From abf6547e77ba79670db41bfafb9aa76c5292edae Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Wed, 6 Sep 2023 00:57:48 +0800
Subject: [PATCH] update

---
 Core/Inc/stm32f4xx_it.h |  1 +
 Core/Src/stm32f4xx_it.c | 15 +++++++++++++++
 Core/Src/usart.c        |  5 +++++
 mainboard.ioc           |  1 +
 usrc/main.cpp           |  8 ++++++++
 5 files changed, 30 insertions(+)

diff --git a/Core/Inc/stm32f4xx_it.h b/Core/Inc/stm32f4xx_it.h
index 833ede9..8276532 100644
--- a/Core/Inc/stm32f4xx_it.h
+++ b/Core/Inc/stm32f4xx_it.h
@@ -54,6 +54,7 @@ void UsageFault_Handler(void);
 void DebugMon_Handler(void);
 void TIM1_UP_TIM10_IRQHandler(void);
 void TIM1_TRG_COM_TIM11_IRQHandler(void);
+void USART1_IRQHandler(void);
 void TIM6_DAC_IRQHandler(void);
 void TIM7_IRQHandler(void);
 /* USER CODE BEGIN EFP */
diff --git a/Core/Src/stm32f4xx_it.c b/Core/Src/stm32f4xx_it.c
index 1ea9bf0..f945a4f 100644
--- a/Core/Src/stm32f4xx_it.c
+++ b/Core/Src/stm32f4xx_it.c
@@ -58,6 +58,7 @@
 extern TIM_HandleTypeDef htim6;
 extern TIM_HandleTypeDef htim7;
 extern TIM_HandleTypeDef htim10;
+extern UART_HandleTypeDef huart1;
 extern TIM_HandleTypeDef htim11;
 
 /* USER CODE BEGIN EV */
@@ -191,6 +192,20 @@ void TIM1_TRG_COM_TIM11_IRQHandler(void)
 }
 
 /**
+  * @brief This function handles USART1 global interrupt.
+  */
+void USART1_IRQHandler(void)
+{
+  /* USER CODE BEGIN USART1_IRQn 0 */
+
+  /* USER CODE END USART1_IRQn 0 */
+  HAL_UART_IRQHandler(&huart1);
+  /* USER CODE BEGIN USART1_IRQn 1 */
+
+  /* USER CODE END USART1_IRQn 1 */
+}
+
+/**
   * @brief This function handles TIM6 global interrupt, DAC1 and DAC2 underrun error interrupts.
   */
 void TIM6_DAC_IRQHandler(void)
diff --git a/Core/Src/usart.c b/Core/Src/usart.c
index 255cb74..463780e 100644
--- a/Core/Src/usart.c
+++ b/Core/Src/usart.c
@@ -110,6 +110,9 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
     GPIO_InitStruct.Alternate = GPIO_AF7_USART1;
     HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
+    /* USART1 interrupt Init */
+    HAL_NVIC_SetPriority(USART1_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(USART1_IRQn);
   /* USER CODE BEGIN USART1_MspInit 1 */
 
   /* USER CODE END USART1_MspInit 1 */
@@ -157,6 +160,8 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
     */
     HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9|GPIO_PIN_10);
 
+    /* USART1 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(USART1_IRQn);
   /* USER CODE BEGIN USART1_MspDeInit 1 */
 
   /* USER CODE END USART1_MspDeInit 1 */
diff --git a/mainboard.ioc b/mainboard.ioc
index 7221b8a..ba2d893 100644
--- a/mainboard.ioc
+++ b/mainboard.ioc
@@ -67,6 +67,7 @@ NVIC.TIM6_DAC_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.TIM7_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.TimeBase=TIM1_TRG_COM_TIM11_IRQn
 NVIC.TimeBaseIP=TIM11
+NVIC.USART1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 PA10.Mode=Asynchronous
 PA10.Signal=USART1_RX
diff --git a/usrc/main.cpp b/usrc/main.cpp
index 7badf5f..3fd88fa 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -5,6 +5,7 @@
 
 //
 #include "sdk/os/zos.hpp"
+#include "sdk\components\cmdscheduler\cmd_scheduler.hpp"
 #include "sdk\components\step_motor_45\step_motor_45.hpp"
 #include "sdk\components\step_motor_45\step_motor_45_scheduler.hpp"
 
@@ -131,7 +132,14 @@ void Main::run() {
 
   step_motor45_scheduler.start();
 
+  CmdScheduler cmdScheduler;
+  cmdScheduler.initialize(&DEBUG_UART, 1000);
+  cmdScheduler.registerCmd("help",  //
+                           [this](int argc, char** argv, CmdScheduler::CmdProcessContext* context) { ZLOGI(TAG, "do_help"); });
+
   while (true) {
     OSDefaultSchduler::getInstance()->loop();
+    cmdScheduler.schedule();
+    osDelay(1);
   }
 }