diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index 6d9848e..85fd87c 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -5,7 +5,7 @@
-
+
@@ -16,7 +16,7 @@
-
+
diff --git a/dap.cfg b/dap.cfg
index b41d541..3b8ae1c 100644
--- a/dap.cfg
+++ b/dap.cfg
@@ -20,7 +20,7 @@ set ENABLE_LOW_POWER 1
set STOP_WATCHDOG 1
# STlink Debug clock frequency
-set CLOCK_FREQ 4000
+set CLOCK_FREQ 1000
# Reset configuration
# use hardware reset
diff --git a/pipeline_disinfection_liquid_path_control Debug.launch b/pipeline_disinfection_liquid_path_control Debug.launch
deleted file mode 100644
index 0bee7b1..0000000
--- a/pipeline_disinfection_liquid_path_control Debug.launch
+++ /dev/null
@@ -1,96 +0,0 @@
-
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diff --git a/pipeline_disinfection_liquid_path_control.cfg b/pipeline_disinfection_liquid_path_control.cfg
new file mode 100644
index 0000000..ef37116
--- /dev/null
+++ b/pipeline_disinfection_liquid_path_control.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]
+
diff --git a/pipeline_disinfection_liquid_path_control.launch b/pipeline_disinfection_liquid_path_control.launch
index 5a3ef93..1915d2c 100644
--- a/pipeline_disinfection_liquid_path_control.launch
+++ b/pipeline_disinfection_liquid_path_control.launch
@@ -34,16 +34,15 @@
-
+
-
-
+
@@ -65,8 +64,8 @@
-
-
+
+
@@ -80,9 +79,9 @@
-
+
-
+
diff --git a/usrc/device.cpp b/usrc/device.cpp
index 2506472..c47e3a3 100644
--- a/usrc/device.cpp
+++ b/usrc/device.cpp
@@ -154,8 +154,8 @@ void device_init() {
m_huachengPressureSensor.regSubmodule(4, &huart3, 4);
}
- OUT_PD14.initAsOutput(PD14, ZGPIO::kMode_nopull, true, false);
- OUT_PD15.initAsOutput(PD15, ZGPIO::kMode_nopull, true, false);
+ OUT_PD14.initAsOutput(PD14, ZGPIO::kMode_nopull, false, true);
+ OUT_PD15.initAsOutput(PD15, ZGPIO::kMode_nopull, false, true);
}
void setmotor(TMC5130 *motor, int16_t acc_rpm2, int16_t rpm, int16_t idlepower, int16_t power) {
diff --git a/usrc/main.cpp b/usrc/main.cpp
index cde9b92..64fe625 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -15,6 +15,7 @@ void umain(void) {
ZHALCORE::getInstance()->initialize(oscfg);
ZLOGI(TAG, "pipeline_disinfection_liquid_path_control:%s", VERSION);
+
device_init();
uart_debug_fn_reg();
can_cmd_reg_fn_reg();
@@ -25,4 +26,4 @@ void umain(void) {
HAL_IWDG_Refresh(&hiwdg);
}
}
-}
\ No newline at end of file
+}