improve cmd_packet frame and Ping operation

.cproject

@@ -24,7 +24,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.377661821" name="Floating-point ABI" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.value.hard" valueType="enumerated"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.273320545" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="genericBoard" valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.1506876983" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.6 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32F407VETx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Core/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy | ../Drivers/CMSIS/Device/ST/STM32F4xx/Include | ../Drivers/CMSIS/Include ||  ||  || USE_HAL_DRIVER | STM32F407xx ||  || Drivers | Core/Startup | Core ||  ||  || ${workspace_loc:/${ProjName}/STM32F407VETX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None ||  ||  || " valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.959946920" name="Cpu clock frequence" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" useByScannerDiscovery="false" value="72" valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.959946920" name="Cpu clock frequence" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" useByScannerDiscovery="false" value="168" valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.convertbinary.46951286" name="Convert to binary file (-O binary)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.convertbinary" useByScannerDiscovery="false" value="true" valueType="boolean"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.366309264" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
 							<builder buildPath="${workspace_loc:/auxiliary_addition}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.136438457" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
@@ -114,7 +114,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.1492355288" name="Floating-point ABI" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.value.hard" valueType="enumerated"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.1676201566" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="genericBoard" valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.1534087057" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.6 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32F407VETx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Core/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy | ../Drivers/CMSIS/Device/ST/STM32F4xx/Include | ../Drivers/CMSIS/Include ||  ||  || USE_HAL_DRIVER | STM32F407xx ||  || Drivers | Core/Startup | Core ||  ||  || ${workspace_loc:/${ProjName}/STM32F407VETX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None ||  ||  || " valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.1868502222" name="Cpu clock frequence" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" useByScannerDiscovery="false" value="72" valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.1868502222" name="Cpu clock frequence" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" useByScannerDiscovery="false" value="168" valueType="string"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.1544943081" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
 							<builder buildPath="${workspace_loc:/auxiliary_addition}/Release" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.1592162593" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.678775058" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">

.settings/com.st.stm32cube.ide.mcu.sfrview.prefs

@@ -0,0 +1,2 @@
+eclipse.preferences.version=1
+sfrviewstate={"fFavorites"\:{"fLists"\:{}},"fProperties"\:{"fNodeProperties"\:{}}}

.vscode/settings.json

@@ -40,7 +40,10 @@
         "servo_reg_map.h": "c",
         "servo_driver.h": "c",
         "servo_package_process.h": "c",
-        "tjc_screen.h": "c"
+        "tjc_screen.h": "c",
+        "dma.h": "c",
+        "random": "c",
+        "algorithm": "c"
     },
     "C_Cpp.clang_format_path": "C:\\Users\\sunlight\\.vscode\\extensions\\ms-vscode.cpptools-1.21.6-win32-x64\\LLVM\\bin\\clang-format.exe",
     "C_Cpp.formatting": "clangFormat",

Core/Inc/Backup/stm32f4xx_it.h.bak

@@ -56,6 +56,7 @@ void DebugMon_Handler(void);
 void PendSV_Handler(void);
 void SysTick_Handler(void);
 void RCC_IRQHandler(void);
+void DMA1_Stream1_IRQHandler(void);
 void TIM2_IRQHandler(void);
 void USART1_IRQHandler(void);
 void USART2_IRQHandler(void);

Core/Src/Backup/dma.c.bak

@@ -41,8 +41,12 @@ void MX_DMA_Init(void)
 
   /* DMA controller clock enable */
   __HAL_RCC_DMA2_CLK_ENABLE();
+  __HAL_RCC_DMA1_CLK_ENABLE();
 
   /* DMA interrupt init */
+  /* DMA1_Stream1_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA1_Stream1_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(DMA1_Stream1_IRQn);
   /* DMA2_Stream0_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(DMA2_Stream0_IRQn, 0, 0);
   HAL_NVIC_EnableIRQ(DMA2_Stream0_IRQn);

Core/Src/Backup/gpio.c.bak

@@ -62,7 +62,7 @@ void MX_GPIO_Init(void)
   GPIO_InitStruct.Pin = GPIO_PIN_2;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
-  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
   HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
 
   /*Configure GPIO pins : PE3 PE6 PE0 PE1 */
@@ -75,7 +75,7 @@ void MX_GPIO_Init(void)
   GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
-  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
   HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
 
   /*Configure GPIO pins : PD0 PD1 PD2 PD3

Core/Src/Backup/stm32f4xx_it.c.bak

@@ -58,6 +58,7 @@
 extern DMA_HandleTypeDef hdma_adc1;
 extern RTC_HandleTypeDef hrtc;
 extern TIM_HandleTypeDef htim2;
+extern DMA_HandleTypeDef hdma_usart3_rx;
 extern UART_HandleTypeDef huart4;
 extern UART_HandleTypeDef huart1;
 extern UART_HandleTypeDef huart2;
@@ -218,6 +219,20 @@ void RCC_IRQHandler(void)
 }
 
 /**
+  * @brief This function handles DMA1 stream1 global interrupt.
+  */
+void DMA1_Stream1_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA1_Stream1_IRQn 0 */
+
+  /* USER CODE END DMA1_Stream1_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_usart3_rx);
+  /* USER CODE BEGIN DMA1_Stream1_IRQn 1 */
+
+  /* USER CODE END DMA1_Stream1_IRQn 1 */
+}
+
+/**
   * @brief This function handles TIM2 global interrupt.
   */
 void TIM2_IRQHandler(void)

Core/Src/Backup/usart.c.bak

@@ -28,6 +28,7 @@ UART_HandleTypeDef huart4;
 UART_HandleTypeDef huart1;
 UART_HandleTypeDef huart2;
 UART_HandleTypeDef huart3;
+DMA_HandleTypeDef hdma_usart3_rx;
 
 /* UART4 init function */
 void MX_UART4_Init(void)
@@ -99,7 +100,7 @@ void MX_USART2_UART_Init(void)
 
   /* USER CODE END USART2_Init 1 */
   huart2.Instance = USART2;
-  huart2.Init.BaudRate = 256000;
+  huart2.Init.BaudRate = 1000000;//256000;
   huart2.Init.WordLength = UART_WORDLENGTH_8B;
   huart2.Init.StopBits = UART_STOPBITS_1;
   huart2.Init.Parity = UART_PARITY_NONE;
@@ -128,7 +129,7 @@ void MX_USART3_UART_Init(void)
 
   /* USER CODE END USART3_Init 1 */
   huart3.Instance = USART3;
-  huart3.Init.BaudRate = 115200;
+  huart3.Init.BaudRate = 1000000;
   huart3.Init.WordLength = UART_WORDLENGTH_8B;
   huart3.Init.StopBits = UART_STOPBITS_1;
   huart3.Init.Parity = UART_PARITY_NONE;
@@ -250,6 +251,25 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
     GPIO_InitStruct.Alternate = GPIO_AF7_USART3;
     HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
+    /* USART3 DMA Init */
+    /* USART3_RX Init */
+    hdma_usart3_rx.Instance = DMA1_Stream1;
+    hdma_usart3_rx.Init.Channel = DMA_CHANNEL_4;
+    hdma_usart3_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
+    hdma_usart3_rx.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_usart3_rx.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_usart3_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+    hdma_usart3_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+    hdma_usart3_rx.Init.Mode = DMA_NORMAL;
+    hdma_usart3_rx.Init.Priority = DMA_PRIORITY_LOW;
+    hdma_usart3_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
+    if (HAL_DMA_Init(&hdma_usart3_rx) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(uartHandle,hdmarx,hdma_usart3_rx);
+
     /* USART3 interrupt Init */
     HAL_NVIC_SetPriority(USART3_IRQn, 3, 0);
     HAL_NVIC_EnableIRQ(USART3_IRQn);
@@ -336,6 +356,9 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
     */
     HAL_GPIO_DeInit(GPIOB, GPIO_PIN_10|GPIO_PIN_11);
 
+    /* USART3 DMA DeInit */
+    HAL_DMA_DeInit(uartHandle->hdmarx);
+
     /* USART3 interrupt Deinit */
     HAL_NVIC_DisableIRQ(USART3_IRQn);
   /* USER CODE BEGIN USART3_MspDeInit 1 */

Core/Src/adc.c

@@ -44,7 +44,7 @@ void MX_ADC1_Init(void)
   /** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
   */
   hadc1.Instance = ADC1;
-  hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV2;
+  hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4;
   hadc1.Init.Resolution = ADC_RESOLUTION_12B;
   hadc1.Init.ScanConvMode = DISABLE;
   hadc1.Init.ContinuousConvMode = DISABLE;

Core/Src/gpio.c

@@ -62,7 +62,7 @@ void MX_GPIO_Init(void)
   GPIO_InitStruct.Pin = GPIO_PIN_2;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
-  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
   HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
 
   /*Configure GPIO pins : PE3 PE6 PE0 PE1 */
@@ -75,7 +75,7 @@ void MX_GPIO_Init(void)
   GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
-  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
   HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
 
   /*Configure GPIO pins : PD0 PD1 PD2 PD3

Core/Src/usart.c

@@ -100,7 +100,7 @@ void MX_USART2_UART_Init(void)
 
   /* USER CODE END USART2_Init 1 */
   huart2.Instance = USART2;
-  huart2.Init.BaudRate = 256000;
+  huart2.Init.BaudRate = 115200;
   huart2.Init.WordLength = UART_WORDLENGTH_8B;
   huart2.Init.StopBits = UART_STOPBITS_1;
   huart2.Init.Parity = UART_PARITY_NONE;

Usr/core.c

@@ -2,36 +2,36 @@
  * @Author: sunlight 2524828700@qq.com
  * @Date: 2024-09-12 21:05:22
  * @LastEditors: sunlight 2524828700@qq.com
- * @LastEditTime: 2024-09-20 21:27:51
+ * @LastEditTime: 2024-09-23 21:37:16
  * @FilePath: \auxiliary_addition\Usr\opration\core.c
  * @Description: 代码核心运行
  */
 #include "core.h"
 
-#include "time_slice/time_slice.h"
-#include "tim.h"
 #include "./Processer/tjc_screen_process.h"
 #include "./Processer/tjc_screen_receive.h"
 #include "module/feite_servo/servo_driver.h"
-#include "module/feite_servo/servo_package_process.h"
+#include "module/feite_servo/servo_operation.h"
 #include "module/feite_servo/servo_reg_map.h"
+#include "tim.h"
+#include "time_slice/time_slice.h"
 #include "usart.h"
 #include "zgpio.h"
 static uint32_t ticktime_sleep;
-
+static uint8_t data = 1000;
 void core_init(void) {
   HAL_TIM_Base_Start_IT(&htim2);
-  tjc_process_init();
-  servo_uart_init(&huart3);
+  //tjc_process_init();
+   HAL_GPIO_WritePin(GPIOD, GPIO_PIN_13, SET);
+  servo_uart_init(&huart2);
 
+  //  servo_drive_single(1, kRegServoAcc, W_DATA, 200, 1);
+  //  servo_drive_single(1, kRegServoRunSpeed, W_DATA, 1000, 1);
 }
-
+static int  i = 0;
 void core_loop(void) {
-  
-
-
   if (GetFlag(tjc_process)) {
-    tjc_processe();
+    //tjc_processe();
     ClearFlag(tjc_process);
   }
   if (GetFlag(debug_light)) {
@@ -41,9 +41,15 @@ void core_loop(void) {
 
   if (GetFlag(low_power)) {
     // Power_SleepMode();
-      servo_control_single(Get_Servo(STS_small_L), kRegServoTargetPos_map, -1000);//测试程序
-      //Power_StopMode();
-      //Power_StandByMode();
+    //servo_drive_single(1, kRegServoTargetPos, W_DATA,&i, 1);  // 测试程序
+    Ping_operete(1);
+    if (i > 2000)
+      i -= 50;
+    else
+      i += 50;
+
+    // Power_StopMode();
+    // Power_StandByMode();
     ClearFlag(low_power);
   }
 
@@ -54,6 +60,5 @@ void core_main() {
   core_init();
   while (1) {
     core_loop();
-  
   }
 }

Usr/module/feite_servo/need.txt

@@ -52,7 +52,7 @@
 // 同步和单纯写是只写一次
 
 
-
+9.20
 上面全部省略
 
 新的思路
@@ -110,6 +110,25 @@
  运行时间 bit11为和 位置校准  bit10位 来区分正负
 
 
+
+9.21
+问题3  发送和接收指令包的处理
+发送包缺乏校验和数据可能是导致现在驱动不了舵机的原因
+接收指令包利用DMA接收，涉及到一个dma中断的处理，
+网上的大部分是利用串口空闲中断处理，这样DMA中断在接收数据处理方面就没多大作用;
+所以采用DMA的半中断的方式(不采用全中断是害怕溢出)，控制DMA接收缓存区的大小来达到接收完从机应答包后就产生DMA中断
+
+
+问题4  由于同步和非同步的不确定导致指令包参数数据长度不定，而原先的方法是只能用与参数长度为1个字节或者2个字节，
+所以需要改变我原先的方法，让参数定长改为参数可变。
+对于我原来的方法，
+在判断寄存器传入字节长度的时候判断了一次寄存器，
+在判断特殊寄存器的位控制时有又判断了一次寄存器
+
+
+
+9.23
+发先所有的操作都有统一的基础形式,所以对数据包进行统一
 2、控制多个舵机
 
 

Usr/module/feite_servo/servo_driver.c

@@ -1,23 +1,28 @@
+
 #include "servo_driver.h"
 #include "servo_package_process.h"
 
-static servo_obj_t servo[servo_amount] = {
-    {STS_small_L}, {STS_small_M}, {STS_small_R}, {STS_large_L}, {STS_large_R},
-};
-/**
- * @description: 获取舵机对象
- * @param {uint8_t} servo_id 舵机id
- * @return {*}
- */
-servo_obj_t* Get_Servo(uint8_t servo_id) {
-  if (servo_id > STS_large_R || servo_id < STS_small_L) {
-    printf("Servo_id dose not exist:%d\n", servo_id);
-    while (1);
-  }
+// static servo_obj_t servo[servo_amount] = {
+//     {STS_small_L}, {STS_small_M}, {STS_small_R}, {STS_large_R}, {STS_large_Y},
+// };
+static param_t param;//传入参数
 
-  return &servo[servo_id];
-  printf("Servo id : %d\n", servo_id);
-}
+// /**
+//  * @description: 获取舵机对象
+//  * @param {uint8_t} servo_id 舵机id
+//  * @return {*}
+//  */
+// servo_obj_t* Get_Servo(uint8_t servo_id) {
+//   if (servo_id > STS_large_Y || servo_id < STS_small_L) {
+    
+//     while(1){
+//       printf("Servo_id dose not exist:%d\n", servo_id);
+//     }
+//   }
+// printf("Servo id : %d\n", servo_id);
+//   //return &servo[servo_id];
+  
+// }
 
 /**
  * @description: 单个舵机控制
@@ -26,21 +31,17 @@ servo_obj_t* Get_Servo(uint8_t servo_id) {
  * @param {int32_t} param      传入数据
  * @return {*}
  */
-void servo_drive_single(servo_obj_t* servo, uint8_t function, int32_t param, uint8_t cmd) {
-  if (cmd != W_DATA || cmd != REG_W_DATA) {
-    printf("write cmd error :%d", cmd);
+void servo_drive_single(uint8_t id, uint8_t addr, uint8_t cmd, int16_t *param_data, uint8_t param_count) {
+  
+  param.addr = addr;
+  param.data = param_data;
+  param.count = param_count;
+
+  if (!(cmd == W_DATA || cmd == REG_W_DATA)) {
+    printf("write cmd error :%02X", cmd);
     return;
   }
   
-  servo->reg  = function;
-  servo->data = param;
-  servo->cmd  = cmd;
-  Write_oprete(servo);
+  Write_operete(id, cmd, &param);
 }
 
-void servo_drive_multi(servo_obj_t* servo, uint8_t function, int32_t param) {
-  servo->reg  = function;
-  servo->data = param;
-  servo->cmd  = SYC_W_DATA;
-  Write_oprete(servo);
-}

Usr/module/feite_servo/servo_driver.h

@@ -2,21 +2,29 @@
 #include <stdint.h>
 #include <stdio.h>
 #define servo_amount 5
+
+typedef struct{
+  uint8_t addr;
+  uint8_t data_len;
+  uint8_t special_bit;
+  uint8_t sign_ed;
+}reg_info_t;
+
+
 // 舵机对象
 typedef struct {
   uint8_t id;
-  uint8_t reg;
-  int32_t data;  // 数据 预留一段出来，可能进行多数据的写入
+  reg_info_t reg_info;
   uint8_t cmd;
 } servo_obj_t;
 
 enum {
   STS_small_L = 0,
   STS_small_M,
-  STS_small_R,
-  STS_large_L,
-  STS_large_R,
+  STS_small_R,//right
+  STS_large_R,//Roll
+  STS_large_Y,
 };
 
-void servo_control_single(servo_obj_t* servo, uint8_t function, int32_t param);
+void servo_drive_single(uint8_t id, uint8_t addr, uint8_t cmd, int16_t *param_data, uint8_t param_count);
 servo_obj_t* Get_Servo(uint8_t servo_id);

Usr/module/feite_servo/servo_operation.c

@@ -0,0 +1,94 @@
+#include "servo_operation.h"
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+
+static UART_HandleTypeDef* m_uart;
+
+static uint8_t tx_buf[PROCESS_MAX_LEN];
+static uint8_t rx_buf[PROCESS_MAX_LEN];
+static uint8_t tx_send_len;
+
+static uint8_t cmd_type;
+
+static uint8_t check_sum;
+
+// 我需要一个能携带寄存器信息的变量
+static reg_info_t reg_info;
+
+
+
+/**
+ * @description: 舵机串口初始化
+ * @param {UART_HandleTypeDef*} uart
+ * @return {*}
+ */
+void servo_uart_init(UART_HandleTypeDef* uart) { m_uart = uart; }
+
+/**
+ * @description: 写操作
+ * @param {servo_obj_t*} servo 舵机对象
+ * @return {*}
+ */
+bool Write_operete(uint8_t id, uint8_t cmd, param_t* param) {
+  reg_distinguish(param, &reg_info);
+
+  if (cmd != SYC_W_DATA)
+    cmd_type = non_syn;
+  else
+    cmd_type = syn;
+
+  write_reg(id, cmd, param);
+  return true;
+}
+
+void Ping_operete(uint8_t id) {
+  cmd_basic_t* cmd_basic = (cmd_basic_t*)tx_buf;
+  cmd_basic->head        = 0xffff;
+  cmd_basic->id          = id;
+  cmd_basic->valid_len   = 0x02;
+  cmd_basic->cmd         = PING;
+
+  check_sum = check_sum_calculate(&tx_buf[2], NULL);
+  memcpy(&tx_buf[BASCI_LEN], &check_sum, 1);
+  tx_send_len = BASCI_LEN + 1;  // 1 = check_sum
+  packet_process(m_uart, tx_buf, rx_buf, tx_send_len);
+}
+
+// 初始方案无法确定发送参数的长度，用了一个数组但是导致指令包过大，所以改了个方法
+/**
+ * @description:
+ * @param {uint8_t} id
+ * @param {uint8_t} cmd
+ * @param {param_t*} param
+ * @return {*}
+ */
+void write_reg(uint8_t id, uint8_t cmd, param_t* param) {
+  uint8_t      param_real_len = param->count * reg_info.data_len;  // 参数个数*每个参数长度 = 实际参数长度
+  cmd_basic_t* cmd_basic      = (cmd_basic_t*)tx_buf;              // 解决发送数据不是数组问题
+  uint8_t*     cmd_param      = &tx_buf[5];
+
+  cmd_basic->head = 0xffff;
+  cmd_basic->id   = id;
+
+  if (cmd_type) {
+    cmd_basic->valid_len = param_real_len + 3;  // cmd + id + check_sum = 3
+    cmd_basic->cmd       = cmd;
+    cmd_param[0]         = param->addr;
+    // 判断参数数据长度
+    if (reg_info.data_len == byte) {
+      memcpy(&cmd_param[1], param->data, param->count);
+    } else if (reg_info.data_len == word) {
+      // 高低位交换，传入的寄存器地址不需要交换
+      high_low_exchange(param, &cmd_param[1], &reg_info);
+    }
+  }
+  // else 同步和非同步无法合并为一个函数
+  check_sum = check_sum_calculate(&tx_buf[2], param);
+  // 将checksum放入指令包末尾
+  memcpy(&tx_buf[BASCI_LEN + param_real_len + 1], &check_sum, 1);  // tx_buff[5] == addr    1 = addr
+
+  tx_send_len = BASCI_LEN + param_real_len + 2;  // 2 = addr + check_sum
+  packet_process(m_uart, tx_buf,rx_buf, tx_send_len);
+}

Usr/module/feite_servo/servo_operation.h

@@ -0,0 +1,9 @@
+#pragma once
+#include <stdint.h>
+#include "servo_package_process.h"
+
+
+
+bool Write_operete(uint8_t id, uint8_t cmd, param_t* param);
+void Ping_operete(uint8_t id);
+void servo_uart_init(UART_HandleTypeDef* uart);

Usr/module/feite_servo/servo_package_process.c

@@ -1,5 +1,3 @@
-
-
 #include "servo_package_process.h"
 
 #include <stdio.h>
@@ -7,169 +5,125 @@
 
 #include "servo_driver.h"
 #include "servo_reg_map.h"
-static UART_HandleTypeDef* m_uart;
-
-static uint8_t     cmd_type;
-static cmd_frame_t cmd;
-static uint8_t     cmd_packet[PACKET_MAX_LEN];
-
-static uint8_t reg_map[k_reg_max_map] = {
-    kRegFirmwareMainVersion,
-    kRegFirmwareSubVersion,
-    kRegServoMainVersion,
-    kRegServoSubVersion,
-    kRegServoId,
-    kRegServoBaudRate,
-    kRegServoDelay,
-    kRegServoAckLevel,
-    kRegServoMinAngle,
-    kRegServoMaxAngle,
-    kRegServoMaxTemp,
-    kRegServoMaxVoltage,
-    kRegServoMinVoltage,
-    kRegServoMaxTorque,
-    kRegServoPhase,
-    kRegServoUnloadCondition,
-    kRegServoLedAlarmCondition,
-    kRegServoP,
-    kRegServoD,
-    kRegServoI,
-    kRegServoMinStart,
-    kRegServoCwDeadZone,
-    kRegServoCcwDeadZone,
-    kRegServoProtectCurrent,
-    kRegServoAngleResolution,
-    kRegServoCalibration,
-    kRegServoRunMode,
-    kRegServoProtectTorque,
-    kRegServoProtectTime,
-    kRegServoOverloadTorque,
-    kRegServoSpeedP,
-    kRegServoOverloadTime,
-    kRegServoSpeedI,
-    kRegServoTorqueSwitch,
-    kRegServoAcc,
-    kRegServoTargetPos,
-    kRegServoRunTime,
-    kRegServoRunSpeed,
-    kRegServoTorqueLimit,
-    kRegServoLockFlag,
-    kRegServoCurrentPos,
-    kRegServoCurrentSpeed,
-    kRegServoCurrentLoad,
-    kRegServoCurrentVoltage,
-    kRegServoCurrentTemp,
-    kRegServoAsyncWriteFlag,
-    kRegServoStatus,
-    kRegServoMoveFlag,
-    kRegServoCurrentCurrent,
-    kRegServoCheckSpeed,
-    kRegServoDTime,
-    kRegServoSpeedUnit,
-    kRegServoMinSpeedLimit,
-    kRegServoMaxSpeedLimit,
-    kRegServoAccLimit,
-    kRegServoAccMultiple,
-};
-
-void servo_uart_init(UART_HandleTypeDef* uart) { m_uart = uart; }
+#include "tick.h"
+
+
+static uint8_t rx_size;
+
+static bool Idle_Flag = false;
+
+void SET_IDEL_FLAG(void) { Idle_Flag = true; }
+void CLEAR_IDEL_FLAG(void) { Idle_Flag = false; }
+
 
 /**
  * @description:  判断字符串长度
  * @param {uint8_t} reg_addr
  * @return {*}
- *///原先由于寄存器不连贯，导致进行判断时变得繁琐
-static uint8_t estimate_data_len(uint8_t reg_addr) {
-  if (reg_addr > k_reg_max_map) return error;
-
-  switch (reg_addr) {
-    case kRegServoMinAngle_map:
-    case kRegServoMaxAngle_map:
-    case kRegServoMaxTorque_map:
-    case kRegServoProtectCurrent_map:
-    case kRegServoCalibration_map:
-    case kRegServoTargetPos_map:
-    case kRegServoRunTime_map:
-    case kRegServoRunSpeed_map:
-    case kRegServoTorqueLimit_map:
-    case kRegServoCurrentPos_map:
-    case kRegServoCurrentSpeed_map:
-    case kRegServoCurrentLoad_map:
-    case kRegServoCurrentCurrent_map:
-      return word;
+ */
+// 特殊的寄存器只是比原先普通的寄存器多携带 了一些信息
+// 我只需要判断出特殊的寄存器，然后给他们加上多于普通寄存器的信息就行了
+// 普通寄存器默认信息：输入数据是一个字节 不用特殊位处理
+
+void reg_distinguish(param_t* param, reg_info_t* reg_info) {
+  reg_info->addr = (uint8_t)param->addr;
+
+  switch (reg_info->addr) {
+    case kRegServoCalibration:
+      reg_info->data_len    = word;
+      reg_info->special_bit = BT_11;
+      reg_info->sign_ed     = 1;
+      break;
+    case kRegServoRunTime:
+      reg_info->data_len    = word;
+      reg_info->special_bit = BT_10;
+      reg_info->sign_ed     = 1;
+      break;
+    case kRegServoCurrentPos:
+    case kRegServoCurrentSpeed:
+      reg_info->data_len    = word;
+      reg_info->special_bit = BT_15;
+      reg_info->sign_ed     = 1;
+      break;
+    case kRegServoTargetPos:
+    case kRegServoMinAngle:
+    case kRegServoMaxAngle:
+    case kRegServoMaxTorque:
+    case kRegServoProtectCurrent:
+    case kRegServoRunSpeed:
+    case kRegServoTorqueLimit:
+    case kRegServoCurrentLoad:
+    case kRegServoCurrentCurrent:
+      reg_info->data_len    = word;
+      reg_info->special_bit = 0;
+      reg_info->sign_ed     = 0;
+      break;
     default:
-      return byte;
+      reg_info->data_len    = byte;
+      reg_info->special_bit = 0;
+      reg_info->sign_ed     = 0;
+      break;
   }
 }
 
-void send_cmd_packet(cmd_frame_t* cmd) {
-  memcpy(cmd_packet, cmd->head, sizeof(cmd->head));
-  cmd_packet[2] = cmd->id;
-  cmd_packet[3] = cmd->len;
-  memcpy(&cmd_packet[4], cmd->param, strlen((const char*)cmd->param));
-
-  HAL_UART_Transmit(m_uart, cmd_packet, sizeof(cmd), 10);
-  // printf("cmd_frame_packet:%02X %02X %02X %02X %02X %02X %02X\n", cmd_packet[0], cmd_packet[1], cmd_packet[2], cmd_packet[3], cmd_packet[4], cmd_packet[5], cmd_packet[6]);
-}
+uint8_t check_sum_calculate(uint8_t* basic, param_t* param) {
+  // Check Sum = ~ (ID + Length + Instruction + Parameter1 + ... Parameter N)
+  uint16_t i         = 0;
+  uint8_t  basic_sum = 0;
+  uint8_t  sum       = 0;
+  for (i = 0; i < BASCI_LEN - 2; i++) {
+    basic_sum += basic[i];
+  }
 
-/**
- * @description: 写寄存器(只实现了单个数据的写入 不支持多数据)
- * @param {servo_obj_t*} servo 舵机对象
- * @param {uint8_t} param_len 数据写入寄存器中的长度
- * @return {*}
- */
-void write_reg(servo_obj_t* servo, uint8_t param_len) {
-  cmd.head[0] = 0xff;
-  cmd.head[1] = 0xff;
-  cmd.id      = servo->id;
-  if (cmd_type) {
-    cmd.len      = param_len + 3;
-    cmd.param[0] = reg_map[servo->reg];
-    cmd.cmd      = servo->cmd;
-
-    // 判断参数数据长度
-    if (param_len == byte) {
-      cmd.param[1] = (uint8_t)servo->data;
-    } else if (param_len == word) {
-      // 运行时间和位置校准需要特殊位的处理
-      if (kRegServoCalibration_map == servo->reg) {
-        cmd.param[1] = servo->data & 0xff;                 // 低八位
-        cmd.param[2] = (servo->data >> 8) | (1 << BT_11);  // 高八位
-      } else if (kRegServoRunTime_map == servo->reg) {
-        cmd.param[1] = servo->data & 0xff;                 // 低八位
-        cmd.param[2] = (servo->data >> 8) | (1 << BT_10);  // 高八位
-      } else {
-        // 对于二进制来说 uint32_t和 int32_t是一样的 只是用最高位来区别正负
-        cmd.param[1] = ((uint32_t)servo->data) & 0xff;  // 低八位
-        cmd.param[2] = ((uint32_t)servo->data) >> 8;    // 高八位
-        printf("%02X\n", servo->data);
+  if (param != NULL) {
+    sum = basic_sum + param->addr;
+    for (i = 0; i < param->count; i++) {
+      sum += (uint8_t)param->data[i];
     }
+  } else {
+    sum = basic_sum;
   }
+
+  return ~(sum);
+}
+
+void high_low_exchange(param_t* param, uint8_t* packet, reg_info_t* reg_info) {
+  static int16_t trans_buf;
+
+  for (uint8_t i = 0; i < param->count; i++) {
+    trans_buf = (param->data[i] | (reg_info->sign_ed << reg_info->special_bit)) >> 8;
+    trans_buf |= param->data[i] << 8;
+    memcpy(packet + (uint8_t)(i * 2), &trans_buf, sizeof(trans_buf));
   }
-  // else 同步写未完成
-  send_cmd_packet(&cmd);
 }
 
-/**
- * @description: 写操作
- * @param {servo_obj_t*} servo 舵机对象
- * @return {*}
- */
-bool Write_oprete(servo_obj_t* servo) {
-  uint8_t data_len;
 
-  if (servo->cmd != SYC_W_DATA)
-    cmd_type = non_syn;
-  else
-    cmd_type = syn;
 
-  data_len = estimate_data_len(servo->reg);
+void packet_process(UART_HandleTypeDef* uart, uint8_t* tx, uint8_t* rx, uint8_t len) {
+  cmd_receive_t* receive  = (cmd_receive_t*)rx;
+  uint32_t       lasttime = HAL_GetTick();
 
-  if (data_len == error) {
-    printf("The reg does not exist:%02X", servo->reg);
-    return false;
+  HAL_UARTEx_ReceiveToIdle_DMA(uart, rx, sizeof(rx));
+  HAL_UART_Transmit(uart, tx, len, 100);
+  // HAL_UART_Receive_DMA();
+
+  while (!Idle_Flag) {
+    // 没接收到数据进入等待
+    if (pass_time(lasttime) > OVERTIME) {
+      printf("uart3 receive error\n");
+      break;
+    }
+  }
+
+  if (receive->status == 0x00 && Idle_Flag) {
+    printf("servo normal work\n");
+    CLEAR_IDEL_FLAG();
   }
 
-  write_reg(servo, data_len);
-  return true;
+  printf("tx:%s\n", tx);
+  printf("tx_send_len: %02X\n", len);
 }
+
+
+
+// void get_rx_size(uint16_t Size) { rx_size = Size - __HAL_DMA_GET_COUNTER(m_uart->hdmarx); }

Usr/module/feite_servo/servo_package_process.h

@@ -4,8 +4,9 @@
 
 #include "servo_driver.h"
 #include "usart.h"
-#define PACKET_MAX_LEN 256
+#define PROCESS_MAX_LEN 256
 #define PARAM_LEN       128
+#define BASCI_LEN       5
 
 #define PING       0x01
 #define R_DATA     0x02
@@ -18,6 +19,7 @@
 // 特殊处理的寄存器位
 #define BT_11 11
 #define BT_10 10
+#define BT_15 15
 
 enum data_len {
   error = 0,
@@ -30,19 +32,44 @@ enum write_type {
   non_syn,
 };
 
+// typedef struct {
+//   cmd_basic_t basic;
+//   //uint8_t     param[];  // 采用柔性数组来解决参数不定长问题，导致checksum得放在别处
+// } cmd_frame_t;
+
 typedef struct {
-  uint8_t  head[2];
+  uint16_t head;
   uint8_t  id;
-  uint8_t  len;
+  uint8_t  valid_len;  // 有效数据长度
   uint8_t  cmd;
-  uint8_t  param[PARAM_LEN];
-  uint16_t crc;  // 预留
-} cmd_frame_t;
+} cmd_basic_t;
 
-// typedef struct {
-//   uint8_t reg_addr;
-//   uint8_t data_len;
-// } reg_info_t;
+typedef struct {
+  cmd_basic_t basic;
+  uint8_t     status;
+  uint8_t     check_sum;
+} cmd_receive_t;
+
+typedef struct {
+  uint8_t  addr;
+  int16_t* data;
+  uint8_t  count;
+} param_t;
+
+enum reg_type {
+  normal = 0,
+  data_longeer,
+  special_bit10,
+  special_bit11,
+};
 
 void servo_uart_init(UART_HandleTypeDef* uart);
-bool Write_oprete(servo_obj_t* servo);
+void reg_distinguish(param_t* param, reg_info_t* reg_info);
+void high_low_exchange(param_t* param, uint8_t* packet, reg_info_t* reg_info);
+void packet_process(UART_HandleTypeDef* uart, uint8_t* tx, uint8_t* rx, uint8_t len);
+uint8_t check_sum_calculate(uint8_t* basic, param_t* param);
+
+void get_rx_size(uint16_t Size);
+
+void SET_IDEL_FLAG(void);
+void CLEAR_IDEL_FLAG(void);

Usr/module/feite_servo/servo_reg_map.h

@@ -1,68 +1,6 @@
 #pragma once
 
 
-//寄存器映射
-typedef enum {
-  kRegFirmwareMainVersion_map = 0,  // 固件主版本号
-  kRegFirmwareSubVersion_map,       // 固件次版本号
-  kRegServoMainVersion_map,         // 舵机主版本号
-  kRegServoSubVersion_map,          // 舵机次版本号
-  kRegServoId_map,                  // ID
-  kRegServoBaudRate_map,            // 波特率
-  kRegServoDelay_map,               // 返回延时
-  kRegServoAckLevel_map,            // 应答状态级别
-  kRegServoMinAngle_map,            // 最小角度限制
-  kRegServoMaxAngle_map,            // 最大角度限制
-  kRegServoMaxTemp_map,             // 最高温度上限
-  kRegServoMaxVoltage_map,          // 最高输入电压
-  kRegServoMinVoltage_map,          // 最低输入电压
-  kRegServoMaxTorque_map,           // 最大扭矩
-  kRegServoPhase_map,               // 相位
-  kRegServoUnloadCondition_map,     // 卸载条件
-  kRegServoLedAlarmCondition_map,   // LED 报警条件
-  kRegServoP_map,                   // P 比例系
-  kRegServoD_map,                   // D 微分系
-  kRegServoI_map,                   // I
-  kRegServoMinStart_map,            // 最小启动
-  kRegServoCwDeadZone_map,          // 顺时针不灵敏区
-  kRegServoCcwDeadZone_map,         // 逆时针不灵敏
-  kRegServoProtectCurrent_map,      // 保护电流
-  kRegServoAngleResolution_map,     // 角度分辨
-  kRegServoCalibration_map,         // 位置校正 BIT11为方向位，表示正负方向，BIT0~10位表示范围0-2047步
-  kRegServoRunMode_map,             // 运行模式
-  kRegServoProtectTorque_map,       // 保护扭矩 0->100 ,触发后，需要写入与组转方向相反的位置指令，进行解除
-  kRegServoProtectTime_map,         // 保护时间
-  kRegServoOverloadTorque_map,      // 过载扭矩
-  kRegServoSpeedP_map,              // 速度闭环P比例参数
-  kRegServoOverloadTime_map,        // 过流保护时间
-  kRegServoSpeedI_map,              // 速度闭环I积分参数
-  kRegServoTorqueSwitch_map,        // 扭矩开关
-  kRegServoAcc_map,                 // 加速度
-  kRegServoTargetPos_map,           // 目标位置
-  kRegServoRunTime_map,             // 运行时间
-  kRegServoRunSpeed_map,            // 运行速度
-  kRegServoTorqueLimit_map,         // 转矩限制
-  kRegServoLockFlag_map,            // 锁标志
-  kRegServoCurrentPos_map,          // 当前位置
-  kRegServoCurrentSpeed_map,        // 当前速度
-  kRegServoCurrentLoad_map,         // 当前负载 bit10为方向位
-  kRegServoCurrentVoltage_map,      // 当前电压
-  kRegServoCurrentTemp_map,         // 当前温度
-  kRegServoAsyncWriteFlag_map,      // 异步写标志
-  kRegServoStatus_map,              // 舵机状态
-  kRegServoMoveFlag_map,            // 移动标志
-  kRegServoCurrentCurrent_map,      // 当前电流
-  kRegServoCheckSpeed_map,          // 80 移动检查速度
-  kRegServoDTime_map,               // 81 D控制时间
-  kRegServoSpeedUnit_map,           // 82 速度单位系数
-  kRegServoMinSpeedLimit_map,       // 83 最小速度限制
-  kRegServoMaxSpeedLimit_map,       // 84 最大速度限制
-  kRegServoAccLimit_map,            // 85 加速度限制
-  kRegServoAccMultiple_map,         // 86 加速度倍数
-  k_reg_max_map,
-} reg_addr_map;
-
-
 
 
 //寄存器实际地址

Usr/service/Processer/tjc_screen_process.c

@@ -1,3 +1,11 @@
+/*
+ * @Author: sunlight 2524828700@qq.com
+ * @Date: 2024-09-13 11:35:08
+ * @LastEditors: sunlight 2524828700@qq.com
+ * @LastEditTime: 2024-09-23 16:14:59
+ * @FilePath: \auxiliary_addition\Usr\service\Processer\tjc_screen_process.c
+ * @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
+ */
 
 
 
@@ -5,6 +13,7 @@
 
 #include <string.h>
 #include <stdbool.h>
+#include <stdio.h>
 
 #include "tjc_screen_event.h"
 #include "tjc_screen_page.h"

Usr/service/Processer/tjc_screen_receive.c

@@ -52,19 +52,3 @@ void tjc_date_pack(packet_t* packet) {
 }
 
 
-/*
- *
- * @brief 串口中断回调
- *
- */
-void HAL_UART_RxCpltCallback(UART_HandleTypeDef* huart) {
-  if (huart == &huart2) {
-    // 接收
-    tjc_uart_receive();
-  }
-
-  if (huart == &huart2) {
-    // 重启
-    HAL_UART_Receive_IT(huart, &rxCache, 1);
-  }
-}

Usr/service/Processer/tjc_screen_receive.h

@@ -4,7 +4,7 @@
 #include "usart.h"
 
 #define BUF_MAX_LEN 256
-#define OVERTIME    1
+
 typedef struct {
     uint8_t date[BUF_MAX_LEN];
     uint16_t len;

Usr/stm32itcb.c

@@ -0,0 +1,36 @@
+
+#include <stdbool.h>
+
+#include "./Processer/tjc_screen_receive.h"
+#include "./module/feite_servo/servo_package_process.h"
+#include "usart.h"
+static uint8_t rx_cache;
+
+/*
+ *
+ * @brief 串口中断回调
+ *
+ */
+void HAL_UART_RxCpltCallback(UART_HandleTypeDef* huart) {
+  if (huart == &huart2) {
+    // 接收
+    tjc_uart_receive();
+  }
+
+  if (huart == &huart2) {
+    // 重启
+    HAL_UART_Receive_IT(huart, &rx_cache, 1);
+  }
+}
+
+//空闲中断处理
+void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size){
+    if (huart == &huart3) {
+      //get_rx_size(Size);
+      SET_IDEL_FLAG();
+  }
+
+  if (huart == &huart3) {
+    // 重启
+  }
+}

Usr/stm32itcb.h

@@ -0,0 +1 @@
+#pragma once

Usr/tick.h

@@ -1,4 +1,6 @@
 #pragma once
 #include <stdint.h>
 
+#define OVERTIME   10
+
 uint32_t pass_time(uint32_t lastime);

Usr/time_slice/time_slice.c

@@ -2,7 +2,7 @@
  * @Author: sunlight 2524828700@qq.com
  * @Date: 2024-09-18 20:58:48
  * @LastEditors: sunlight 2524828700@qq.com
- * @LastEditTime: 2024-09-20 14:42:35
+ * @LastEditTime: 2024-09-21 11:35:50
  * @FilePath: \auxiliary_addition\Usr\time_slice\time_slice.c
  * @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
  */

auxiliary_addition Debug.cfg

@@ -0,0 +1,44 @@
+# This is an genericBoard board with a single STM32F407VETx chip
+#
+# Generated by STM32CubeIDE
+# Take care that such file, as generated, may be overridden without any early notice. Please have a look to debug launch configuration setup(s)
+
+source [find interface/stlink-dap.cfg]
+
+
+set WORKAREASIZE 0x8000
+
+transport select "dapdirect_swd"
+
+set CHIPNAME STM32F407VETx
+set BOARDNAME genericBoard
+
+# Enable debug when in low power modes
+set ENABLE_LOW_POWER 1
+
+# Stop Watchdog counters when halt
+set STOP_WATCHDOG 1
+
+# STlink Debug clock frequency
+set CLOCK_FREQ 8000
+
+# Reset configuration
+# use hardware reset, connect under reset
+# connect_assert_srst needed if low power mode application running (WFI...)
+reset_config srst_only srst_nogate connect_assert_srst
+set CONNECT_UNDER_RESET 1
+set CORE_RESET 0
+
+# ACCESS PORT NUMBER
+set AP_NUM 0
+# GDB PORT
+set GDB_PORT 3333
+
+
+
+
+
+# BCTM CPU variables
+
+source [find target/stm32f4x.cfg]
+

auxiliary_addition Debug.launch

@@ -30,7 +30,7 @@
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_logging" value="false"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_max_halt_delay" value="false"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_shared_stlink" value="false"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.frequency" value="0"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.frequency" value="1000"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.halt_all_on_reset" value="false"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.log_file" value="D:\my_worksplace\P_auxiliary_addition\auxiliary_addition\Debug\st-link_gdbserver_log.txt"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.low_power_debug" value="enable"/>

auxiliary_addition.ioc

@@ -8,9 +8,9 @@ ADC1.master=1
 CAD.formats=
 CAD.pinconfig=
 CAD.provider=
-CAN1.CalculateBaudRate=749999
-CAN1.CalculateTimeBit=1333
-CAN1.CalculateTimeQuantum=444.44444444444446
+CAN1.CalculateBaudRate=875000
+CAN1.CalculateTimeBit=1142
+CAN1.CalculateTimeQuantum=380.95238095238096
 CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate
 Dma.ADC1.0.Direction=DMA_PERIPH_TO_MEMORY
 Dma.ADC1.0.FIFOMode=DMA_FIFOMODE_DISABLE
@@ -185,10 +185,16 @@ PD0.Locked=true
 PD0.Signal=GPIO_Input
 PD1.Locked=true
 PD1.Signal=GPIO_Input
+PD13.GPIOParameters=GPIO_Speed
+PD13.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
 PD13.Locked=true
 PD13.Signal=GPIO_Output
+PD14.GPIOParameters=GPIO_Speed
+PD14.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
 PD14.Locked=true
 PD14.Signal=GPIO_Output
+PD15.GPIOParameters=GPIO_Speed
+PD15.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
 PD15.Locked=true
 PD15.Signal=GPIO_Output
 PD2.Locked=true
@@ -201,6 +207,8 @@ PE0.Locked=true
 PE0.Signal=GPIO_Input
 PE1.Locked=true
 PE1.Signal=GPIO_Input
+PE2.GPIOParameters=GPIO_Speed
+PE2.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
 PE2.Locked=true
 PE2.Signal=GPIO_Output
 PE3.Locked=true
@@ -243,37 +251,37 @@ ProjectManager.UAScriptAfterPath=
 ProjectManager.UAScriptBeforePath=
 ProjectManager.UnderRoot=true
 ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_UART4_Init-UART4-false-HAL-true,5-MX_USART1_UART_Init-USART1-false-HAL-true,6-MX_RTC_Init-RTC-false-HAL-true,7-MX_ADC1_Init-ADC1-false-HAL-true,8-MX_USART3_UART_Init-USART3-false-HAL-true,9-MX_I2C1_Init-I2C1-false-HAL-true,10-MX_CAN1_Init-CAN1-false-HAL-true,11-MX_USART2_UART_Init-USART2-false-HAL-true,12-MX_TIM2_Init-TIM2-false-HAL-true
-RCC.48MHZClocksFreq_Value=36000000
-RCC.AHBFreq_Value=72000000
-RCC.APB1CLKDivider=RCC_HCLK_DIV2
-RCC.APB1Freq_Value=36000000
-RCC.APB1TimFreq_Value=72000000
+RCC.48MHZClocksFreq_Value=84000000
+RCC.AHBFreq_Value=168000000
+RCC.APB1CLKDivider=RCC_HCLK_DIV4
+RCC.APB1Freq_Value=42000000
+RCC.APB1TimFreq_Value=84000000
 RCC.APB2CLKDivider=RCC_HCLK_DIV2
-RCC.APB2Freq_Value=36000000
-RCC.APB2TimFreq_Value=72000000
-RCC.CortexFreq_Value=72000000
-RCC.EthernetFreq_Value=72000000
-RCC.FCLKCortexFreq_Value=72000000
+RCC.APB2Freq_Value=84000000
+RCC.APB2TimFreq_Value=168000000
+RCC.CortexFreq_Value=168000000
+RCC.EthernetFreq_Value=168000000
+RCC.FCLKCortexFreq_Value=168000000
 RCC.FamilyName=M
-RCC.HCLKFreq_Value=72000000
+RCC.HCLKFreq_Value=168000000
 RCC.HSE_VALUE=8000000
 RCC.HSI_VALUE=16000000
 RCC.I2SClocksFreq_Value=192000000
 RCC.IPParameters=48MHZClocksFreq_Value,AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2CLKDivider,APB2Freq_Value,APB2TimFreq_Value,CortexFreq_Value,EthernetFreq_Value,FCLKCortexFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI_VALUE,I2SClocksFreq_Value,LSI_VALUE,MCO2PinFreq_Value,PLLCLKFreq_Value,PLLM,PLLN,PLLQCLKFreq_Value,PLLSourceVirtual,RTCFreq_Value,RTCHSEDivFreq_Value,SYSCLKFreq_VALUE,SYSCLKSource,VCOI2SOutputFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value,VcooutputI2S
 RCC.LSI_VALUE=32000
-RCC.MCO2PinFreq_Value=72000000
-RCC.PLLCLKFreq_Value=72000000
+RCC.MCO2PinFreq_Value=168000000
+RCC.PLLCLKFreq_Value=168000000
 RCC.PLLM=4
-RCC.PLLN=72
-RCC.PLLQCLKFreq_Value=36000000
+RCC.PLLN=168
+RCC.PLLQCLKFreq_Value=84000000
 RCC.PLLSourceVirtual=RCC_PLLSOURCE_HSE
 RCC.RTCFreq_Value=32000
 RCC.RTCHSEDivFreq_Value=4000000
-RCC.SYSCLKFreq_VALUE=72000000
+RCC.SYSCLKFreq_VALUE=168000000
 RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
 RCC.VCOI2SOutputFreq_Value=384000000
 RCC.VCOInputFreq_Value=2000000
-RCC.VCOOutputFreq_Value=144000000
+RCC.VCOOutputFreq_Value=336000000
 RCC.VcooutputI2S=192000000
 RTC.Alarm=RTC_ALARM_A
 RTC.Alarm_B=RTC_ALARM_B
@@ -293,7 +301,8 @@ USART1.VirtualMode=VM_ASYNC
 USART2.BaudRate=256000
 USART2.IPParameters=VirtualMode,BaudRate
 USART2.VirtualMode=VM_ASYNC
-USART3.IPParameters=VirtualMode
+USART3.BaudRate=1000000
+USART3.IPParameters=VirtualMode,BaudRate
 USART3.VirtualMode=VM_ASYNC
 VP_RTC_VS_RTC_Activate.Mode=RTC_Enabled
 VP_RTC_VS_RTC_Activate.Signal=RTC_VS_RTC_Activate