL host_data_verify(uint8_t *data, uint16_t len)
    return ret;
 }

+// 数据解码
+static void host_data_decode(uint8_t *data, uint16_t len)
+{
+    DBG_ASSERT(data != NULL __DBG_LINE);
+
+    // 获取数据长度和消息长度
+    uint8_t data_len = data[DATA_LEN_INDEX];
+    uint8_t msg_len = DATA_INDEX + data_len;
+    // 获取消息数据
+    osel_memcpy((uint8_t *)&rx_msg, data, msg_len);
+}
+
+// 指令执行
+static void host_cmd_execute(frame_msg_t *rx_msg, frame_msg_t *bk_msg)
+{
+    DBG_ASSERT(rx_msg != NULL __DBG_LINE);
+    DBG_ASSERT(bk_msg != NULL __DBG_LINE);
+
+    switch (rx_msg->dev_no)
+    {
+    case ADC_SENSOR:
+        sensor_process(rx_msg, bk_msg);
+        break;
+    case MOTOR:
+        motor_process(rx_msg, bk_msg);
+        break;
+    default:
+        error_process(ST_CMD_IVALID, rx_msg, bk_msg);
+        break;
+    }
+}
+
+// 数据编码
+static void host_data_encode(frame_msg_t *msg)
+{
+    DBG_ASSERT(msg != NULL __DBG_LINE);
+
+    uint8_t *pbuf = (uint8_t *)host_send_buffer;
+    uint8_t index = 0, len = 0;
+
+    // 消息数据
+    uint8_t msg_len = DATA_INDEX + msg->len;
+    osel_memcpy(pbuf, (uint8_t *)msg, msg_len);
+    // 校验码
+    index += msg_len;
+    pbuf[index] = xor_compute((uint8_t *)&pbuf[1], (msg_len - 1)); // 减去包头
+    // 包尾
+    index += 1;
+    pbuf[index] = PACKET_ETX;
+
+    // 计算报文长度
+    len = msg_len + 2; // 加上校验、包尾
+    // 发送
+    host_send_msg(pbuf, len);
+}
+
+// 数据处理
+void host_rx_msg_deal(void)
+{
+    if (execute_state == IDLE)
+    {
+        return;
+    }
+
+    frame_msg_t *p_rx_msg = (frame_msg_t *)&rx_msg;
+    frame_msg_t *p_bk_msg = (frame_msg_t *)&bk_msg;
+
+    // 执行
+    host_cmd_execute(p_rx_msg, p_bk_msg);
+    // 回复（组包 + 发送）
+    host_data_encode(p_bk_msg);
+    // 复位
+    osel_memset((uint8_t *)host_send_buffer, 0, UART_TXSIZE);
+    osel_memset((uint8_t *)&rx_msg, 0, sizeof(frame_msg_t));
+    osel_memset((uint8_t *)&bk_msg, 0, sizeof(frame_msg_t));
+    execute_state = IDLE;
+    detect_result = ST_DEV_NORMAL;
+}
+
 // 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
+    // 数据有效性检查
    ret = host_data_verify(data, len);
-    // 数据处理
-    if (ret == TRUE && deal_done_flag == TRUE)
+    // 数据解码
+    if (ret == TRUE && execute_state == IDLE)
    {
-        deal_done_flag = FALSE;
+        host_data_decode(data, len);
+        execute_state = BUSY;
    }
 }

 // 串口初始化
-void host_uart_init(void)
+static void host_uart_init(void)
 {
    if (uarts[UART_NUM_1] == NULL)
    {
@ -160,6 +162,7 @@ void host_uart_init(void)
 /*************************************  电机 *************************************/
 // 电机对象
 motor_t *motor;
+motor_ctrl_t *motor_param = NULL;

 // 电机初始化
 static void motor_init(void)
@ -176,32 +179,112 @@ static void motor_init(void)
    motor->handle.step_motor.interface.init(motor, dir, en, MIN_STEP_ANGLE, TIM21, LL_TIM_CHANNEL_CH2);
 }

+static uint8_t motor_param_get(frame_msg_t *rx, motor_ctrl_t *param)
+{
+    uint8_t state = ST_DEV_NORMAL;
+
+    // 检查数据长度，方向：1个字节，角度：4个字节
+    if (rx->len < 5)
+    {
+        state = ST_CMD_IVALID;
+        return state;
+    }
+    // 方向
+    param->dir = rx->data[0];
+    // 角度
+    osel_memcpy((uint8_t *)&param->angle, (uint8_t *)&rx->data[1], 4);
+    param->angle = B2S_FLOAT32(param->angle);
+
+    return state;
+}
+
+static uint8_t motor_ctrl(uint8_t sw, motor_ctrl_t *param)
+{
+    step_motor_t *step_motor = &motor->handle.step_motor;
+    uint8_t state = detect_result;
+    if (sw == RUN && detect_result == ST_DEV_NORMAL)
+    {
+        step_motor->interface.set_angle(motor, param->angle, (dir_e)param->dir);
+    }
+    else
+    {
+        step_motor->interface.stop(motor);
+    }
+    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));
+    DBG_ASSERT(motor_param != NULL __DBG_LINE);
+    osel_memset((uint8_t *)motor_param, 0, sizeof(motor_ctrl_t));
+}
+
 // 电机任务
 void motor_process(frame_msg_t *rx, frame_msg_t *bk)
 {
-//    BOOL ret = TRUE;
+    DBG_ASSERT(rx != NULL __DBG_LINE);
+    DBG_ASSERT(bk != NULL __DBG_LINE);
+
+    motor_ctrl_t *ctrl_param = motor_param;
+    uint8_t state = ST_DEV_NORMAL;

    switch (rx->cmd_no)
    {
    case SET_MOTOR_SPEED: // 设置电机转速
        break;
-    case SET_DRIVER_PULSE: // 设置驱动器脉冲
-        break;
-    case GET_MIN_STEP: // 获取最小步距
-        break;
-    case GET_MOTOR_STATE: // 获取电机运行状态
-        break;
    case MOTOR_MOVE: // 运行电机
-        break;
-    case MOTOR_STOP: // 停止电机
+    {
+        // 读取参数
+        state = motor_param_get(rx, ctrl_param);
+        // 运行电机
+        if (state == ST_DEV_NORMAL)
+        {
+            state = motor_ctrl(RUN, ctrl_param);
+        }
+        // 回复数据
+        osel_memcpy((uint8_t *)bk, (uint8_t *)rx, sizeof(frame_msg_t));
+        bk->state = state;
+        break;
+    }
+    case MOTOR_STOP: // 停止电机
+    {
+        // 停止电机
+        state = motor_ctrl(STOP, ctrl_param);
+        // 回复数据
+        osel_memcpy((uint8_t *)bk, (uint8_t *)rx, sizeof(frame_msg_t));
+        bk->state = state;
+        break;
+    }
+    case MOTOR_STATE:
+        motor_state(rx, bk);
+        break;
+    default:
+        error_process(ST_CMD_IVALID, rx, bk);
        break;
    }
-
-    bk->dev_no = MOTOR;
-    bk->cmd_no = rx->cmd_no;
 }

 /*************************************  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
 adc_t adc1 = {
    .adc = ADC1,
@ -209,33 +292,224 @@ adc_t adc1 = {
    .dma_channel = LL_DMA_CHANNEL_1,
 };

-// 获取扭力值
-static BOOL get_tors_value(frame_msg_t *bk)
+uint16_t get_sensor_adc(uint8_t id)
 {
-    uint16_t value = 0;
+    uint16_t adc = 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)
+    switch (id)
    {
-    case GET_TORS_VALUE: // 获取扭力值
-        ret = get_tors_value(bk);
+    case GET_TORSION_VALUE: // 扭力，单位：N·m
+        adc = adc_get_result_average(IN13);
+        break;
+    case GET_INPUT_PRESS_VALUE: // 输入压力，单位：kPa
+        adc = adc_get_result_average(IN7);
+        break;
+    case GET_OUTPUT_PRESS_VALUE: // 输出压力，单位：kPa
+        adc = adc_get_result_average(IN9);
+        break;
+    case GET_INPUT_FLOW_VALUE: // 输入流量，单位：SLPM
+        adc = adc_get_result_average(IN8);
+        break;
+    case GET_OUTPUT_FLOW_VALUE: // 输出流量，单位：SLPM
+        adc = adc_get_result_average(IN10);
        break;
    }

-    bk->state = ret;
-    bk->dev_no = ADC_SENSOR;
+    return adc;
+}
+
+float32 torsion_detect(void)
+{
+    float32 adc = 0.0, val = 0.0;
+
+    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;
+}
+
+float32 pressure_detect(uint8_t id)
+{
+    float32 adc = 0.0, val = 0.0;
+
+    adc = get_sensor_adc(id);
+    val = adc / 4096 * 3000;
+    if (val < 500 || val > 3000)
+    {
+        detect_result = ST_DEV_MISS;
+    }
+    val = (val - 600) / (10 * 15) / 16 * 1600;
+
+    return val;
+}
+
+float32 flow_detect(uint8_t id)
+{
+    float32 adc = 0.0, val = 0.0;
+
+    adc = get_sensor_adc(id);
+    val = adc / 4096 * 3000;
+    if (val < 500 || val > 3000)
+    {
+        detect_result = ST_DEV_MISS;
+    }
+    val = (val - 600) / (10 * 15) / 16 * 300;
+
+    return val;
+}
+
+// 传感器任务
+void sensor_process(frame_msg_t *rx, frame_msg_t *bk)
+{
+    DBG_ASSERT(rx != NULL __DBG_LINE);
+    DBG_ASSERT(bk != NULL __DBG_LINE);
+
+    uint8_t state = ST_DEV_NORMAL;
+
+    // 检查指令合法性
+    if (rx->cmd_no > GET_ALL_VALUE)
+    {
+        state = ST_CMD_IVALID;
+        goto encode;
+    }
+
+encode:
+    // 回复数据
+    bk->head = PACKET_STX;
+    bk->state = state;
+    bk->dev_no = rx->dev_no;
    bk->cmd_no = rx->cmd_no;
+    if (rx->cmd_no >= GET_ALL_VALUE)
+    {
+        bk->len = sizeof(uint16_t) * GET_ALL_VALUE;
+        osel_memcpy((uint8_t *)bk->data, (uint8_t *)&sensor_adc, bk->len);
+    }
+    else
+    {
+        bk->len = sizeof(uint16_t);
+        osel_memcpy((uint8_t *)bk->data, (uint8_t *)&sensor_adc[bk->cmd_no], bk->len);
+    }
+}
+
+/*************************************  测试 *************************************/
+#if SELF_TEST
+test_t self_test = {TEST_DEV_IDEL, 0};
+uint8_t test_buffer[UART_RXSIZE] = {0}; // 数据接收缓存
+#endif
+
+// 传感器测试指令
+static uint8_t test_sensor_cmd(uint8_t cmd, uint8_t *buf)
+{
+    osel_memset(buf, 0, UART_RXSIZE);
+
+    uint8_t ver_len = 0;
+    uint8_t index = 0;
+    frame_msg_t msg;
+    msg.head = PACKET_STX;
+    msg.state = ST_DEV_NORMAL;
+    msg.dev_no = ADC_SENSOR;
+    msg.cmd_no = cmd;
+    msg.len = 0;
+    index = DATA_INDEX;
+    osel_memcpy(buf, (uint8_t *)&msg, index);
+    // 校验
+    buf[index] = xor_compute((uint8_t *)&buf[1], (index - 1)); // 减掉包头
+    index += 1;
+    // 包尾
+    buf[index] = PACKET_ETX;
+    index += 1;
+    // 帧长度
+    ver_len = index;
+    return ver_len;
+}
+
+// 电机测试指令
+static uint8_t test_motor_cmd(uint8_t cmd, uint8_t *buf)
+{
+    uint8_t ver_len = 0;
+    uint8_t index = 0;
+    frame_msg_t msg;
+    motor_ctrl_t motor_param;
+    msg.head = PACKET_STX;
+    msg.state = ST_DEV_NORMAL;
+    msg.dev_no = MOTOR;
+    msg.cmd_no = cmd;
+    switch (cmd)
+    {
+    case MOTOR_MOVE:
+        msg.len = 5; // 方向1个字节，角度4个字节
+        break;
+    case MOTOR_STOP:
+        msg.len = 0;
+        break;
+    }
+    index = DATA_INDEX;
+    osel_memcpy(buf, (uint8_t *)&msg, index);
+
+    if (cmd == MOTOR_MOVE)
+    {
+        motor_param.dir = DIR_CCW;
+        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);
+    // 校验
+    buf[index] = xor_compute((uint8_t *)&buf[1], (index - 1)); // 减掉包头
+    index += 1;
+    // 包尾
+    buf[index] = PACKET_ETX;
+    index += 1;
+    // 帧长度
+    ver_len = index;
+    return ver_len;
+}
+
+// 发送测试数据
+static void test_rx_cb(uint8_t *data, uint8_t len)
+{
+    BOOL ret = FALSE;
+
+    // 数据有效性检查
+    ret = host_data_verify(data, len);
+    // 数据解码
+    if (ret == TRUE && execute_state == IDLE)
+    {
+        host_data_decode(data, len);
+        execute_state = BUSY;
+    }
+}
+
+// 测试任务
+void test_process(void)
+{
+    uint8_t len = 0;
+    uint8_t *buf = test_buffer;
+
+    if (self_test.dev_id >= TEST_DEV_MAX)
+    {
+        return;
+    }
+
+    switch (self_test.dev_id)
+    {
+    case TEST_DEV_SENSOR:
+        len = test_sensor_cmd(self_test.cmd_id, buf);
+        break;
+    case TEST_DEV_MOTOR:
+        len = test_motor_cmd(self_test.cmd_id, buf);
+        break;
+    default:
+        break;
+    }
+
+    test_rx_cb(buf, len);
+    self_test.dev_id = TEST_DEV_IDEL;
 }

 /*************************************  板卡 *************************************/
@ -243,10 +517,20 @@ 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
 }
+
+// 不支持的任务
+void error_process(uint8_t err, frame_msg_t *rx, frame_msg_t *bk)
+{
+    DBG_ASSERT(rx != NULL __DBG_LINE);
+    DBG_ASSERT(bk != NULL __DBG_LINE);
+
+    osel_memcpy((uint8_t *)bk, (uint8_t *)rx, sizeof(frame_msg_t));
+    bk->state = err;
+}
--- a/User/board/board.h
+++ b/User/board/board.h
@ -4,32 +4,41 @@
 #include "adcs.h"
 #include "uarts.h"

+#define SELF_TEST 1
+
 // 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
-
+//  1       1       1        1      1    0~128    1      1
+#define PACKET_STX 0xff // 包头
+#define PACKET_ETX 0x3c // 包尾
+#define PACKET_
+#define DATA_LEN_INDEX 4 // 数据长度偏移
+#define DATA_INDEX 5     // 数据偏移
 // 最大数据长度
 #define DATA_MAX_LEN 128
 // 最小帧长度：包头 + 状态码 + 设备号 + 命令号 + 长度 + 校验 + 包尾
-#define PACKET_MIN_LEN 8
+#define PACKET_MIN_LEN 7
 // 最大帧长度
 #define PACKET_MAX_LEN (DATA_MAX_LEN + PACKET_MIN_LEN)

 // 电机初始默认值
-#define PULSE_REV 18000.0                // 每圈脉冲数（驱动器脉冲）
+#define PULSE_REV (18000.0 * 5)          // 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;
+    IDLE = 0, // 空闲
+    BUSY = 1, // 忙碌
+} host_state_e;
+
+typedef enum
+{
+    STOP = 0, // 停止
+    RUN = 1,  // 运行
+} motor_state_e;

 typedef enum
 {
@ -41,39 +50,86 @@ typedef enum
    UART_NUM_MAX,
 } uart_num_e;

+// 设备号
 typedef enum
 {
-    SET_MOTOR_SPEED,
-    SET_DRIVER_PULSE,
-    GET_MIN_STEP,
-    GET_MOTOR_STATE,
-    MOTOR_MOVE,
-    MOTOR_STOP,
+    ADC_SENSOR, // 传感器
+    MOTOR,      // 电机
+} dev_id_e;
+
+// 电机命令号
+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
 typedef enum
 {
-    GET_TORS_VALUE,
+    GET_TORSION_VALUE,      // 扭力
+    GET_INPUT_PRESS_VALUE,  // 输入压力
+    GET_OUTPUT_PRESS_VALUE, // 输出压力
+    GET_INPUT_FLOW_VALUE,   // 输入流量
+    GET_OUTPUT_FLOW_VALUE,  // 输出流量
+    GET_ALL_VALUE,          // 全部
 } sensor_cmd_e;

+// 状态码
 typedef enum
 {
-    ST_DEV_NORMAL,
-    ST_DEV_BUSY,
-    ST_MSG_MISS,
+    ST_DEV_NORMAL, // 正常
+    ST_DEV_BUSY,   // 忙碌
+    ST_DEV_MISS,   // 故障
+    ST_CMD_IVALID, // 无效
 } status_code_e;

+// 测试
+typedef enum
+{
+    TEST_DEV_IDEL,
+    TEST_DEV_SENSOR,
+    TEST_DEV_MOTOR,
+    TEST_DEV_MAX,
+} test_dev_e;
+
+#pragma pack(1)
+
 typedef struct
 {
+    uint8_t head;               // 包头
    uint8_t state;              // 状态
    uint8_t dev_no;             // 设备号
    uint8_t cmd_no;             // 命令号
    uint8_t len;                // 长度
    uint8_t data[DATA_MAX_LEN]; // 数据
-
 } frame_msg_t;

+typedef struct
+{
+    uint8_t dir;
+    float32 angle;
+} motor_ctrl_t;
+
+typedef struct
+{
+    uint8_t dev_id;
+    uint8_t cmd_id;
+} test_t;
+
+#pragma pack()
+
+extern uint16_t sensor_adc[GET_ALL_VALUE];
+
 extern void board_init(void);
-void host_data_deal(uint8_t *data, uint16_t len);
+extern uint16_t get_sensor_adc(uint8_t id);
+extern float32 torsion_detect(void);
+extern float32 pressure_detect(uint8_t id);
+extern float32 flow_detect(uint8_t id);
+extern void host_rx_msg_deal(void);
+extern void motor_process_init(void);
+extern void test_process(void);

 #endif // __BOARD_H__
--- 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)
@ -32,13 +33,14 @@ 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);
    }
 }

-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;
@ -60,6 +62,10 @@ static void step_motor_set_angle(motor_t *motor, uint32_t angle, dir_e dir)
    }
 }

+static void step_motor_set_speed(motor_t *motor, uint32_t psc)
+{
+}
+
 /**
 * @brief 步进电机中断处理函数
 * @param {motor_t} *motor
@ -103,6 +109,7 @@ motor_t *motor_create(motor_type_e motor_type)
        motor->handle.step_motor.interface.run = step_motor_run;
        motor->handle.step_motor.interface.stop = step_motor_stop;
        motor->handle.step_motor.interface.set_angle = step_motor_set_angle;
+        motor->handle.step_motor.interface.set_speed = step_motor_set_speed;
        break;

    default:
--- a/User/board/motor.h
+++ b/User/board/motor.h
@ -15,8 +15,8 @@ typedef struct MOTOR motor_t;

 typedef enum
 {
-    DIR_CCW = 0, /* 逆时针旋转 */
-    DIR_CW,      /* 顺时针旋转 */
+    DIR_CW = 0, /* 逆时针旋转 */
+    DIR_CCW,    /* 顺时针旋转 */
 } dir_e;
 typedef enum
 {
@ -37,9 +37,9 @@ 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
-
+    void (*set_speed)(motor_t *motor, uint32_t psc);
 } step_motor_interface_t;

 typedef struct
@ -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
--- 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

--- 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__
--- 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
--- 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);
 }
--- a/motor.ioc
+++ b/motor.ioc
@ -57,18 +57,22 @@ 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.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.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=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
@ -91,8 +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
@ -110,6 +120,8 @@ PB15.GPIOParameters=GPIO_PuPd,GPIO_Label
 PB15.GPIO_Label=STOPPER
 PB15.GPIO_PuPd=GPIO_PULLUP
 PB15.Signal=GPXTI15
+PC0.Mode=IN10
+PC0.Signal=ADC_IN10
 PC3.GPIOParameters=GPIO_PuPd,GPIO_Label,GPIO_Mode
 PC3.GPIO_Label=MG_ADC_IN13
 PC3.GPIO_Mode=GPIO_MODE_ANALOG
Author	SHA1	Message	Date
草团君	c5ea18f629	修改压力计算公式	2024-04-22 17:04:53 +08:00
草团君	290fe0f827	修改ADC采样时间	2024-04-22 11:51:26 +08:00
草团君	922d376bcc	上位机联调正常	2024-04-22 11:18:07 +08:00
草团君	2514a1efe7	协议测试通过	2024-04-19 16:34:45 +08:00
草团君	542ff3208c	增加传感器	2024-04-18 11:10:45 +08:00
草团君	5870cee759	协议编写完成，待测试	2024-04-17 17:19:47 +08:00
草团君	4c3cb563ee	备份，未完成	2024-04-16 17:06:22 +08:00
草团君	fba5f0720c	通讯待测试	2024-04-15 14:42:11 +08:00