add new jpg

AutoGuideStick.ioc

@@ -16,8 +16,8 @@ GPDMA1.IPHANDLE_GPDMACH5-SIMPLEREQUEST_GPDMACH5=__NULL
 GPDMA1.IPParameters=REQUEST_GPDMACH4,DIRECTION_GPDMACH4,SRCINC_GPDMACH4,CIRCULARMODE_GPDMACH5,LINKALLOCATEDPORT_CIRCULAR_GPDMACH5,REQUEST_GPDMACH5,TRANSFERALLOCATEDPORTSRC_GPDMACH5,TRANSFERALLOCATEDPORTDEST_GPDMACH5,IPHANDLE_GPDMACH5-SIMPLEREQUEST_GPDMACH5,IPHANDLE_GPDMACH4-SIMPLEREQUEST_GPDMACH4,CIRCULARMODE_GPDMACH3,IPHANDLE_GPDMACH3-SIMPLEREQUEST_GPDMACH3,REQUEST_GPDMACH3
 GPDMA1.LINKALLOCATEDPORT_CIRCULAR_GPDMACH5=DMA_LINK_ALLOCATED_PORT1
 GPDMA1.REQUEST_GPDMACH3=GPDMA1_REQUEST_USART2_RX
-GPDMA1.REQUEST_GPDMACH4=GPDMA1_REQUEST_USART1_TX
-GPDMA1.REQUEST_GPDMACH5=GPDMA1_REQUEST_USART1_RX
+GPDMA1.REQUEST_GPDMACH4=GPDMA1_REQUEST_UART4_TX
+GPDMA1.REQUEST_GPDMACH5=GPDMA1_REQUEST_UART4_RX
 GPDMA1.SRCINC_GPDMACH4=DMA_SINC_INCREMENTED
 GPDMA1.TRANSFERALLOCATEDPORTDEST_GPDMACH5=DMA_DEST_ALLOCATED_PORT1
 GPDMA1.TRANSFERALLOCATEDPORTSRC_GPDMACH5=DMA_SRC_ALLOCATED_PORT1
@@ -30,11 +30,14 @@ Mcu.ContextProject=TrustZoneDisabled
 Mcu.Family=STM32H5
 Mcu.IP0=BOOTPATH
 Mcu.IP1=CORTEX_M33_NS
-Mcu.IP10=TIM2
-Mcu.IP11=TIM3
-Mcu.IP12=USART1
-Mcu.IP13=USART2
-Mcu.IP14=USART3
+Mcu.IP10=TIM1
+Mcu.IP11=TIM2
+Mcu.IP12=TIM3
+Mcu.IP13=TIM4
+Mcu.IP14=TIM8
+Mcu.IP15=UART4
+Mcu.IP16=USART2
+Mcu.IP17=USART3
 Mcu.IP2=DEBUG
 Mcu.IP3=GPDMA1
 Mcu.IP4=MEMORYMAP
@@ -43,35 +46,46 @@ Mcu.IP6=PWR
 Mcu.IP7=RCC
 Mcu.IP8=SYS
 Mcu.IP9=THREADX
-Mcu.IPNb=15
+Mcu.IPNb=18
 Mcu.Name=STM32H563ZITx
 Mcu.Package=LQFP144
 Mcu.Pin0=PH0-OSC_IN(PH0)
-Mcu.Pin1=PB14
-Mcu.Pin10=PD2
-Mcu.Pin11=PD5
-Mcu.Pin12=PD6
-Mcu.Pin13=VP_CORTEX_M33_NS_VS_Hclk
-Mcu.Pin14=VP_GPDMA1_VS_GPDMACH3
-Mcu.Pin15=VP_GPDMA1_VS_GPDMACH4
-Mcu.Pin16=VP_GPDMA1_VS_GPDMACH5
-Mcu.Pin17=VP_PWR_VS_SECSignals
-Mcu.Pin18=VP_PWR_VS_LPOM
-Mcu.Pin19=VP_SYS_VS_tim1
-Mcu.Pin2=PB15
-Mcu.Pin20=VP_THREADX_VS_RTOSJjThreadXJjCoreJjDefault
-Mcu.Pin21=VP_TIM2_VS_ClockSourceINT
-Mcu.Pin22=VP_TIM3_VS_ClockSourceINT
-Mcu.Pin23=VP_BOOTPATH_VS_BOOTPATH
-Mcu.Pin24=VP_MEMORYMAP_VS_MEMORYMAP
-Mcu.Pin3=PC8
-Mcu.Pin4=PC9
-Mcu.Pin5=PA13(JTMS/SWDIO)
-Mcu.Pin6=PA14(JTCK/SWCLK)
-Mcu.Pin7=PC10
-Mcu.Pin8=PC11
-Mcu.Pin9=PC12
-Mcu.PinsNb=25
+Mcu.Pin1=PC2
+Mcu.Pin10=PC7
+Mcu.Pin11=PC8
+Mcu.Pin12=PC9
+Mcu.Pin13=PA13(JTMS/SWDIO)
+Mcu.Pin14=PA14(JTCK/SWCLK)
+Mcu.Pin15=PC10
+Mcu.Pin16=PC11
+Mcu.Pin17=PC12
+Mcu.Pin18=PD2
+Mcu.Pin19=PD5
+Mcu.Pin2=PB1
+Mcu.Pin20=PD6
+Mcu.Pin21=PB8
+Mcu.Pin22=PB9
+Mcu.Pin23=VP_CORTEX_M33_NS_VS_Hclk
+Mcu.Pin24=VP_GPDMA1_VS_GPDMACH3
+Mcu.Pin25=VP_GPDMA1_VS_GPDMACH4
+Mcu.Pin26=VP_GPDMA1_VS_GPDMACH5
+Mcu.Pin27=VP_PWR_VS_SECSignals
+Mcu.Pin28=VP_PWR_VS_LPOM
+Mcu.Pin29=VP_SYS_VS_tim5
+Mcu.Pin3=PG0
+Mcu.Pin30=VP_THREADX_VS_RTOSJjThreadXJjCoreJjDefault
+Mcu.Pin31=VP_TIM2_VS_ClockSourceINT
+Mcu.Pin32=VP_TIM3_VS_ClockSourceINT
+Mcu.Pin33=VP_TIM4_VS_ClockSourceINT
+Mcu.Pin34=VP_BOOTPATH_VS_BOOTPATH
+Mcu.Pin35=VP_MEMORYMAP_VS_MEMORYMAP
+Mcu.Pin4=PG1
+Mcu.Pin5=PE9
+Mcu.Pin6=PE11
+Mcu.Pin7=PG2
+Mcu.Pin8=PG3
+Mcu.Pin9=PC6
+Mcu.PinsNb=36
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32H563ZITx
@@ -93,11 +107,12 @@ NVIC.SavedPendsvIrqHandlerGenerated=true
 NVIC.SavedSvcallIrqHandlerGenerated=true
 NVIC.SavedSystickIrqHandlerGenerated=true
 NVIC.SysTick_IRQn=true\:14\:0\:false\:false\:false\:false\:false\:true\:false
-NVIC.TIM1_UP_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true
 NVIC.TIM2_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
-NVIC.TimeBase=TIM1_UP_IRQn
-NVIC.TimeBaseIP=TIM1
-NVIC.USART1_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
+NVIC.TIM3_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
+NVIC.TIM5_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true
+NVIC.TimeBase=TIM5_IRQn
+NVIC.TimeBaseIP=TIM5
+NVIC.UART4_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
 NVIC.USART2_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
 NVIC.USART3_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
@@ -105,10 +120,16 @@ PA13(JTMS/SWDIO).Mode=Serial_Wire
 PA13(JTMS/SWDIO).Signal=DEBUG_JTMS-SWDIO
 PA14(JTCK/SWCLK).Mode=Serial_Wire
 PA14(JTCK/SWCLK).Signal=DEBUG_JTCK-SWCLK
-PB14.Mode=Asynchronous
-PB14.Signal=USART1_TX
-PB15.Mode=Asynchronous
-PB15.Signal=USART1_RX
+PB1.GPIOParameters=GPIO_Label
+PB1.GPIO_Label=PWMB
+PB1.Locked=true
+PB1.Signal=S_TIM3_CH4
+PB8.Locked=true
+PB8.Mode=Asynchronous
+PB8.Signal=UART4_RX
+PB9.Locked=true
+PB9.Mode=Asynchronous
+PB9.Signal=UART4_TX
 PC10.Locked=true
 PC10.Mode=Asynchronous
 PC10.Signal=USART3_TX
@@ -120,14 +141,27 @@ PC12.GPIO_Label=Shake_Motor
 PC12.GPIO_PuPd=GPIO_PULLDOWN
 PC12.Locked=true
 PC12.Signal=GPIO_Output
+PC2.GPIOParameters=GPIO_Label
+PC2.GPIO_Label=PWMA
+PC2.Locked=true
+PC2.Signal=S_TIM4_CH4
+PC6.GPIOParameters=GPIO_Label
+PC6.GPIO_Label=E2A
+PC6.Locked=true
+PC6.Signal=S_TIM8_CH1
+PC7.GPIOParameters=GPIO_Label
+PC7.GPIO_Label=E2B
+PC7.Locked=true
+PC7.Signal=S_TIM8_CH2
 PC8.GPIOParameters=GPIO_Label
-PC8.GPIO_Label=HC_Trig
+PC8.GPIO_Label=HC_Echo
 PC8.Locked=true
-PC8.Signal=GPIO_Output
-PC9.GPIOParameters=GPIO_Label
-PC9.GPIO_Label=HC_Echo
+PC8.Signal=S_TIM3_CH3
+PC9.GPIOParameters=GPIO_PuPd,GPIO_Label
+PC9.GPIO_Label=HC_Trig
+PC9.GPIO_PuPd=GPIO_NOPULL
 PC9.Locked=true
-PC9.Signal=S_TIM3_CH4
+PC9.Signal=GPIO_Output
 PD2.GPIOParameters=GPIO_PuPd,GPIO_Label
 PD2.GPIO_Label=Buzzer
 PD2.GPIO_PuPd=GPIO_PULLDOWN
@@ -139,6 +173,30 @@ PD5.Signal=USART2_TX
 PD6.Locked=true
 PD6.Mode=Asynchronous
 PD6.Signal=USART2_RX
+PE11.GPIOParameters=GPIO_Label
+PE11.GPIO_Label=E1B
+PE11.Locked=true
+PE11.Signal=S_TIM1_CH2
+PE9.GPIOParameters=GPIO_Label
+PE9.GPIO_Label=E1A
+PE9.Locked=true
+PE9.Signal=S_TIM1_CH1
+PG0.GPIOParameters=GPIO_Label
+PG0.GPIO_Label=AIN1
+PG0.Locked=true
+PG0.Signal=GPIO_Output
+PG1.GPIOParameters=GPIO_Label
+PG1.GPIO_Label=AIN2
+PG1.Locked=true
+PG1.Signal=GPIO_Output
+PG2.GPIOParameters=GPIO_Label
+PG2.GPIO_Label=BIN1
+PG2.Locked=true
+PG2.Signal=GPIO_Output
+PG3.GPIOParameters=GPIO_Label
+PG3.GPIO_Label=BIN2
+PG3.Locked=true
+PG3.Signal=GPIO_Output
 PH0-OSC_IN(PH0).Mode=HSE-External-Clock-Source
 PH0-OSC_IN(PH0).Signal=RCC_OSC_IN
 PinOutPanel.RotationAngle=0
@@ -173,7 +231,7 @@ ProjectManager.ToolChainLocation=
 ProjectManager.UAScriptAfterPath=
 ProjectManager.UAScriptBeforePath=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_GPDMA1_Init-GPDMA1-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,5-MX_USART2_UART_Init-USART2-false-HAL-true,6-MX_TIM2_Init-TIM2-false-HAL-true,7-MX_TIM3_Init-TIM3-false-HAL-true,0-MX_CORTEX_M33_NS_Init-CORTEX_M33_NS-false-HAL-true,0-MX_PWR_Init-PWR-false-HAL-true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_GPDMA1_Init-GPDMA1-false-HAL-true,4-MX_USART2_UART_Init-USART2-false-HAL-true,5-MX_TIM2_Init-TIM2-false-HAL-true,6-MX_TIM3_Init-TIM3-false-HAL-true,7-MX_USART3_UART_Init-USART3-false-HAL-true,8-MX_TIM4_Init-TIM4-false-HAL-true,9-MX_UART4_Init-UART4-false-HAL-true,0-MX_CORTEX_M33_NS_Init-CORTEX_M33_NS-false-HAL-true,0-MX_PWR_Init-PWR-false-HAL-true
 RCC.ADCFreq_Value=250000000
 RCC.AHBFreq_Value=250000000
 RCC.APB1Freq_Value=250000000
@@ -259,18 +317,32 @@ RCC.VCOInputFreq_Value=4000000
 RCC.VCOOutputFreq_Value=500000000
 RCC.VCOPLL2OutputFreq_Value=516000000
 RCC.VCOPLL3OutputFreq_Value=516000000
-SH.S_TIM3_CH4.0=TIM3_CH4,Input_Capture4_from_TI4
+SH.S_TIM1_CH1.0=TIM1_CH1,Encoder_Interface
+SH.S_TIM1_CH1.ConfNb=1
+SH.S_TIM1_CH2.0=TIM1_CH2,Encoder_Interface
+SH.S_TIM1_CH2.ConfNb=1
+SH.S_TIM3_CH3.0=TIM3_CH3,Input_Capture3_from_TI3
+SH.S_TIM3_CH3.ConfNb=1
+SH.S_TIM3_CH4.0=TIM3_CH4,PWM Generation4 CH4
 SH.S_TIM3_CH4.ConfNb=1
+SH.S_TIM4_CH4.0=TIM4_CH4,PWM Generation4 CH4
+SH.S_TIM4_CH4.ConfNb=1
+SH.S_TIM8_CH1.0=TIM8_CH1,Encoder_Interface
+SH.S_TIM8_CH1.ConfNb=1
+SH.S_TIM8_CH2.0=TIM8_CH2,Encoder_Interface
+SH.S_TIM8_CH2.ConfNb=1
 THREADX.IPParameters=TX_APP_GENERATE_INIT_CODE
 THREADX.TX_APP_GENERATE_INIT_CODE=false
 TIM2.IPParameters=Prescaler
 TIM2.Prescaler=250 - 1
-TIM3.Channel-Input_Capture4_from_TI4=TIM_CHANNEL_4
-TIM3.IPParameters=Channel-Input_Capture4_from_TI4,Prescaler
+TIM3.Channel-Input_Capture3_from_TI3=TIM_CHANNEL_3
+TIM3.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
+TIM3.IPParameters=Prescaler,Channel-PWM Generation4 CH4,Channel-Input_Capture3_from_TI3
 TIM3.Prescaler=250 - 1
-USART1.BaudRate=9600
-USART1.IPParameters=VirtualMode-Asynchronous,BaudRate
-USART1.VirtualMode-Asynchronous=VM_ASYNC
+TIM4.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
+TIM4.IPParameters=Channel-PWM Generation4 CH4
+UART4.BaudRate=9600
+UART4.IPParameters=BaudRate
 USART2.BaudRate=9600
 USART2.IPParameters=VirtualMode-Asynchronous,BaudRate
 USART2.VirtualMode-Asynchronous=VM_ASYNC
@@ -293,12 +365,14 @@ VP_PWR_VS_LPOM.Mode=PowerOptimisation
 VP_PWR_VS_LPOM.Signal=PWR_VS_LPOM
 VP_PWR_VS_SECSignals.Mode=Security/Privilege
 VP_PWR_VS_SECSignals.Signal=PWR_VS_SECSignals
-VP_SYS_VS_tim1.Mode=TIM1
-VP_SYS_VS_tim1.Signal=SYS_VS_tim1
+VP_SYS_VS_tim5.Mode=TIM5
+VP_SYS_VS_tim5.Signal=SYS_VS_tim5
 VP_THREADX_VS_RTOSJjThreadXJjCoreJjDefault.Mode=Core_Default
 VP_THREADX_VS_RTOSJjThreadXJjCoreJjDefault.Signal=THREADX_VS_RTOSJjThreadXJjCoreJjDefault
 VP_TIM2_VS_ClockSourceINT.Mode=Internal
 VP_TIM2_VS_ClockSourceINT.Signal=TIM2_VS_ClockSourceINT
 VP_TIM3_VS_ClockSourceINT.Mode=Internal
 VP_TIM3_VS_ClockSourceINT.Signal=TIM3_VS_ClockSourceINT
+VP_TIM4_VS_ClockSourceINT.Mode=Internal
+VP_TIM4_VS_ClockSourceINT.Signal=TIM4_VS_ClockSourceINT
 board=custom

Core/Inc/main.h

@@ -57,10 +57,30 @@ void Error_Handler(void);
 /* USER CODE END EFP */
 
 /* Private defines -----------------------------------------------------------*/
-#define HC_Trig_Pin GPIO_PIN_8
-#define HC_Trig_GPIO_Port GPIOC
-#define HC_Echo_Pin GPIO_PIN_9
+#define PWMA_Pin GPIO_PIN_2
+#define PWMA_GPIO_Port GPIOC
+#define PWMB_Pin GPIO_PIN_1
+#define PWMB_GPIO_Port GPIOB
+#define AIN1_Pin GPIO_PIN_0
+#define AIN1_GPIO_Port GPIOG
+#define AIN2_Pin GPIO_PIN_1
+#define AIN2_GPIO_Port GPIOG
+#define E1A_Pin GPIO_PIN_9
+#define E1A_GPIO_Port GPIOE
+#define E1B_Pin GPIO_PIN_11
+#define E1B_GPIO_Port GPIOE
+#define BIN1_Pin GPIO_PIN_2
+#define BIN1_GPIO_Port GPIOG
+#define BIN2_Pin GPIO_PIN_3
+#define BIN2_GPIO_Port GPIOG
+#define E2A_Pin GPIO_PIN_6
+#define E2A_GPIO_Port GPIOC
+#define E2B_Pin GPIO_PIN_7
+#define E2B_GPIO_Port GPIOC
+#define HC_Echo_Pin GPIO_PIN_8
 #define HC_Echo_GPIO_Port GPIOC
+#define HC_Trig_Pin GPIO_PIN_9
+#define HC_Trig_GPIO_Port GPIOC
 #define Shake_Motor_Pin GPIO_PIN_12
 #define Shake_Motor_GPIO_Port GPIOC
 #define Buzzer_Pin GPIO_PIN_2

Core/Inc/stm32h5xx_it.h

@@ -55,11 +55,12 @@ void DebugMon_Handler(void);
 void GPDMA1_Channel3_IRQHandler(void);
 void GPDMA1_Channel4_IRQHandler(void);
 void GPDMA1_Channel5_IRQHandler(void);
-void TIM1_UP_IRQHandler(void);
 void TIM2_IRQHandler(void);
-void USART1_IRQHandler(void);
+void TIM3_IRQHandler(void);
+void TIM5_IRQHandler(void);
 void USART2_IRQHandler(void);
 void USART3_IRQHandler(void);
+void UART4_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
 /* USER CODE END EFP */

Core/Inc/tim.h

@@ -32,16 +32,27 @@ extern "C" {
 
 /* USER CODE END Includes */
 
+extern TIM_HandleTypeDef htim1;
+
 extern TIM_HandleTypeDef htim2;
 
 extern TIM_HandleTypeDef htim3;
 
+extern TIM_HandleTypeDef htim4;
+
+extern TIM_HandleTypeDef htim8;
+
 /* USER CODE BEGIN Private defines */
 
 /* USER CODE END Private defines */
 
+void MX_TIM1_Init(void);
 void MX_TIM2_Init(void);
 void MX_TIM3_Init(void);
+void MX_TIM4_Init(void);
+void MX_TIM8_Init(void);
+
+void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
 
 /* USER CODE BEGIN Prototypes */
 

Core/Inc/usart.h

@@ -32,7 +32,7 @@ extern "C" {
 
 /* USER CODE END Includes */
 
-extern UART_HandleTypeDef huart1;
+extern UART_HandleTypeDef huart4;
 
 extern UART_HandleTypeDef huart2;
 
@@ -42,7 +42,7 @@ extern UART_HandleTypeDef huart3;
 
 /* USER CODE END Private defines */
 
-void MX_USART1_UART_Init(void);
+void MX_UART4_Init(void);
 void MX_USART2_UART_Init(void);
 void MX_USART3_UART_Init(void);
 

Core/Src/app_threadx.c

@@ -55,8 +55,49 @@ _GPSData gps_data;
 /* Private function prototypes -----------------------------------------------*/
 /* USER CODE BEGIN PFP */
 
-// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>app_thread.c<><63>
-// #define task_test    	1
+
+
+/* USER CODE END 1 */
+/* USER CODE END 1 */
+
+/* USER CODE END PFP */
+
+/**
+  * @brief  Application ThreadX Initialization.
+  * @param memory_ptr: memory pointer
+  * @retval int
+  */
+UINT App_ThreadX_Init(VOID *memory_ptr)
+{
+  UINT ret = TX_SUCCESS;
+  /* USER CODE BEGIN App_ThreadX_MEM_POOL */
+
+  /* USER CODE END App_ThreadX_MEM_POOL */
+  /* USER CODE BEGIN App_ThreadX_Init */
+  /* USER CODE END App_ThreadX_Init */
+
+  return ret;
+}
+
+  /**
+  * @brief  Function that implements the kernel's initialization.
+  * @param  None
+  * @retval None
+  */
+void MX_ThreadX_Init(void)
+{
+  /* USER CODE BEGIN Before_Kernel_Start */
+
+  /* USER CODE END Before_Kernel_Start */
+
+  tx_kernel_enter();
+
+  /* USER CODE BEGIN Kernel_Start_Error */
+
+  /* USER CODE END Kernel_Start_Error */
+}
+
+/* USER CODE BEGIN 1 */
 #ifdef TEST  //Ŀǰ<C4BF><C7B0><EFBFBD>ڲ<EFBFBD><DAB2><EFBFBD>
 
 
@@ -103,47 +144,5 @@ void main_control_thread_entry(ULONG thread_input)
         }
     }
 }
-/* USER CODE END 1 */
-/* USER CODE END 1 */
-
 #endif
-/* USER CODE END PFP */
-
-/**
-  * @brief  Application ThreadX Initialization.
-  * @param memory_ptr: memory pointer
-  * @retval int
-  */
-UINT App_ThreadX_Init(VOID *memory_ptr)
-{
-  UINT ret = TX_SUCCESS;
-  /* USER CODE BEGIN App_ThreadX_MEM_POOL */
-
-  /* USER CODE END App_ThreadX_MEM_POOL */
-  /* USER CODE BEGIN App_ThreadX_Init */
-  /* USER CODE END App_ThreadX_Init */
-
-  return ret;
-}
-
-  /**
-  * @brief  Function that implements the kernel's initialization.
-  * @param  None
-  * @retval None
-  */
-void MX_ThreadX_Init(void)
-{
-  /* USER CODE BEGIN Before_Kernel_Start */
-
-  /* USER CODE END Before_Kernel_Start */
-
-  tx_kernel_enter();
-
-  /* USER CODE BEGIN Kernel_Start_Error */
-
-  /* USER CODE END Kernel_Start_Error */
-}
-
-/* USER CODE BEGIN 1 */
-
 /* USER CODE END 1 */

Core/Src/gpio.c

@@ -44,17 +44,29 @@ void MX_GPIO_Init(void)
 
   /* GPIO Ports Clock Enable */
   __HAL_RCC_GPIOH_CLK_ENABLE();
-  __HAL_RCC_GPIOB_CLK_ENABLE();
   __HAL_RCC_GPIOC_CLK_ENABLE();
+  __HAL_RCC_GPIOB_CLK_ENABLE();
+  __HAL_RCC_GPIOG_CLK_ENABLE();
+  __HAL_RCC_GPIOE_CLK_ENABLE();
   __HAL_RCC_GPIOA_CLK_ENABLE();
   __HAL_RCC_GPIOD_CLK_ENABLE();
 
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(GPIOG, AIN1_Pin|AIN2_Pin|BIN1_Pin|BIN2_Pin, GPIO_PIN_RESET);
+
   /*Configure GPIO pin Output Level */
   HAL_GPIO_WritePin(GPIOC, HC_Trig_Pin|Shake_Motor_Pin, GPIO_PIN_RESET);
 
   /*Configure GPIO pin Output Level */
   HAL_GPIO_WritePin(Buzzer_GPIO_Port, Buzzer_Pin, GPIO_PIN_RESET);
 
+  /*Configure GPIO pins : AIN1_Pin AIN2_Pin BIN1_Pin BIN2_Pin */
+  GPIO_InitStruct.Pin = AIN1_Pin|AIN2_Pin|BIN1_Pin|BIN2_Pin;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+  HAL_GPIO_Init(GPIOG, &GPIO_InitStruct);
+
   /*Configure GPIO pin : HC_Trig_Pin */
   GPIO_InitStruct.Pin = HC_Trig_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;

Core/Src/main.c

@@ -92,11 +92,14 @@ int main(void)
   /* Initialize all configured peripherals */
   MX_GPIO_Init();
   MX_GPDMA1_Init();
-  MX_USART1_UART_Init();
   MX_USART2_UART_Init();
   MX_TIM2_Init();
   MX_TIM3_Init();
   MX_USART3_UART_Init();
+  MX_TIM4_Init();
+  MX_UART4_Init();
+  MX_TIM1_Init();
+  MX_TIM8_Init();
   /* USER CODE BEGIN 2 */
 
   /* USER CODE END 2 */
@@ -179,7 +182,7 @@ void SystemClock_Config(void)
 
 /**
   * @brief  Period elapsed callback in non blocking mode
-  * @note   This function is called  when TIM1 interrupt took place, inside
+  * @note   This function is called  when TIM5 interrupt took place, inside
   * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
   * a global variable "uwTick" used as application time base.
   * @param  htim : TIM handle
@@ -190,7 +193,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
   /* USER CODE BEGIN Callback 0 */
 
   /* USER CODE END Callback 0 */
-  if (htim->Instance == TIM1)
+  if (htim->Instance == TIM5)
   {
     HAL_IncTick();
   }

Core/Src/stm32h5xx_hal_timebase_tim.c

@@ -25,12 +25,12 @@
 /* Private define ------------------------------------------------------------*/
 /* Private macro -------------------------------------------------------------*/
 /* Private variables ---------------------------------------------------------*/
-TIM_HandleTypeDef        htim1;
+TIM_HandleTypeDef        htim5;
 /* Private function prototypes -----------------------------------------------*/
 /* Private functions ---------------------------------------------------------*/
 
 /**
-  * @brief  This function configures the TIM1 as a time base source.
+  * @brief  This function configures the TIM5 as a time base source.
   *         The time source is configured  to have 1ms time base with a dedicated
   *         Tick interrupt priority.
   * @note   This function is called  automatically at the beginning of program after
@@ -41,49 +41,58 @@ TIM_HandleTypeDef        htim1;
 HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
 {
   RCC_ClkInitTypeDef    clkconfig;
-  uint32_t              uwTimclock;
+  uint32_t              uwTimclock, uwAPB1Prescaler;
   uint32_t              uwPrescalerValue;
   uint32_t              pFLatency;
 
   HAL_StatusTypeDef     status;
 
-  /* Enable TIM1 clock */
-  __HAL_RCC_TIM1_CLK_ENABLE();
+  /* Enable TIM5 clock */
+  __HAL_RCC_TIM5_CLK_ENABLE();
 
   /* Get clock configuration */
   HAL_RCC_GetClockConfig(&clkconfig, &pFLatency);
 
-  /* Compute TIM1 clock */
-      uwTimclock = HAL_RCC_GetPCLK2Freq();
+  /* Get APB1 prescaler */
+  uwAPB1Prescaler = clkconfig.APB1CLKDivider;
+  /* Compute TIM5 clock */
+  if (uwAPB1Prescaler == RCC_HCLK_DIV1)
+  {
+    uwTimclock = HAL_RCC_GetPCLK1Freq();
+  }
+  else
+  {
+    uwTimclock = 2UL * HAL_RCC_GetPCLK1Freq();
+  }
 
-  /* Compute the prescaler value to have TIM1 counter clock equal to 100KHz */
+  /* Compute the prescaler value to have TIM5 counter clock equal to 100KHz */
   uwPrescalerValue = (uint32_t) ((uwTimclock / 100000U) - 1U);
 
-  /* Initialize TIM1 */
-  htim1.Instance = TIM1;
+  /* Initialize TIM5 */
+  htim5.Instance = TIM5;
 
   /* Initialize TIMx peripheral as follow:
-   * Period = [(TIM1CLK/1000) - 1]. to have a (1/1000) s time base.
+   * Period = [(TIM5CLK/1000) - 1]. to have a (1/1000) s time base.
    * Prescaler = (uwTimclock/100000 - 1) to have a 100KHz counter clock.
    * ClockDivision = 0
    * Counter direction = Up
    */
-  htim1.Init.Period = (100000U / 1000U) - 1U;
-  htim1.Init.Prescaler = uwPrescalerValue;
-  htim1.Init.ClockDivision = 0;
-  htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim5.Init.Period = (100000U / 1000U) - 1U;
+  htim5.Init.Prescaler = uwPrescalerValue;
+  htim5.Init.ClockDivision = 0;
+  htim5.Init.CounterMode = TIM_COUNTERMODE_UP;
 
-  status = HAL_TIM_Base_Init(&htim1);
+  status = HAL_TIM_Base_Init(&htim5);
   if (status == HAL_OK)
   {
     /* Start the TIM time Base generation in interrupt mode */
-    status = HAL_TIM_Base_Start_IT(&htim1);
+    status = HAL_TIM_Base_Start_IT(&htim5);
     if (status == HAL_OK)
     {
       if (TickPriority < (1UL << __NVIC_PRIO_BITS))
       {
-        /* Enable the TIM1 global Interrupt */
-        HAL_NVIC_SetPriority(TIM1_UP_IRQn, TickPriority, 0U);
+        /* Enable the TIM5 global Interrupt */
+        HAL_NVIC_SetPriority(TIM5_IRQn, TickPriority, 0U);
         uwTickPrio = TickPriority;
       }
       else
@@ -93,8 +102,8 @@ HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
     }
 }
 
-  /* Enable the TIM1 global Interrupt */
-  HAL_NVIC_EnableIRQ(TIM1_UP_IRQn);
+  /* Enable the TIM5 global Interrupt */
+  HAL_NVIC_EnableIRQ(TIM5_IRQn);
 
   /* Return function status */
   return status;
@@ -102,25 +111,25 @@ HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
 
 /**
   * @brief  Suspend Tick increment.
-  * @note   Disable the tick increment by disabling TIM1 update interrupt.
+  * @note   Disable the tick increment by disabling TIM5 update interrupt.
   * @param  None
   * @retval None
   */
 void HAL_SuspendTick(void)
 {
-  /* Disable TIM1 update Interrupt */
-  __HAL_TIM_DISABLE_IT(&htim1, TIM_IT_UPDATE);
+  /* Disable TIM5 update Interrupt */
+  __HAL_TIM_DISABLE_IT(&htim5, TIM_IT_UPDATE);
 }
 
 /**
   * @brief  Resume Tick increment.
-  * @note   Enable the tick increment by Enabling TIM1 update interrupt.
+  * @note   Enable the tick increment by Enabling TIM5 update interrupt.
   * @param  None
   * @retval None
   */
 void HAL_ResumeTick(void)
 {
-  /* Enable TIM1 Update interrupt */
-  __HAL_TIM_ENABLE_IT(&htim1, TIM_IT_UPDATE);
+  /* Enable TIM5 Update interrupt */
+  __HAL_TIM_ENABLE_IT(&htim5, TIM_IT_UPDATE);
 }
 

Core/Src/stm32h5xx_it.c

@@ -57,6 +57,7 @@
 
 /* External variables --------------------------------------------------------*/
 extern TIM_HandleTypeDef htim2;
+extern TIM_HandleTypeDef htim3;
 extern DMA_NodeTypeDef Node_GPDMA1_Channel5;
 extern DMA_QListTypeDef List_GPDMA1_Channel5;
 extern DMA_HandleTypeDef handle_GPDMA1_Channel5;
@@ -64,10 +65,10 @@ extern DMA_HandleTypeDef handle_GPDMA1_Channel4;
 extern DMA_NodeTypeDef Node_GPDMA1_Channel3;
 extern DMA_QListTypeDef List_GPDMA1_Channel3;
 extern DMA_HandleTypeDef handle_GPDMA1_Channel3;
-extern UART_HandleTypeDef huart1;
+extern UART_HandleTypeDef huart4;
 extern UART_HandleTypeDef huart2;
 extern UART_HandleTypeDef huart3;
-extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim5;
 
 /* USER CODE BEGIN EV */
 
@@ -213,20 +214,6 @@ void GPDMA1_Channel5_IRQHandler(void)
   /* USER CODE END GPDMA1_Channel5_IRQn 1 */
 }
 
-/**
-  * @brief This function handles TIM1 Update interrupt.
-  */
-void TIM1_UP_IRQHandler(void)
-{
-  /* USER CODE BEGIN TIM1_UP_IRQn 0 */
-
-  /* USER CODE END TIM1_UP_IRQn 0 */
-  HAL_TIM_IRQHandler(&htim1);
-  /* USER CODE BEGIN TIM1_UP_IRQn 1 */
-
-  /* USER CODE END TIM1_UP_IRQn 1 */
-}
-
 /**
   * @brief This function handles TIM2 global interrupt.
   */
@@ -242,31 +229,31 @@ void TIM2_IRQHandler(void)
 }
 
 /**
-  * @brief This function handles USART1 global interrupt.
+  * @brief This function handles TIM3 global interrupt.
   */
-void USART1_IRQHandler(void)
+void TIM3_IRQHandler(void)
 {
-  /* USER CODE BEGIN USART1_IRQn 0 */
+  /* USER CODE BEGIN TIM3_IRQn 0 */
 
-  /* USER CODE END USART1_IRQn 0 */
-  HAL_UART_IRQHandler(&huart1);
-  /* USER CODE BEGIN USART1_IRQn 1 */
-  if(__HAL_UART_GET_FLAG(&huart1,UART_FLAG_IDLE))
-  {
-	  __HAL_UART_CLEAR_IDLEFLAG(&huart1);
-	  //<2F><><EFBFBD><EFBFBD><EFBFBD>Ǽ<EFBFBD><C7BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ַ<EFBFBD><D6B7><EFBFBD><EFBFBD><EFBFBD>
-	  uint16_t len = UART_DMA_RX_BUF_SIZE - __HAL_DMA_GET_COUNTER(huart1.hdmarx);
+  /* USER CODE END TIM3_IRQn 0 */
+  HAL_TIM_IRQHandler(&htim3);
+  /* USER CODE BEGIN TIM3_IRQn 1 */
 
-	  for(uint16_t i = 0;i < len; i++)
-	  {
-		  ble_rx_ring.buffer[ble_rx_ring.head] = uart_dma_rx_buf[i];
-		  ble_rx_ring.head = (ble_rx_ring.head + 1) %RING_BUFFER_SIZE;
+  /* USER CODE END TIM3_IRQn 1 */
 }
 
-	  HAL_UART_AbortReceive(&huart1);  //ֹͣ<CDA3><D6B9>ǰDMA
-	  HCBle_InitDMAReception();
-  }
-  /* USER CODE END USART1_IRQn 1 */
+/**
+  * @brief This function handles TIM5 global interrupt.
+  */
+void TIM5_IRQHandler(void)
+{
+  /* USER CODE BEGIN TIM5_IRQn 0 */
+
+  /* USER CODE END TIM5_IRQn 0 */
+  HAL_TIM_IRQHandler(&htim5);
+  /* USER CODE BEGIN TIM5_IRQn 1 */
+
+  /* USER CODE END TIM5_IRQn 1 */
 }
 
 /**
@@ -297,6 +284,20 @@ void USART3_IRQHandler(void)
   /* USER CODE END USART3_IRQn 1 */
 }
 
+/**
+  * @brief This function handles UART4 global interrupt.
+  */
+void UART4_IRQHandler(void)
+{
+  /* USER CODE BEGIN UART4_IRQn 0 */
+
+  /* USER CODE END UART4_IRQn 0 */
+  HAL_UART_IRQHandler(&huart4);
+  /* USER CODE BEGIN UART4_IRQn 1 */
+
+  /* USER CODE END UART4_IRQn 1 */
+}
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */

Core/Src/tim.c

@@ -24,9 +24,58 @@
 
 /* USER CODE END 0 */
 
+TIM_HandleTypeDef htim1;
 TIM_HandleTypeDef htim2;
 TIM_HandleTypeDef htim3;
+TIM_HandleTypeDef htim4;
+TIM_HandleTypeDef htim8;
 
+/* TIM1 init function */
+void MX_TIM1_Init(void)
+{
+
+  /* USER CODE BEGIN TIM1_Init 0 */
+
+  /* USER CODE END TIM1_Init 0 */
+
+  TIM_Encoder_InitTypeDef sConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+
+  /* USER CODE BEGIN TIM1_Init 1 */
+
+  /* USER CODE END TIM1_Init 1 */
+  htim1.Instance = TIM1;
+  htim1.Init.Prescaler = 0;
+  htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim1.Init.Period = 65535;
+  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim1.Init.RepetitionCounter = 0;
+  htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  sConfig.EncoderMode = TIM_ENCODERMODE_TI1;
+  sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
+  sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
+  sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
+  sConfig.IC1Filter = 0;
+  sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
+  sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
+  sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
+  sConfig.IC2Filter = 0;
+  if (HAL_TIM_Encoder_Init(&htim1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM1_Init 2 */
+
+  /* USER CODE END TIM1_Init 2 */
+
+}
 /* TIM2 init function */
 void MX_TIM2_Init(void)
 {
@@ -78,6 +127,7 @@ void MX_TIM3_Init(void)
   TIM_ClockConfigTypeDef sClockSourceConfig = {0};
   TIM_MasterConfigTypeDef sMasterConfig = {0};
   TIM_IC_InitTypeDef sConfigIC = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
 
   /* USER CODE BEGIN TIM3_Init 1 */
 
@@ -101,6 +151,10 @@ void MX_TIM3_Init(void)
   {
     Error_Handler();
   }
+  if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
+  {
+    Error_Handler();
+  }
   sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
   sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
   if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
@@ -111,15 +165,178 @@ void MX_TIM3_Init(void)
   sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
   sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
   sConfigIC.ICFilter = 0;
-  if (HAL_TIM_IC_ConfigChannel(&htim3, &sConfigIC, TIM_CHANNEL_4) != HAL_OK)
+  if (HAL_TIM_IC_ConfigChannel(&htim3, &sConfigIC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 0;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
   {
     Error_Handler();
   }
   /* USER CODE BEGIN TIM3_Init 2 */
 
   /* USER CODE END TIM3_Init 2 */
+  HAL_TIM_MspPostInit(&htim3);
 
 }
+/* TIM4 init function */
+void MX_TIM4_Init(void)
+{
+
+  /* USER CODE BEGIN TIM4_Init 0 */
+
+  /* USER CODE END TIM4_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+
+  /* USER CODE BEGIN TIM4_Init 1 */
+
+  /* USER CODE END TIM4_Init 1 */
+  htim4.Instance = TIM4;
+  htim4.Init.Prescaler = 0;
+  htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim4.Init.Period = 65535;
+  htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 0;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM4_Init 2 */
+
+  /* USER CODE END TIM4_Init 2 */
+  HAL_TIM_MspPostInit(&htim4);
+
+}
+/* TIM8 init function */
+void MX_TIM8_Init(void)
+{
+
+  /* USER CODE BEGIN TIM8_Init 0 */
+
+  /* USER CODE END TIM8_Init 0 */
+
+  TIM_Encoder_InitTypeDef sConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+
+  /* USER CODE BEGIN TIM8_Init 1 */
+
+  /* USER CODE END TIM8_Init 1 */
+  htim8.Instance = TIM8;
+  htim8.Init.Prescaler = 0;
+  htim8.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim8.Init.Period = 65535;
+  htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim8.Init.RepetitionCounter = 0;
+  htim8.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  sConfig.EncoderMode = TIM_ENCODERMODE_TI1;
+  sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
+  sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
+  sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
+  sConfig.IC1Filter = 0;
+  sConfig.IC2Polarity = TIM_ICPOLARITY_RISING;
+  sConfig.IC2Selection = TIM_ICSELECTION_DIRECTTI;
+  sConfig.IC2Prescaler = TIM_ICPSC_DIV1;
+  sConfig.IC2Filter = 0;
+  if (HAL_TIM_Encoder_Init(&htim8, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim8, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM8_Init 2 */
+
+  /* USER CODE END TIM8_Init 2 */
+
+}
+
+void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle)
+{
+
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  if(tim_encoderHandle->Instance==TIM1)
+  {
+  /* USER CODE BEGIN TIM1_MspInit 0 */
+
+  /* USER CODE END TIM1_MspInit 0 */
+    /* TIM1 clock enable */
+    __HAL_RCC_TIM1_CLK_ENABLE();
+
+    __HAL_RCC_GPIOE_CLK_ENABLE();
+    /**TIM1 GPIO Configuration
+    PE9     ------> TIM1_CH1
+    PE11     ------> TIM1_CH2
+    */
+    GPIO_InitStruct.Pin = E1A_Pin|E1B_Pin;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
+    HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN TIM1_MspInit 1 */
+
+  /* USER CODE END TIM1_MspInit 1 */
+  }
+  else if(tim_encoderHandle->Instance==TIM8)
+  {
+  /* USER CODE BEGIN TIM8_MspInit 0 */
+
+  /* USER CODE END TIM8_MspInit 0 */
+    /* TIM8 clock enable */
+    __HAL_RCC_TIM8_CLK_ENABLE();
+
+    __HAL_RCC_GPIOC_CLK_ENABLE();
+    /**TIM8 GPIO Configuration
+    PC6     ------> TIM8_CH1
+    PC7     ------> TIM8_CH2
+    */
+    GPIO_InitStruct.Pin = E2A_Pin|E2B_Pin;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
+    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN TIM8_MspInit 1 */
+
+  /* USER CODE END TIM8_MspInit 1 */
+  }
+}
 
 void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
 {
@@ -150,7 +367,7 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
 
     __HAL_RCC_GPIOC_CLK_ENABLE();
     /**TIM3 GPIO Configuration
-    PC9     ------> TIM3_CH4
+    PC8     ------> TIM3_CH3
     */
     GPIO_InitStruct.Pin = HC_Echo_Pin;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
@@ -159,10 +376,112 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
     GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
     HAL_GPIO_Init(HC_Echo_GPIO_Port, &GPIO_InitStruct);
 
+    /* TIM3 interrupt Init */
+    HAL_NVIC_SetPriority(TIM3_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(TIM3_IRQn);
   /* USER CODE BEGIN TIM3_MspInit 1 */
 
   /* USER CODE END TIM3_MspInit 1 */
   }
+  else if(tim_baseHandle->Instance==TIM4)
+  {
+  /* USER CODE BEGIN TIM4_MspInit 0 */
+
+  /* USER CODE END TIM4_MspInit 0 */
+    /* TIM4 clock enable */
+    __HAL_RCC_TIM4_CLK_ENABLE();
+  /* USER CODE BEGIN TIM4_MspInit 1 */
+
+  /* USER CODE END TIM4_MspInit 1 */
+  }
+}
+void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
+{
+
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  if(timHandle->Instance==TIM3)
+  {
+  /* USER CODE BEGIN TIM3_MspPostInit 0 */
+
+  /* USER CODE END TIM3_MspPostInit 0 */
+    __HAL_RCC_GPIOB_CLK_ENABLE();
+    /**TIM3 GPIO Configuration
+    PB1     ------> TIM3_CH4
+    */
+    GPIO_InitStruct.Pin = PWMB_Pin;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
+    HAL_GPIO_Init(PWMB_GPIO_Port, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN TIM3_MspPostInit 1 */
+
+  /* USER CODE END TIM3_MspPostInit 1 */
+  }
+  else if(timHandle->Instance==TIM4)
+  {
+  /* USER CODE BEGIN TIM4_MspPostInit 0 */
+
+  /* USER CODE END TIM4_MspPostInit 0 */
+
+    __HAL_RCC_GPIOC_CLK_ENABLE();
+    /**TIM4 GPIO Configuration
+    PC2     ------> TIM4_CH4
+    */
+    GPIO_InitStruct.Pin = PWMA_Pin;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF2_TIM4;
+    HAL_GPIO_Init(PWMA_GPIO_Port, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN TIM4_MspPostInit 1 */
+
+  /* USER CODE END TIM4_MspPostInit 1 */
+  }
+
+}
+
+void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* tim_encoderHandle)
+{
+
+  if(tim_encoderHandle->Instance==TIM1)
+  {
+  /* USER CODE BEGIN TIM1_MspDeInit 0 */
+
+  /* USER CODE END TIM1_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM1_CLK_DISABLE();
+
+    /**TIM1 GPIO Configuration
+    PE9     ------> TIM1_CH1
+    PE11     ------> TIM1_CH2
+    */
+    HAL_GPIO_DeInit(GPIOE, E1A_Pin|E1B_Pin);
+
+  /* USER CODE BEGIN TIM1_MspDeInit 1 */
+
+  /* USER CODE END TIM1_MspDeInit 1 */
+  }
+  else if(tim_encoderHandle->Instance==TIM8)
+  {
+  /* USER CODE BEGIN TIM8_MspDeInit 0 */
+
+  /* USER CODE END TIM8_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM8_CLK_DISABLE();
+
+    /**TIM8 GPIO Configuration
+    PC6     ------> TIM8_CH1
+    PC7     ------> TIM8_CH2
+    */
+    HAL_GPIO_DeInit(GPIOC, E2A_Pin|E2B_Pin);
+
+  /* USER CODE BEGIN TIM8_MspDeInit 1 */
+
+  /* USER CODE END TIM8_MspDeInit 1 */
+  }
 }
 
 void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
@@ -191,14 +510,30 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
     __HAL_RCC_TIM3_CLK_DISABLE();
 
     /**TIM3 GPIO Configuration
-    PC9     ------> TIM3_CH4
+    PB1     ------> TIM3_CH4
+    PC8     ------> TIM3_CH3
     */
+    HAL_GPIO_DeInit(PWMB_GPIO_Port, PWMB_Pin);
+
     HAL_GPIO_DeInit(HC_Echo_GPIO_Port, HC_Echo_Pin);
 
+    /* TIM3 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(TIM3_IRQn);
   /* USER CODE BEGIN TIM3_MspDeInit 1 */
 
   /* USER CODE END TIM3_MspDeInit 1 */
   }
+  else if(tim_baseHandle->Instance==TIM4)
+  {
+  /* USER CODE BEGIN TIM4_MspDeInit 0 */
+
+  /* USER CODE END TIM4_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM4_CLK_DISABLE();
+  /* USER CODE BEGIN TIM4_MspDeInit 1 */
+
+  /* USER CODE END TIM4_MspDeInit 1 */
+  }
 }
 
 /* USER CODE BEGIN 1 */

Core/Src/usart.c

@@ -24,7 +24,7 @@
 
 /* USER CODE END 0 */
 
-UART_HandleTypeDef huart1;
+UART_HandleTypeDef huart4;
 UART_HandleTypeDef huart2;
 UART_HandleTypeDef huart3;
 DMA_NodeTypeDef Node_GPDMA1_Channel5;
@@ -35,48 +35,47 @@ DMA_NodeTypeDef Node_GPDMA1_Channel3;
 DMA_QListTypeDef List_GPDMA1_Channel3;
 DMA_HandleTypeDef handle_GPDMA1_Channel3;
 
-/* USART1 init function */
-
-void MX_USART1_UART_Init(void)
+/* UART4 init function */
+void MX_UART4_Init(void)
 {
 
-  /* USER CODE BEGIN USART1_Init 0 */
+  /* USER CODE BEGIN UART4_Init 0 */
 
-  /* USER CODE END USART1_Init 0 */
+  /* USER CODE END UART4_Init 0 */
 
-  /* USER CODE BEGIN USART1_Init 1 */
+  /* USER CODE BEGIN UART4_Init 1 */
 
-  /* USER CODE END USART1_Init 1 */
-  huart1.Instance = USART1;
-  huart1.Init.BaudRate = 9600;
-  huart1.Init.WordLength = UART_WORDLENGTH_8B;
-  huart1.Init.StopBits = UART_STOPBITS_1;
-  huart1.Init.Parity = UART_PARITY_NONE;
-  huart1.Init.Mode = UART_MODE_TX_RX;
-  huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
-  huart1.Init.OverSampling = UART_OVERSAMPLING_16;
-  huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
-  huart1.Init.ClockPrescaler = UART_PRESCALER_DIV1;
-  huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
-  if (HAL_UART_Init(&huart1) != HAL_OK)
+  /* USER CODE END UART4_Init 1 */
+  huart4.Instance = UART4;
+  huart4.Init.BaudRate = 9600;
+  huart4.Init.WordLength = UART_WORDLENGTH_8B;
+  huart4.Init.StopBits = UART_STOPBITS_1;
+  huart4.Init.Parity = UART_PARITY_NONE;
+  huart4.Init.Mode = UART_MODE_TX_RX;
+  huart4.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+  huart4.Init.OverSampling = UART_OVERSAMPLING_16;
+  huart4.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
+  huart4.Init.ClockPrescaler = UART_PRESCALER_DIV1;
+  huart4.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
+  if (HAL_UART_Init(&huart4) != HAL_OK)
   {
     Error_Handler();
   }
-  if (HAL_UARTEx_SetTxFifoThreshold(&huart1, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
+  if (HAL_UARTEx_SetTxFifoThreshold(&huart4, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
   {
     Error_Handler();
   }
-  if (HAL_UARTEx_SetRxFifoThreshold(&huart1, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
+  if (HAL_UARTEx_SetRxFifoThreshold(&huart4, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
   {
     Error_Handler();
   }
-  if (HAL_UARTEx_DisableFifoMode(&huart1) != HAL_OK)
+  if (HAL_UARTEx_DisableFifoMode(&huart4) != HAL_OK)
   {
     Error_Handler();
   }
-  /* USER CODE BEGIN USART1_Init 2 */
+  /* USER CODE BEGIN UART4_Init 2 */
 
-  /* USER CODE END USART1_Init 2 */
+  /* USER CODE END UART4_Init 2 */
 
 }
 /* USART2 init function */
@@ -174,40 +173,40 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
   GPIO_InitTypeDef GPIO_InitStruct = {0};
   DMA_NodeConfTypeDef NodeConfig= {0};
   RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
-  if(uartHandle->Instance==USART1)
+  if(uartHandle->Instance==UART4)
   {
-  /* USER CODE BEGIN USART1_MspInit 0 */
+  /* USER CODE BEGIN UART4_MspInit 0 */
 
-  /* USER CODE END USART1_MspInit 0 */
+  /* USER CODE END UART4_MspInit 0 */
 
   /** Initializes the peripherals clock
   */
-    PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_USART1;
-    PeriphClkInitStruct.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK2;
+    PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_UART4;
+    PeriphClkInitStruct.Uart4ClockSelection = RCC_UART4CLKSOURCE_PCLK1;
     if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
     {
       Error_Handler();
     }
 
-    /* USART1 clock enable */
-    __HAL_RCC_USART1_CLK_ENABLE();
+    /* UART4 clock enable */
+    __HAL_RCC_UART4_CLK_ENABLE();
 
     __HAL_RCC_GPIOB_CLK_ENABLE();
-    /**USART1 GPIO Configuration
-    PB14     ------> USART1_TX
-    PB15     ------> USART1_RX
+    /**UART4 GPIO Configuration
+    PB8     ------> UART4_RX
+    PB9     ------> UART4_TX
     */
-    GPIO_InitStruct.Pin = GPIO_PIN_14|GPIO_PIN_15;
+    GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-    GPIO_InitStruct.Alternate = GPIO_AF4_USART1;
+    GPIO_InitStruct.Alternate = GPIO_AF8_UART4;
     HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
-    /* USART1 DMA Init */
-    /* GPDMA1_REQUEST_USART1_RX Init */
+    /* UART4 DMA Init */
+    /* GPDMA1_REQUEST_UART4_RX Init */
     NodeConfig.NodeType = DMA_GPDMA_LINEAR_NODE;
-    NodeConfig.Init.Request = GPDMA1_REQUEST_USART1_RX;
+    NodeConfig.Init.Request = GPDMA1_REQUEST_UART4_RX;
     NodeConfig.Init.BlkHWRequest = DMA_BREQ_SINGLE_BURST;
     NodeConfig.Init.Direction = DMA_PERIPH_TO_MEMORY;
     NodeConfig.Init.SrcInc = DMA_SINC_FIXED;
@@ -260,9 +259,9 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
       Error_Handler();
     }
 
-    /* GPDMA1_REQUEST_USART1_TX Init */
+    /* GPDMA1_REQUEST_UART4_TX Init */
     handle_GPDMA1_Channel4.Instance = GPDMA1_Channel4;
-    handle_GPDMA1_Channel4.Init.Request = GPDMA1_REQUEST_USART1_TX;
+    handle_GPDMA1_Channel4.Init.Request = GPDMA1_REQUEST_UART4_TX;
     handle_GPDMA1_Channel4.Init.BlkHWRequest = DMA_BREQ_SINGLE_BURST;
     handle_GPDMA1_Channel4.Init.Direction = DMA_MEMORY_TO_PERIPH;
     handle_GPDMA1_Channel4.Init.SrcInc = DMA_SINC_INCREMENTED;
@@ -287,12 +286,12 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
       Error_Handler();
     }
 
-    /* USART1 interrupt Init */
-    HAL_NVIC_SetPriority(USART1_IRQn, 0, 0);
-    HAL_NVIC_EnableIRQ(USART1_IRQn);
-  /* USER CODE BEGIN USART1_MspInit 1 */
+    /* UART4 interrupt Init */
+    HAL_NVIC_SetPriority(UART4_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(UART4_IRQn);
+  /* USER CODE BEGIN UART4_MspInit 1 */
 
-  /* USER CODE END USART1_MspInit 1 */
+  /* USER CODE END UART4_MspInit 1 */
   }
   else if(uartHandle->Instance==USART2)
   {
@@ -429,29 +428,29 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
 void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
 {
 
-  if(uartHandle->Instance==USART1)
+  if(uartHandle->Instance==UART4)
   {
-  /* USER CODE BEGIN USART1_MspDeInit 0 */
+  /* USER CODE BEGIN UART4_MspDeInit 0 */
 
-  /* USER CODE END USART1_MspDeInit 0 */
+  /* USER CODE END UART4_MspDeInit 0 */
     /* Peripheral clock disable */
-    __HAL_RCC_USART1_CLK_DISABLE();
+    __HAL_RCC_UART4_CLK_DISABLE();
 
-    /**USART1 GPIO Configuration
-    PB14     ------> USART1_TX
-    PB15     ------> USART1_RX
+    /**UART4 GPIO Configuration
+    PB8     ------> UART4_RX
+    PB9     ------> UART4_TX
     */
-    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_14|GPIO_PIN_15);
+    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_8|GPIO_PIN_9);
 
-    /* USART1 DMA DeInit */
+    /* UART4 DMA DeInit */
     HAL_DMA_DeInit(uartHandle->hdmarx);
     HAL_DMA_DeInit(uartHandle->hdmatx);
 
-    /* USART1 interrupt Deinit */
-    HAL_NVIC_DisableIRQ(USART1_IRQn);
-  /* USER CODE BEGIN USART1_MspDeInit 1 */
+    /* UART4 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(UART4_IRQn);
+  /* USER CODE BEGIN UART4_MspDeInit 1 */
 
-  /* USER CODE END USART1_MspDeInit 1 */
+  /* USER CODE END UART4_MspDeInit 1 */
   }
   else if(uartHandle->Instance==USART2)
   {

MDK-ARM/AutoGuideStick/AutoGuideStick.build_log.htm

@@ -27,13 +27,199 @@ Project File Date:  06/25/2025
 <h2>Output:</h2>
 *** Using Compiler 'V6.21', folder: 'D:\keil5\ARM\ARMCLANG\Bin'
 Build target 'AutoGuideStick'
-compiling HCBle.c...
+compiling tim.c...
+compiling gpdma.c...
+compiling gpio.c...
+compiling main.c...
+compiling memorymap.c...
+assembling startup_stm32h563xx.s...
+compiling stm32h5xx_hal_timebase_tim.c...
+compiling stm32h5xx_it.c...
+compiling stm32h5xx_hal_tim_ex.c...
+compiling stm32h5xx_hal_tim.c...
+compiling usart.c...
+compiling stm32h5xx_hal_msp.c...
+compiling app_azure_rtos.c...
 compiling app_threadx.c...
+compiling stm32h5xx_hal_cortex.c...
+compiling stm32h5xx_hal_rcc.c...
+compiling stm32h5xx_hal_flash.c...
+compiling stm32h5xx_hal_flash_ex.c...
+compiling stm32h5xx_hal_gpio.c...
+compiling stm32h5xx_hal_rcc_ex.c...
+compiling stm32h5xx_hal_pwr.c...
+compiling stm32h5xx_hal_dma.c...
+compiling stm32h5xx_hal_pwr_ex.c...
+compiling stm32h5xx_hal_dma_ex.c...
+compiling stm32h5xx_hal.c...
+compiling stm32h5xx_hal_exti.c...
+compiling stm32h5xx_hal_uart_ex.c...
+compiling stm32h5xx_hal_uart.c...
+compiling system_stm32h5xx.c...
+compiling tx_initialize_high_level.c...
+compiling tx_initialize_kernel_enter.c...
+compiling tx_thread_stack_error_notify.c...
+compiling tx_initialize_kernel_setup.c...
+compiling tx_thread_system_resume.c...
+compiling tx_thread_stack_error_handler.c...
+compiling tx_block_pool_create.c...
+compiling tx_block_allocate.c...
+compiling tx_block_pool_cleanup.c...
+compiling tx_block_pool_delete.c...
+compiling tx_block_pool_info_get.c...
+compiling tx_block_pool_initialize.c...
+compiling tx_block_pool_prioritize.c...
+compiling tx_block_release.c...
+compiling tx_byte_allocate.c...
+compiling tx_byte_pool_cleanup.c...
+compiling tx_byte_pool_create.c...
+compiling tx_byte_pool_delete.c...
+compiling tx_byte_pool_initialize.c...
+compiling tx_byte_pool_prioritize.c...
+compiling tx_byte_pool_search.c...
+compiling tx_byte_pool_info_get.c...
+compiling tx_byte_release.c...
+compiling tx_event_flags_cleanup.c...
+compiling tx_event_flags_create.c...
+compiling tx_event_flags_delete.c...
+compiling tx_event_flags_get.c...
+compiling tx_event_flags_info_get.c...
+compiling tx_event_flags_initialize.c...
+compiling tx_event_flags_set.c...
+compiling tx_mutex_cleanup.c...
+compiling tx_event_flags_set_notify.c...
+compiling tx_mutex_create.c...
+compiling tx_mutex_delete.c...
+compiling tx_mutex_initialize.c...
+compiling tx_mutex_info_get.c...
+compiling tx_mutex_priority_change.c...
+compiling tx_mutex_get.c...
+compiling tx_mutex_prioritize.c...
+compiling tx_mutex_put.c...
+compiling tx_queue_cleanup.c...
+compiling tx_queue_create.c...
+compiling tx_queue_delete.c...
+compiling tx_queue_flush.c...
+compiling tx_queue_front_send.c...
+compiling tx_queue_info_get.c...
+compiling tx_queue_initialize.c...
+compiling tx_queue_prioritize.c...
+compiling tx_queue_send.c...
+compiling tx_queue_send_notify.c...
+compiling tx_queue_receive.c...
+compiling tx_semaphore_cleanup.c...
+compiling tx_semaphore_ceiling_put.c...
+compiling tx_semaphore_create.c...
+compiling tx_semaphore_delete.c...
+compiling tx_semaphore_get.c...
+compiling tx_semaphore_info_get.c...
+compiling tx_semaphore_initialize.c...
+compiling tx_semaphore_prioritize.c...
+compiling tx_semaphore_put.c...
+compiling tx_semaphore_put_notify.c...
+compiling tx_thread_create.c...
+compiling tx_thread_delete.c...
+compiling tx_thread_entry_exit_notify.c...
+compiling tx_thread_identify.c...
+compiling tx_thread_info_get.c...
+compiling tx_thread_initialize.c...
+compiling tx_thread_preemption_change.c...
+compiling tx_thread_priority_change.c...
+compiling tx_thread_relinquish.c...
+compiling tx_thread_reset.c...
+compiling tx_thread_resume.c...
+compiling tx_thread_shell_entry.c...
+compiling tx_thread_sleep.c...
+compiling tx_thread_stack_analyze.c...
+compiling tx_thread_suspend.c...
+compiling tx_thread_system_preempt_check.c...
+compiling tx_thread_system_suspend.c...
+compiling tx_thread_terminate.c...
+compiling tx_thread_time_slice.c...
+compiling tx_thread_timeout.c...
+compiling tx_thread_time_slice_change.c...
+compiling tx_thread_wait_abort.c...
+compiling tx_time_get.c...
+compiling tx_time_set.c...
+compiling txe_block_allocate.c...
+compiling txe_block_pool_create.c...
+compiling txe_block_pool_delete.c...
+compiling txe_block_pool_info_get.c...
+compiling txe_block_pool_prioritize.c...
+compiling txe_block_release.c...
+compiling txe_byte_allocate.c...
+compiling txe_byte_pool_create.c...
+compiling txe_byte_pool_delete.c...
+compiling txe_byte_pool_info_get.c...
+compiling txe_byte_pool_prioritize.c...
+compiling txe_byte_release.c...
+compiling txe_event_flags_create.c...
+compiling txe_event_flags_delete.c...
+compiling txe_event_flags_get.c...
+compiling txe_event_flags_info_get.c...
+compiling txe_event_flags_set.c...
+compiling txe_event_flags_set_notify.c...
+compiling txe_mutex_create.c...
+compiling txe_mutex_delete.c...
+compiling txe_mutex_get.c...
+compiling txe_mutex_info_get.c...
+compiling txe_mutex_prioritize.c...
+compiling txe_mutex_put.c...
+compiling txe_queue_create.c...
+compiling txe_queue_delete.c...
+compiling txe_queue_flush.c...
+compiling txe_queue_info_get.c...
+compiling txe_queue_front_send.c...
+compiling txe_queue_prioritize.c...
+compiling txe_queue_receive.c...
+compiling txe_queue_send.c...
+compiling txe_queue_send_notify.c...
+compiling txe_semaphore_ceiling_put.c...
+compiling txe_semaphore_create.c...
+compiling txe_semaphore_delete.c...
+compiling txe_semaphore_get.c...
+compiling txe_semaphore_info_get.c...
+compiling txe_semaphore_prioritize.c...
+compiling txe_thread_entry_exit_notify.c...
+compiling txe_semaphore_put.c...
+compiling txe_thread_info_get.c...
+compiling txe_thread_preemption_change.c...
+compiling txe_thread_create.c...
+compiling txe_semaphore_put_notify.c...
+compiling txe_thread_priority_change.c...
+compiling txe_thread_delete.c...
+compiling txe_thread_relinquish.c...
+compiling txe_thread_reset.c...
+compiling txe_thread_resume.c...
+compiling txe_thread_suspend.c...
+compiling txe_thread_terminate.c...
+compiling txe_thread_time_slice_change.c...
+compiling txe_thread_wait_abort.c...
+compiling tx_timer_activate.c...
+compiling tx_timer_change.c...
+compiling tx_timer_create.c...
+compiling tx_timer_deactivate.c...
+compiling tx_timer_delete.c...
+compiling tx_timer_expiration_process.c...
+compiling tx_timer_info_get.c...
+compiling tx_timer_initialize.c...
+compiling tx_timer_system_activate.c...
+compiling tx_timer_system_deactivate.c...
+compiling tx_timer_thread_entry.c...
+compiling txe_timer_activate.c...
+compiling txe_timer_change.c...
+compiling txe_timer_create.c...
+compiling txe_timer_deactivate.c...
+compiling txe_timer_delete.c...
+compiling txe_timer_info_get.c...
+compiling HCBle.c...
 compiling gps.c...
-compiling Shake_Motor.c...
 compiling Ultrasound.c...
+compiling Buzzer.c...
+compiling Shake_Motor.c...
+compiling IMU.c...
 linking...
-Program Size: Code=60986 RO-data=726 RW-data=16 ZI-data=6296  
+Program Size: Code=65138 RO-data=726 RW-data=16 ZI-data=6200  
 FromELF: creating hex file...
 "AutoGuideStick\AutoGuideStick.axf" - 0 Error(s), 0 Warning(s).
 
@@ -59,7 +245,7 @@ Package Vendor: Keil
 
    * Component: ARM::CMSIS:CORE@5.6.0
       Include file:  CMSIS/Core/Include/tz_context.h
-Build Time Elapsed:  00:00:07
+Build Time Elapsed:  00:00:46
 </pre>
 </body>
 </html>

MDK-ARM/AutoGuideStick/AutoGuideStick_AutoGuideStick.dep

@@ -1,7 +1,7 @@
 Dependencies for Project 'AutoGuideStick', Target 'AutoGuideStick': (DO NOT MODIFY !)
 CompilerVersion: 6210000::V6.21::ARMCLANG
-F (startup_stm32h563xx.s)(0x685B80D5)(--target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -masm=auto  -Wa,armasm,--diag_suppress=A1950W -c
-
+F (startup_stm32h563xx.s)(0x685BB52D)(--target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -masm=auto  -Wa,armasm,--diag_suppress=A1950W -c
+
 -gdwarf-4 -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include
 
 -I./RTE/_AutoGuideStick
@@ -43,7 +43,7 @@ I (D:\keil5\ARM\ARMCLANG\include\stdio.h)(0x6569B012)
 I (D:\keil5\ARM\ARMCLANG\include\stdint.h)(0x6569B012)
 I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h)(0x683FA4DE)
 I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h)(0x683FA4DE)
-I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h)(0x683FA4DE)
+I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h)(0x683FA4DE)
 I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h)(0x683FA4DE)
 I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h)(0x683FA4DE)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x683FA4DD)
@@ -140,8 +140,8 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h)(0x683FA4DD)
 -ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include
 
 -D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx
-
--o autoguidestick/gpdma.o -MD)
+
+-o autoguidestick/gpdma.o -MD)
 I (..\Core\Inc\main.hc.\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h)(0x00000000)
 I (..\Core\Inc\stm32h5xx_hal_conf.h)(0x684461E1)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc.h)(0x683FA4DD)
@@ -182,7 +182,7 @@ I (..\Core\Inc\gpdma.ha.\Core\Inc\tim.h)(0x00000000)
 -I./RTE/_AutoGuideStick
 
 -ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include
-
+
 -ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include
 
 -D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx
@@ -214,7 +214,7 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash_ex.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr_ex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr_ex.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart.h)(0x683FA4DD)
@@ -246,7 +246,7 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_def.h)(0x683FA4DD)
 I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h5xx.h)(0x683FA4DE)
 I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)
-I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h)(0x683FA4DE)
+I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h)(0x683FA4DE)
 I (..\Drivers\CMSIS\Include\core_cm33.h)(0x683FA4DE)
 I (D:\keil5\ARM\ARMCLANG\include\stdint.h)(0x6569B012)
 I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h)(0x683FA4DE)
@@ -320,7 +320,7 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_exti.h)(0x683FA4DD)
 F (../Core/Src/usart.c)(0x685BB195)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c
 
@@ -2070,7 +2070,7 @@ I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9)
 
 -o autoguidestick/tx_event_flags_info_get.o -MD)
 I (..\Middlewares\ST\threadx\common\inc\tx_api.h)(0x683FA4DA)
-I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9)
+I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9)
 I (..\Core\Inc\tx_user.he:\keil5\ARM\ARMCLANG\include\stdlib.h)(0x00000000)
 I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
 I (..\Middlewares\ST\threadx\common\inc\tx_trace.h)(0x683FA4DA)
@@ -2111,9 +2111,9 @@ I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
 
 -o autoguidestick/tx_event_flags_set.o -MD)
 I (..\Middlewares\ST\threadx\common\inc\tx_api.h)(0x683FA4DA)
-I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9)
+I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9)
 I (..\Core\Inc\tx_user.he:\keil5\ARM\ARMCLANG\include\stdlib.h)(0x00000000)
-I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
+I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
 I (..\Middlewares\ST\threadx\common\inc\tx_trace.h)(0x683FA4DA)
 I (..\Middlewares\ST\threadx\common\inc\tx_thread.h)(0x683FA4DA)
 I (..\Middlewares\ST\threadx\common\inc\tx_event_flags.h)(0x683FA4DA)
@@ -2154,7 +2154,7 @@ I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
 
 -o autoguidestick/tx_mutex_cleanup.o -MD)
 I (..\Middlewares\ST\threadx\common\inc\tx_api.h)(0x683FA4DA)
-I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9)
+I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9)
 I (..\Core\Inc\tx_user.he:\keil5\ARM\ARMCLANG\include\stdlib.h)(0x00000000)
 I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
 I (..\Middlewares\ST\threadx\common\inc\tx_thread.h)(0x683FA4DA)
@@ -2198,7 +2198,7 @@ I (D:\keil5\ARM\ARMCLANG\include\stdio.h)(0x6569B012)
 -o autoguidestick/tx_mutex_delete.o -MD)
 I (..\Middlewares\ST\threadx\common\inc\tx_api.h)(0x683FA4DA)
 I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9)
-I (..\Core\Inc\tx_user.he:\keil5\ARM\ARMCLANG\include\stdlib.h)(0x00000000)
+I (..\Core\Inc\tx_user.he:\keil5\ARM\ARMCLANG\include\stdlib.h)(0x00000000)
 I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
 I (..\Middlewares\ST\threadx\common\inc\tx_trace.h)(0x683FA4DA)
 I (..\Middlewares\ST\threadx\common\inc\tx_thread.h)(0x683FA4DA)
@@ -2240,8 +2240,8 @@ I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
 -D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx
 
 -o autoguidestick/tx_mutex_info_get.o -MD)
-I (..\Middlewares\ST\threadx\common\inc\tx_api.h)(0x683FA4DA)
-I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9)
+I (..\Middlewares\ST\threadx\common\inc\tx_api.h)(0x683FA4DA)
+I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9)
 I (..\Core\Inc\tx_user.he:\keil5\ARM\ARMCLANG\include\stdlib.h)(0x00000000)
 I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
 I (..\Middlewares\ST\threadx\common\inc\tx_trace.h)(0x683FA4DA)
@@ -2283,8 +2283,8 @@ I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
 -o autoguidestick/tx_mutex_prioritize.o -MD)
 I (..\Middlewares\ST\threadx\common\inc\tx_api.h)(0x683FA4DA)
 I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9)
-I (..\Core\Inc\tx_user.he:\keil5\ARM\ARMCLANG\include\stdlib.h)(0x00000000)
-I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
+I (..\Core\Inc\tx_user.he:\keil5\ARM\ARMCLANG\include\stdlib.h)(0x00000000)
+I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
 I (..\Middlewares\ST\threadx\common\inc\tx_trace.h)(0x683FA4DA)
 I (..\Middlewares\ST\threadx\common\inc\tx_thread.h)(0x683FA4DA)
 I (..\Middlewares\ST\threadx\common\inc\tx_mutex.h)(0x683FA4DA)
@@ -2325,4 +2325,4 @@ I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
 
 -o autoguidestick/tx_mutex_put.o -MD)
 I (..\Middlewares\ST\threadx\common\inc\tx_api.h)(0x683FA4DA)
-I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9)
+I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9)

README.md

@@ -69,7 +69,7 @@
 
 ### 编译配置
 
-* 使用 `-O2` 优化选项
+* 使用 `-O1` 优化选项
 * 启用 STM32CubeMX 中的 ThreadX 中间件
 * 打开 UART DMA + IDLE、定时器中断等相关配置
 

fun/HCBle.c

@@ -8,7 +8,7 @@ GPS --- DMA +
 **/
 
 // <20>ⲿ<EFBFBD><E2B2BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-extern   UART_HandleTypeDef huart1;
+extern   UART_HandleTypeDef huart4;
 extern DMA_HandleTypeDef handle_GPDMA1_Channel5;
 extern DMA_HandleTypeDef handle_GPDMA1_Channel4;
 
@@ -32,8 +32,8 @@ float imu_angle = 0.0f;
 //<2F><>ʼ<EFBFBD><CABC>DMA<4D><41><EFBFBD>պ<EFBFBD><D5BA><EFBFBD>
 void HCBle_InitDMAReception(void)
 {
-	HAL_UART_Receive_DMA(&huart1,uart_dma_rx_buf,UART_DMA_RX_BUF_SIZE);
-	__HAL_UART_ENABLE_IT(&huart1,UART_IT_IDLE); //ʹ<>ÿ<EFBFBD><C3BF><EFBFBD><EFBFBD>ж<EFBFBD>
+	HAL_UART_Receive_DMA(&huart4,uart_dma_rx_buf,UART_DMA_RX_BUF_SIZE);
+	__HAL_UART_ENABLE_IT(&huart4,UART_IT_IDLE); //ʹ<>ÿ<EFBFBD><C3BF><EFBFBD><EFBFBD>ж<EFBFBD>
 }
 
 
@@ -53,7 +53,7 @@ void HCBle_SendData(char *p,...)
 // HAL_UART_Transmi(&huart1,(uint8_t *)formatBuf,strlen(formatBuf),1);
 // <20><><EFBFBD><EFBFBD>û<EFBFBD><C3BB>ʹ<EFBFBD><CAB9><EFBFBD>жϵĴ<CFB5><C4B4>ڷ<EFBFBD><DAB7>ͣ<EFBFBD><CDA3><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 
 #else 
-	HAL_UART_Transmit_DMA(&huart1, (uint8_t *)HC_Send_Data, strlen(HC_Send_Data));
+	HAL_UART_Transmit_DMA(&huart4, (uint8_t *)HC_Send_Data, strlen(HC_Send_Data));
 #endif	
 	
 }
@@ -65,7 +65,7 @@ void HCBle_SendData(char *p,...)
 // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݽ<EFBFBD><DDBD><EFBFBD>
 void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
 {
-	if(huart->Instance == USART1)
+	if(huart->Instance == UART4)
 	{
 		if(rx_data == '\n')
 		{