1/20 首次提交

+A2_Motor_Board_V1/build
+A2_Motor_Board_V1/MDK-ARM/A2_Motor_Board_V1
+A2_Motor_Board_V1/.gitgnore
+FOC_IAP_BootLoader/MDK-ARM/FOC_IAP_BootLoader
+

+{
+	"folders": [
+		{
+			"path": "A2_Motor_Board_V1"
+		},
+		{
+			"path": "Ext_Common"
+		}
+	],
+	"settings": {
+		"cortex-debug.armToolchainPath": "D:\\STM32_DEV_TOOLS\\STM32_DEV_TOOLS\\GCC-ARM-NONE-EABI-10.3-2021.10-WIN32\\GCC-ARM-NONE-EABI-10.3-2021.10\\BIN",
+		"cortex-debug.openocdPath": "D:\\STM32_DEV_TOOLS\\STM32_DEV_TOOLS\\OPENOCD-20231002-0.12.0\\BIN\\OPENOCD.EXE",
+		"files.associations": {
+			"bmcl_paraloadf1.h": "c",
+			"motor_manage.h": "c",
+			"upgrade.h": "c",
+			"stmflash.h": "c",
+			"upgrade_opt.h": "c",
+			"monitor.h": "c"
+		}
+	}
+}

+.vscode/*
+build/*
+Middlewares/*
+Drivers/*
+.gitgnore
+openocd.cfg

+[PreviousLibFiles]
+LibFiles=Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_gpio.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_dma.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_spi.h;Drivers\STM32F1xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_def.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_rcc.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_rcc_ex.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_bus.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_rcc.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_system.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_utils.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_gpio.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_gpio_ex.h;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio_ex.c;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_dma_ex.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_dma.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_cortex.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_cortex.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_pwr.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_pwr.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_flash.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_flash_ex.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_exti.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_exti.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_tim.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_tim_ex.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_tim.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_usart.h;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_gpio.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_dma.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_spi.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc_ex.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_dma.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_cortex.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_pwr.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash_ex.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_exti.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_rcc.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_utils.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_exti.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim_ex.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_tim.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_usart.c;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_gpio.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_dma.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_spi.h;Drivers\STM32F1xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_def.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_rcc.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_rcc_ex.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_bus.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_rcc.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_system.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_utils.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_gpio.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_gpio_ex.h;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio_ex.c;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_dma_ex.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_dma.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_cortex.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_cortex.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_pwr.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_pwr.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_flash.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_flash_ex.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_exti.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_exti.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_tim.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_hal_tim_ex.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_tim.h;Drivers\STM32F1xx_HAL_Driver\Inc\stm32f1xx_ll_usart.h;Drivers\CMSIS\Device\ST\STM32F1xx\Include\stm32f103xb.h;Drivers\CMSIS\Device\ST\STM32F1xx\Include\stm32f1xx.h;Drivers\CMSIS\Device\ST\STM32F1xx\Include\system_stm32f1xx.h;Drivers\CMSIS\Device\ST\STM32F1xx\Include\system_stm32f1xx.h;Drivers\CMSIS\Device\ST\STM32F1xx\Source\Templates\system_stm32f1xx.c;Drivers\CMSIS\Include\cmsis_armcc.h;Drivers\CMSIS\Include\cmsis_armclang.h;Drivers\CMSIS\Include\cmsis_compiler.h;Drivers\CMSIS\Include\cmsis_gcc.h;Drivers\CMSIS\Include\cmsis_iccarm.h;Drivers\CMSIS\Include\cmsis_version.h;Drivers\CMSIS\Include\core_armv8mbl.h;Drivers\CMSIS\Include\core_armv8mml.h;Drivers\CMSIS\Include\core_cm0.h;Drivers\CMSIS\Include\core_cm0plus.h;Drivers\CMSIS\Include\core_cm1.h;Drivers\CMSIS\Include\core_cm23.h;Drivers\CMSIS\Include\core_cm3.h;Drivers\CMSIS\Include\core_cm33.h;Drivers\CMSIS\Include\core_cm4.h;Drivers\CMSIS\Include\core_cm7.h;Drivers\CMSIS\Include\core_sc000.h;Drivers\CMSIS\Include\core_sc300.h;Drivers\CMSIS\Include\mpu_armv7.h;Drivers\CMSIS\Include\mpu_armv8.h;Drivers\CMSIS\Include\tz_context.h;
+
+[PreviousUsedMakefileFiles]
+SourceFiles=Core\Src\main.c;Core\Src\gpio.c;Core\Src\dma.c;Core\Src\spi.c;Core\Src\tim.c;Core\Src\usart.c;Core\Src\stm32f1xx_it.c;Core\Src\stm32f1xx_hal_msp.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio_ex.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_gpio.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_dma.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_spi.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc_ex.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_dma.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_cortex.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_pwr.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash_ex.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_exti.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_rcc.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_utils.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_exti.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim_ex.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_tim.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_usart.c;Drivers\CMSIS\Device\ST\STM32F1xx\Source\Templates\system_stm32f1xx.c;Core\Src\system_stm32f1xx.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio_ex.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_gpio.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_dma.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_spi.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc_ex.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_dma.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_cortex.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_pwr.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash_ex.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_exti.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_rcc.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_utils.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_exti.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim_ex.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_tim.c;Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_usart.c;Drivers\CMSIS\Device\ST\STM32F1xx\Source\Templates\system_stm32f1xx.c;Core\Src\system_stm32f1xx.c;;;
+HeaderPath=Drivers\STM32F1xx_HAL_Driver\Inc;Drivers\STM32F1xx_HAL_Driver\Inc\Legacy;Drivers\CMSIS\Device\ST\STM32F1xx\Include;Drivers\CMSIS\Include;Core\Inc;
+CDefines=USE_FULL_LL_DRIVER;USE_HAL_DRIVER;STM32F103xB;USE_FULL_LL_DRIVER;USE_HAL_DRIVER;USE_HAL_DRIVER;
+
+[PreviousGenFiles]
+AdvancedFolderStructure=true
+HeaderFileListSize=9
+HeaderFiles#0=..\Core\Inc\gpio.h
+HeaderFiles#1=..\Core\Inc\dma.h
+HeaderFiles#2=..\Core\Inc\spi.h
+HeaderFiles#3=..\Core\Inc\tim.h
+HeaderFiles#4=..\Core\Inc\usart.h
+HeaderFiles#5=..\Core\Inc\stm32f1xx_it.h
+HeaderFiles#6=..\Core\Inc\stm32_assert.h
+HeaderFiles#7=..\Core\Inc\stm32f1xx_hal_conf.h
+HeaderFiles#8=..\Core\Inc\main.h
+HeaderFolderListSize=1
+HeaderPath#0=..\Core\Inc
+HeaderFiles=;
+SourceFileListSize=8
+SourceFiles#0=..\Core\Src\gpio.c
+SourceFiles#1=..\Core\Src\dma.c
+SourceFiles#2=..\Core\Src\spi.c
+SourceFiles#3=..\Core\Src\tim.c
+SourceFiles#4=..\Core\Src\usart.c
+SourceFiles#5=..\Core\Src\stm32f1xx_it.c
+SourceFiles#6=..\Core\Src\stm32f1xx_hal_msp.c
+SourceFiles#7=..\Core\Src\main.c
+SourceFolderListSize=1
+SourcePath#0=..\Core\Src
+SourceFiles=;
+
+[PreviousUsedKeilFiles]
+SourceFiles=..\Core\Src\main.c;..\Core\Src\gpio.c;..\Core\Src\dma.c;..\Core\Src\spi.c;..\Core\Src\tim.c;..\Core\Src\usart.c;..\Core\Src\stm32f1xx_it.c;..\Core\Src\stm32f1xx_hal_msp.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio_ex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_gpio.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_dma.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_spi.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc_ex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_dma.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_cortex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_pwr.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash_ex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_exti.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_rcc.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_utils.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_exti.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim_ex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_tim.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_usart.c;..\Drivers\CMSIS\Device\ST\STM32F1xx\Source\Templates\system_stm32f1xx.c;..\Core\Src\system_stm32f1xx.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio_ex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_gpio.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_dma.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_spi.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_rcc_ex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_gpio.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_dma.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_cortex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_pwr.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_flash_ex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_exti.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_rcc.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_utils.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_exti.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_hal_tim_ex.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_tim.c;..\Drivers\STM32F1xx_HAL_Driver\Src\stm32f1xx_ll_usart.c;..\Drivers\CMSIS\Device\ST\STM32F1xx\Source\Templates\system_stm32f1xx.c;..\Core\Src\system_stm32f1xx.c;;;
+HeaderPath=..\Drivers\STM32F1xx_HAL_Driver\Inc;..\Drivers\STM32F1xx_HAL_Driver\Inc\Legacy;..\Drivers\CMSIS\Device\ST\STM32F1xx\Include;..\Drivers\CMSIS\Include;..\Core\Inc;
+CDefines=USE_FULL_LL_DRIVER;USE_HAL_DRIVER;STM32F103xB;USE_FULL_LL_DRIVER;USE_HAL_DRIVER;USE_HAL_DRIVER;
+

+# environment variable file used by stm32-for-vscode and the STM32Make.make makefile
+# Other environment variables can be added here. If wanting to use the generated makefile in CI/CD context please
+# configure the following variables: GCC_PATH, OPENOCD
+
+ARM_GCC_PATH = D:\STM32_DEV_TOOLS\STM32_DEV_TOOLS\GCC-ARM-NONE-EABI-10.3-2021.10-WIN32\GCC-ARM-NONE-EABI-10.3-2021.10\BIN
+OPENOCD = D:\STM32_DEV_TOOLS\STM32_DEV_TOOLS\OPENOCD-20231002-0.12.0\BIN\OPENOCD.EXE
++ 

+#MicroXplorer Configuration settings - do not modify
+CAD.formats=
+CAD.pinconfig=
+CAD.provider=
+Dma.Request0=USART1_TX
+Dma.Request1=USART1_RX
+Dma.RequestsNb=2
+Dma.USART1_RX.1.Direction=DMA_PERIPH_TO_MEMORY
+Dma.USART1_RX.1.Instance=DMA1_Channel5
+Dma.USART1_RX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART1_RX.1.MemInc=DMA_MINC_ENABLE
+Dma.USART1_RX.1.Mode=DMA_NORMAL
+Dma.USART1_RX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART1_RX.1.PeriphInc=DMA_PINC_DISABLE
+Dma.USART1_RX.1.Priority=DMA_PRIORITY_LOW
+Dma.USART1_RX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority
+Dma.USART1_TX.0.Direction=DMA_MEMORY_TO_PERIPH
+Dma.USART1_TX.0.Instance=DMA1_Channel4
+Dma.USART1_TX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART1_TX.0.MemInc=DMA_MINC_ENABLE
+Dma.USART1_TX.0.Mode=DMA_NORMAL
+Dma.USART1_TX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART1_TX.0.PeriphInc=DMA_PINC_DISABLE
+Dma.USART1_TX.0.Priority=DMA_PRIORITY_HIGH
+Dma.USART1_TX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority
+File.Version=6
+GPIO.groupedBy=Group By Peripherals
+KeepUserPlacement=false
+Mcu.CPN=STM32F103T8U6
+Mcu.Family=STM32F1
+Mcu.IP0=DMA
+Mcu.IP1=NVIC
+Mcu.IP2=RCC
+Mcu.IP3=SPI1
+Mcu.IP4=SYS
+Mcu.IP5=TIM2
+Mcu.IP6=TIM3
+Mcu.IP7=TIM4
+Mcu.IP8=USART1
+Mcu.IPNb=9
+Mcu.Name=STM32F103T(8-B)Ux
+Mcu.Package=VFQFPN36
+Mcu.Pin0=PD0-OSC_IN
+Mcu.Pin1=PD1-OSC_OUT
+Mcu.Pin10=PB1
+Mcu.Pin11=PA8
+Mcu.Pin12=PA9
+Mcu.Pin13=PA10
+Mcu.Pin14=PA13
+Mcu.Pin15=PA14
+Mcu.Pin16=VP_SYS_VS_Systick
+Mcu.Pin17=VP_TIM2_VS_ClockSourceINT
+Mcu.Pin18=VP_TIM3_VS_ClockSourceINT
+Mcu.Pin19=VP_TIM4_VS_ClockSourceINT
+Mcu.Pin2=PA1
+Mcu.Pin3=PA2
+Mcu.Pin4=PA3
+Mcu.Pin5=PA4
+Mcu.Pin6=PA5
+Mcu.Pin7=PA6
+Mcu.Pin8=PA7
+Mcu.Pin9=PB0
+Mcu.PinsNb=20
+Mcu.ThirdPartyNb=0
+Mcu.UserConstants=
+Mcu.UserName=STM32F103T8Ux
+MxCube.Version=6.12.1
+MxDb.Version=DB.6.0.121
+NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
+NVIC.DMA1_Channel4_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
+NVIC.DMA1_Channel5_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
+NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
+NVIC.ForceEnableDMAVector=true
+NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
+NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
+NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
+NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
+NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
+NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
+NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:true\:false\:true\:false
+NVIC.TIM4_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
+NVIC.USART1_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
+NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
+PA1.GPIOParameters=GPIO_Speed,PinState,GPIO_Label
+PA1.GPIO_Label=SIGN1_LED
+PA1.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
+PA1.Locked=true
+PA1.PinState=GPIO_PIN_RESET
+PA1.Signal=GPIO_Output
+PA10.GPIOParameters=GPIO_Label
+PA10.GPIO_Label=UART_BUS_RX
+PA10.Mode=Asynchronous
+PA10.Signal=USART1_RX
+PA13.Mode=Serial_Wire
+PA13.Signal=SYS_JTMS-SWDIO
+PA14.Mode=Serial_Wire
+PA14.Signal=SYS_JTCK-SWCLK
+PA2.GPIOParameters=GPIO_PuPd,GPIO_Label
+PA2.GPIO_Label=MOT_SELECT_1
+PA2.GPIO_PuPd=GPIO_PULLUP
+PA2.Locked=true
+PA2.Signal=GPIO_Input
+PA3.Locked=true
+PA3.Signal=S_TIM2_CH4
+PA4.GPIOParameters=GPIO_PuPd,GPIO_Label
+PA4.GPIO_Label=MOT_SELECT_2
+PA4.GPIO_PuPd=GPIO_PULLUP
+PA4.Locked=true
+PA4.Signal=GPIO_Input
+PA5.GPIOParameters=GPIO_Label
+PA5.GPIO_Label=MGE_SCK
+PA5.Mode=Full_Duplex_Master
+PA5.Signal=SPI1_SCK
+PA6.GPIOParameters=GPIO_Label
+PA6.GPIO_Label=MGE_MISO
+PA6.Mode=Full_Duplex_Master
+PA6.Signal=SPI1_MISO
+PA7.GPIOParameters=GPIO_Label
+PA7.GPIO_Label=MGE_MOSI
+PA7.Mode=Full_Duplex_Master
+PA7.Signal=SPI1_MOSI
+PA8.GPIOParameters=GPIO_Speed,PinState,GPIO_Label
+PA8.GPIO_Label=MGE_CS
+PA8.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
+PA8.Locked=true
+PA8.PinState=GPIO_PIN_SET
+PA8.Signal=GPIO_Output
+PA9.GPIOParameters=GPIO_Label
+PA9.GPIO_Label=UART_BUS_TX
+PA9.Mode=Asynchronous
+PA9.Signal=USART1_TX
+PB0.Locked=true
+PB0.Signal=S_TIM3_CH3
+PB1.Locked=true
+PB1.Signal=S_TIM3_CH4
+PD0-OSC_IN.Mode=HSE-External-Oscillator
+PD0-OSC_IN.Signal=RCC_OSC_IN
+PD1-OSC_OUT.Mode=HSE-External-Oscillator
+PD1-OSC_OUT.Signal=RCC_OSC_OUT
+PinOutPanel.RotationAngle=0
+ProjectManager.AskForMigrate=true
+ProjectManager.BackupPrevious=false
+ProjectManager.CompilerOptimize=6
+ProjectManager.ComputerToolchain=false
+ProjectManager.CoupleFile=true
+ProjectManager.CustomerFirmwarePackage=
+ProjectManager.DefaultFWLocation=true
+ProjectManager.DeletePrevious=true
+ProjectManager.DeviceId=STM32F103T8Ux
+ProjectManager.FirmwarePackage=STM32Cube FW_F1 V1.8.6
+ProjectManager.FreePins=false
+ProjectManager.HalAssertFull=false
+ProjectManager.HeapSize=0x200
+ProjectManager.KeepUserCode=true
+ProjectManager.LastFirmware=true
+ProjectManager.LibraryCopy=0
+ProjectManager.MainLocation=Core/Src
+ProjectManager.NoMain=false
+ProjectManager.PreviousToolchain=
+ProjectManager.ProjectBuild=false
+ProjectManager.ProjectFileName=A2_Motor_Board_V1.ioc
+ProjectManager.ProjectName=A2_Motor_Board_V1
+ProjectManager.ProjectStructure=
+ProjectManager.RegisterCallBack=
+ProjectManager.StackSize=0x400
+ProjectManager.TargetToolchain=MDK-ARM V5.32
+ProjectManager.ToolChainLocation=
+ProjectManager.UAScriptAfterPath=
+ProjectManager.UAScriptBeforePath=
+ProjectManager.UnderRoot=false
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-LL-true,3-MX_DMA_Init-DMA-false-LL-true,4-MX_SPI1_Init-SPI1-false-LL-true,5-MX_TIM2_Init-TIM2-false-LL-true,6-MX_TIM3_Init-TIM3-false-LL-true,7-MX_USART1_UART_Init-USART1-false-LL-true,8-MX_TIM4_Init-TIM4-false-LL-true
+RCC.ADCFreqValue=36000000
+RCC.AHBFreq_Value=72000000
+RCC.APB1CLKDivider=RCC_HCLK_DIV2
+RCC.APB1Freq_Value=36000000
+RCC.APB1TimFreq_Value=72000000
+RCC.APB2Freq_Value=72000000
+RCC.APB2TimFreq_Value=72000000
+RCC.FCLKCortexFreq_Value=72000000
+RCC.FamilyName=M
+RCC.HCLKFreq_Value=72000000
+RCC.IPParameters=ADCFreqValue,AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2Freq_Value,APB2TimFreq_Value,FCLKCortexFreq_Value,FamilyName,HCLKFreq_Value,MCOFreq_Value,PLLCLKFreq_Value,PLLMCOFreq_Value,PLLMUL,PLLSourceVirtual,SYSCLKFreq_VALUE,SYSCLKSource,TimSysFreq_Value,USBFreq_Value,VCOOutput2Freq_Value
+RCC.MCOFreq_Value=72000000
+RCC.PLLCLKFreq_Value=72000000
+RCC.PLLMCOFreq_Value=36000000
+RCC.PLLMUL=RCC_PLL_MUL9
+RCC.PLLSourceVirtual=RCC_PLLSOURCE_HSE
+RCC.SYSCLKFreq_VALUE=72000000
+RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
+RCC.TimSysFreq_Value=72000000
+RCC.USBFreq_Value=72000000
+RCC.VCOOutput2Freq_Value=8000000
+SH.S_TIM2_CH4.0=TIM2_CH4,PWM Generation4 CH4
+SH.S_TIM2_CH4.ConfNb=1
+SH.S_TIM3_CH3.0=TIM3_CH3,PWM Generation3 CH3
+SH.S_TIM3_CH3.ConfNb=1
+SH.S_TIM3_CH4.0=TIM3_CH4,PWM Generation4 CH4
+SH.S_TIM3_CH4.ConfNb=1
+SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_8
+SPI1.CLKPhase=SPI_PHASE_2EDGE
+SPI1.CalculateBaudRate=9.0 MBits/s
+SPI1.DataSize=SPI_DATASIZE_16BIT
+SPI1.Direction=SPI_DIRECTION_2LINES
+SPI1.IPParameters=VirtualType,Mode,Direction,BaudRatePrescaler,CalculateBaudRate,DataSize,CLKPhase
+SPI1.Mode=SPI_MODE_MASTER
+SPI1.VirtualType=VM_MASTER
+TIM2.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
+TIM2.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
+TIM2.CounterMode=TIM_COUNTERMODE_CENTERALIGNED1
+TIM2.IPParameters=Channel-PWM Generation4 CH4,Period,AutoReloadPreload,CounterMode
+TIM2.Period=1600-1
+TIM3.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
+TIM3.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
+TIM3.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
+TIM3.CounterMode=TIM_COUNTERMODE_CENTERALIGNED1
+TIM3.IPParameters=Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4,CounterMode,Period,AutoReloadPreload
+TIM3.Period=1600-1
+TIM4.IPParameters=Period,Prescaler
+TIM4.Period=50000-1
+TIM4.Prescaler=72-1
+USART1.BaudRate=115200
+USART1.IPParameters=VirtualMode,BaudRate
+USART1.VirtualMode=VM_ASYNC
+VP_SYS_VS_Systick.Mode=SysTick
+VP_SYS_VS_Systick.Signal=SYS_VS_Systick
+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

+#include "BMCL.h"
+#include "stddef.h"
+
+
+BMCL_GENSEAMP_s bmcl_ahrs_CurAngArr = {0};
+BMCL_GENSEAMP_s bmcl_ahrs_TarAngArr = {0};
+BMCL_GENSEAMP_s bmcl_Calibration  = {0};
+BMCL_GENSEAMP_s bmcl_Music = {0};
+
+BMCL_COMM_SEQ_s bmcl_comm_seq_1 = {
+    .commStatus = BMCL_COMM_SEQ_STATUS_0
+};
+
+BMCL_PROTOCOL_REMOTESEN bmcl_protocol_reData = {0};
+
+void BMCL_Init(){
+
+}
+
+void BMCL_Genseamp_give( BMCL_GENSEAMP_s * s , uint32_t data ){
+    s->sign = BMCL_GENSEAMP_STA_GIVEN;
+    s->data = data;
+}
+
+int32_t BMCL_GenSemap_take( BMCL_GENSEAMP_s * s , uint32_t* data ){
+    if( s->sign == BMCL_GENSEAMP_STA_GIVEN ){
+        if( data ==  NULL){
+            s->sign = BMCL_GENSEAMP_STA_TAKEN;
+            return BMCL_GENSEAMP_RESULT_GET_GIVEN;
+        }
+        *data = s->data;
+        s->sign = BMCL_GENSEAMP_STA_TAKEN;
+        return BMCL_GENSEAMP_RESULT_GET_GIVEN;
+    }else{
+        return BMCL_GENSEAMP_RESULT_NOT_GIVEN;
+    }
+}

+#ifndef __BARE_METAL_CONTROL_LAYER_
+#define __BARE_METAL_CONTROL_LAYER_
+
+#include "stdint.h"
+#include "stdbool.h"
+
+#define BMCL_SEMAP_STA_VAILD    true
+#define BMCL_SEMAP_STA_INVALID  false
+
+typedef struct 
+{
+    uint8_t sign;
+    uint32_t data;
+}BMCL_GENSEAMP_s;
+
+typedef struct
+{
+    uint8_t commStatus;
+}BMCL_COMM_SEQ_s;
+
+typedef enum
+{
+    BMCL_COMM_SEQ_STATUS_0 ,    // not need to response
+    BMCL_COMM_SEQ_STATUS_1 ,    // need to response
+    BMCL_COMM_SEQ_STATUS_2 
+}BMCL_COMM_SEQ_STATUS;
+
+
+typedef enum
+{
+    BMCL_GENSEAMP_STA_TAKEN = 0,
+    BMCL_GENSEAMP_STA_GIVEN ,
+}BMCL_GENSEAMP_STA;
+
+typedef enum
+{
+    BMCL_GENSEAMP_RESULT_ERR = -1,
+    BMCL_GENSEAMP_RESULT_OK,
+    BMCL_GENSEAMP_RESULT_NOT_GIVEN,
+    BMCL_GENSEAMP_RESULT_GET_GIVEN,
+
+}BMCL_GENSEAMP_RESULT;
+
+//Data remote sensing structure
+//which stores motor board remote sensing data and is used for the data queue of internal protocols.
+typedef struct 
+{
+    float data[10];
+}BMCL_PROTOCOL_REMOTESEN;
+
+extern BMCL_GENSEAMP_s bmcl_ahrs_CurAngArr;
+extern BMCL_GENSEAMP_s bmcl_ahrs_TarAngArr;
+extern BMCL_GENSEAMP_s bmcl_Calibration;
+extern BMCL_GENSEAMP_s bmcl_Music;
+
+extern BMCL_COMM_SEQ_s bmcl_comm_seq_1;
+
+extern BMCL_PROTOCOL_REMOTESEN bmcl_protocol_reData ;
+
+void BMCL_Init();
+void BMCL_Genseamp_give( BMCL_GENSEAMP_s * s , uint32_t data );
+int32_t BMCL_GenSemap_take( BMCL_GENSEAMP_s * s , uint32_t* data );
+
+
+#endif

+#ifndef __BMCL_DEVSPECIFIC_TEMPLATE_H__
+#define __BMCL_DEVSPECIFIC_TEMPLATE_H__
+
+#include "main.h"
+
+#define BMCL_DEVSPECIFIC_SELECT_1_GPIO_PORT MOT_SELECT_1_GPIO_Port
+#define BMCL_DEVSPECIFIC_SELECT_2_GPIO_PORT MOT_SELECT_2_GPIO_Port
+
+#define BMCL_DEVSPECIFIC_SELECT_1_GPIO_PIN MOT_SELECT_1_Pin
+#define BMCL_DEVSPECIFIC_SELECT_2_GPIO_PIN MOT_SELECT_2_Pin
+
+#endif

+/*
+ * @Date: 2023-12-11 18:07:11
+ * @LastEditTime: 2024-03-20 15:41:44
+ * @FilePath: \A2_Motor_Board_V1\Core\Inc\Project_Config.h
+ * @Description: 
+ */
+#ifndef __PROJECT_CONFIG_FD3892FH9U2F9U2__
+#define __PROJECT_CONFIG_FD3892FH9U2F9U2__
+
+//###Pre Define
+#define PROJECT_CONFIG_ENABLE 1
+#define PROJECT_CONFIG_DISABLE 0
+
+#define MOTOR_HOLDER_AXIS_PITCH 0
+#define MOTOR_HOLDER_AXIS_ROLL 1
+#define MOTOR_HOLDER_AXIS_YAW 2
+
+//=========!!!!==========Debug COONFIG==========!!!!=========
+
+/*
+ __      ___   ___ _  _ ___ _  _  ___  
+ \ \    / /_\ | _ | \| |_ _| \| |/ __| 
+  \ \/\/ / _ \|   | .` || || .` | (_ | 
+   \_/\_/_/ \_|_|_|_|\_|___|_|\_|\___| 
+
+    The following functions must be turned off for normal operation！！！！！
+*/
+
+//-------IMU Debug Output CONFIG-------
+#define IMU_DEBUG_OUTPUT PROJECT_CONFIG_DISABLE  // Enable/Disable IMU Debug Output (Use VOFA+ JustFloat Format)
+
+
+// !!!!!!! The following two options can only be enabled by choosing one of the two.  <<<<<<
+
+//-------Motor debugging frame debugging output CONFIG-------
+#define FRAME_MOT_DEBUG_DBOUTPUT PROJECT_CONFIG_DISABLE  // When it is set to Enable , The protocol only outputs the Motor debug Frame
+
+//-------Motor debugging frame debugging output CONFIG-------
+#define FRAME_MOT_TARGET_DBOUTPUT PROJECT_CONFIG_DISABLE  // When it is set to Enable , The protocol only outputs the Motor TARGET Frame
+
+// !!!!!!! Only For Debug.  <<<<<<
+
+//-------Motor debug - Sensor Align CONFIG-------
+#define MOTOR_DEBUG_SENSOR_ALIGN PROJECT_CONFIG_ENABLE // When it is set to DISABLE , MUST SET EANGLE AND SENSOR DIRECTION
+
+// !!!!!!! VoFA+ Debug Output.  <<<<<<
+
+#define MOT_VOFA_DEBUG_OUTPUT PROJECT_CONFIG_DISABLE  // When it is set to Enable , The protocol only outputs the Motor TARGET Frame
+
+//=======================UART COONFIG=======================
+
+//-------FUNTION CONFIG-------
+#define UART1_RX_FUNTION PROJECT_CONFIG_ENABLE // Enable/Disable UART1 RX FUNTION (Only for debugging , Prevent input from causing program delays )
+
+#define UART1_TX_OPENDRAIN PROJECT_CONFIG_DISABLE
+
+//-------IT BUFFER CONFIG-------
+#define UART1_BUFF_RX_IT_LEN    128  //Buffer length, NEED to be a power of 2( 2^x )
+
+//-------DMA BUFFER CONFIG-------
+#define UART1_BUFF_TX_DMA_LEN   128
+#define UART1_BUFF_RX_DMA_LEN   512
+
+//-------UART L2 BUFFER CONFIG-------
+#define UART1_L2_BUFF_RX_LEN    512
+#define UART1_L2_BUFF_TX_LEN    128
+
+//-------FEATURE CONFIG-------
+#define UART1_FEATURE_CHARACTER_OUTPUT_RETURN  PROJECT_CONFIG_DISABLE
+
+//-------DEBUG CONFIG !!!Only For Debug-------
+#define UART1_DMA_FREERTOS_SOUPPORT PROJECT_CONFIG_DISABLE
+
+//=======================IMU READ/PROCESS COONFIG=======================
+
+// //-------IMU READ CONFIG-------
+// #define IMU_READ_FILTER_GYR_ON PROJECT_CONFIG_DISABLE    //IMU Read Gyro Filter Switch 
+// #define IMU_READ_FILTER_ACC_ON PROJECT_CONFIG_ENABLE    //IMU Read ACC Filter Switch
+
+// //-------IMU RESLOVING CONFIG-------
+// #define ACC_CORRECT_SW 1
+
+//=======================MOTOR SPECIAL CONFIG===========================
+
+#define MOTOR_BOARD_SELECT_AXIS MOTOR_HOLDER_AXIS_ROLL
+
+#define MOTOR_BOARD_DEBUG_OR_TEST PROJECT_CONFIG_DISABLE
+
+#define MOTOR_BOARD_SHUTDOWN  PROJECT_CONFIG_DISABLE
+
+#endif

+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    dma.h
+  * @brief   This file contains all the function prototypes for
+  *          the dma.c file
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2024 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __DMA_H__
+#define __DMA_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* DMA memory to memory transfer handles -------------------------------------*/
+
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+/* USER CODE BEGIN Private defines */
+
+/* USER CODE END Private defines */
+
+void MX_DMA_Init(void);
+
+/* USER CODE BEGIN Prototypes */
+
+/* USER CODE END Prototypes */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __DMA_H__ */
+

+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    gpio.h
+  * @brief   This file contains all the function prototypes for
+  *          the gpio.c file
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2024 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __GPIO_H__
+#define __GPIO_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+/* USER CODE BEGIN Private defines */
+
+#define SIGN1_ON      LL_GPIO_SetOutputPin(SIGN1_LED_GPIO_Port, SIGN1_LED_Pin);	  //LED 点亮
+#define SIGN1_OFF     LL_GPIO_ResetOutputPin(SIGN1_LED_GPIO_Port, SIGN1_LED_Pin);
+#define SIGN1_TAGO    LL_GPIO_TogglePin(SIGN1_LED_GPIO_Port, SIGN1_LED_Pin);   //LED 翻转
+
+/* USER CODE END Private defines */
+
+void MX_GPIO_Init(void);
+
+/* USER CODE BEGIN Prototypes */
+
+/* USER CODE END Prototypes */
+
+#ifdef __cplusplus
+}
+#endif
+#endif /*__ GPIO_H__ */
+

+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file           : main.h
+  * @brief          : Header for main.c file.
+  *                   This file contains the common defines of the application.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2024 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __MAIN_H
+#define __MAIN_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f1xx_hal.h"
+
+#include "stm32f1xx_ll_dma.h"
+#include "stm32f1xx_ll_spi.h"
+#include "stm32f1xx_ll_tim.h"
+#include "stm32f1xx_ll_usart.h"
+#include "stm32f1xx_ll_rcc.h"
+#include "stm32f1xx_ll_bus.h"
+#include "stm32f1xx_ll_system.h"
+#include "stm32f1xx_ll_exti.h"
+#include "stm32f1xx_ll_cortex.h"
+#include "stm32f1xx_ll_utils.h"
+#include "stm32f1xx_ll_pwr.h"
+#include "stm32f1xx_ll_gpio.h"
+
+/* Private includes ----------------------------------------------------------*/
+/* USER CODE BEGIN Includes */
+#include <stdio.h>
+/* USER CODE END Includes */
+
+/* Exported types ------------------------------------------------------------*/
+/* USER CODE BEGIN ET */
+
+/* USER CODE END ET */
+
+/* Exported constants --------------------------------------------------------*/
+/* USER CODE BEGIN EC */
+
+/* USER CODE END EC */
+
+/* Exported macro ------------------------------------------------------------*/
+/* USER CODE BEGIN EM */
+
+/* USER CODE END EM */
+
+/* Exported functions prototypes ---------------------------------------------*/
+void Error_Handler(void);
+
+/* USER CODE BEGIN EFP */
+
+/* USER CODE END EFP */
+
+/* Private defines -----------------------------------------------------------*/
+#define SIGN1_LED_Pin LL_GPIO_PIN_1
+#define SIGN1_LED_GPIO_Port GPIOA
+#define MOT_SELECT_1_Pin LL_GPIO_PIN_2
+#define MOT_SELECT_1_GPIO_Port GPIOA
+#define MOT_SELECT_2_Pin LL_GPIO_PIN_4
+#define MOT_SELECT_2_GPIO_Port GPIOA
+#define MGE_SCK_Pin LL_GPIO_PIN_5
+#define MGE_SCK_GPIO_Port GPIOA
+#define MGE_MISO_Pin LL_GPIO_PIN_6
+#define MGE_MISO_GPIO_Port GPIOA
+#define MGE_MOSI_Pin LL_GPIO_PIN_7
+#define MGE_MOSI_GPIO_Port GPIOA
+#define MGE_CS_Pin LL_GPIO_PIN_8
+#define MGE_CS_GPIO_Port GPIOA
+#define UART_BUS_TX_Pin LL_GPIO_PIN_9
+#define UART_BUS_TX_GPIO_Port GPIOA
+#define UART_BUS_RX_Pin LL_GPIO_PIN_10
+#define UART_BUS_RX_GPIO_Port GPIOA
+
+/* USER CODE BEGIN Private defines */
+
+/* USER CODE END Private defines */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __MAIN_H */

+#ifndef __MONITOR_CONFIG_H_
+#define __MONITOR_CONFIG_H_
+
+
+//‾‾‾‾‾‾‾‾‾‾‾‾DONT MODIFY‾‾‾‾‾‾‾‾‾‾‾‾
+
+#define MONITOR_CONFIG_ENABLE 1
+#define MONITOR_CONFIG_DISABLE 0
+
+//____________DONT MODIFY____________
+
+
+//===============MONITOR FUNTION CONFIG===============
+
+#define DEBUG_FRAME_LOAD MONITOR_CONFIG_ENABLE
+
+//===============MONITOR PARAMETER CONFIG===============
+
+#define CH_COUNT_CONFIG 15
+
+
+#endif

+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    spi.h
+  * @brief   This file contains all the function prototypes for
+  *          the spi.c file
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2024 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __SPI_H__
+#define __SPI_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+/* USER CODE BEGIN Private defines */
+
+/* USER CODE END Private defines */
+
+void MX_SPI1_Init(void);
+
+/* USER CODE BEGIN Prototypes */
+
+/* USER CODE END Prototypes */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __SPI_H__ */
+

+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    stm32_assert.h
+  * @brief   STM32 assert file.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2018 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32_ASSERT_H
+#define __STM32_ASSERT_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported types ------------------------------------------------------------*/
+/* Exported constants --------------------------------------------------------*/
+/* Includes ------------------------------------------------------------------*/
+/* Exported macro ------------------------------------------------------------*/
+#ifdef  USE_FULL_ASSERT
+/**
+  * @brief  The assert_param macro is used for function's parameters check.
+  * @param  expr If expr is false, it calls assert_failed function
+  *         which reports the name of the source file and the source
+  *         line number of the call that failed.
+  *         If expr is true, it returns no value.
+  * @retval None
+  */
+#define assert_param(expr) ((expr) ? (void)0U : assert_failed((uint8_t *)__FILE__, __LINE__))
+/* Exported functions ------------------------------------------------------- */
+void assert_failed(uint8_t *file, uint32_t line);
+#else
+#define assert_param(expr) ((void)0U)
+#endif /* USE_FULL_ASSERT */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __STM32_ASSERT_H */
+

+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    stm32f1xx_hal_conf.h
+  * @brief   HAL configuration file.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2017 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F1xx_HAL_CONF_H
+#define __STM32F1xx_HAL_CONF_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Exported types ------------------------------------------------------------*/
+/* Exported constants --------------------------------------------------------*/
+
+/* ########################## Module Selection ############################## */
+/**
+  * @brief This is the list of modules to be used in the HAL driver
+  */
+
+#define HAL_MODULE_ENABLED
+  /*#define HAL_ADC_MODULE_ENABLED   */
+/*#define HAL_CRYP_MODULE_ENABLED   */
+/*#define HAL_CAN_MODULE_ENABLED   */
+/*#define HAL_CAN_LEGACY_MODULE_ENABLED   */
+/*#define HAL_CEC_MODULE_ENABLED   */
+/*#define HAL_CORTEX_MODULE_ENABLED   */
+/*#define HAL_CRC_MODULE_ENABLED   */
+/*#define HAL_DAC_MODULE_ENABLED   */
+/*#define HAL_DMA_MODULE_ENABLED   */
+/*#define HAL_ETH_MODULE_ENABLED   */
+/*#define HAL_FLASH_MODULE_ENABLED   */
+/*#define HAL_GPIO_MODULE_ENABLED   */
+/*#define HAL_I2C_MODULE_ENABLED   */
+/*#define HAL_I2S_MODULE_ENABLED   */
+/*#define HAL_IRDA_MODULE_ENABLED   */
+/*#define HAL_IWDG_MODULE_ENABLED   */
+/*#define HAL_NOR_MODULE_ENABLED   */
+/*#define HAL_NAND_MODULE_ENABLED   */
+/*#define HAL_PCCARD_MODULE_ENABLED   */
+/*#define HAL_PCD_MODULE_ENABLED   */
+/*#define HAL_HCD_MODULE_ENABLED   */
+/*#define HAL_PWR_MODULE_ENABLED   */
+/*#define HAL_RCC_MODULE_ENABLED   */
+/*#define HAL_RTC_MODULE_ENABLED   */
+/*#define HAL_SD_MODULE_ENABLED   */
+/*#define HAL_MMC_MODULE_ENABLED   */
+/*#define HAL_SDRAM_MODULE_ENABLED   */
+/*#define HAL_SMARTCARD_MODULE_ENABLED   */
+/*#define HAL_SPI_MODULE_ENABLED   */
+/*#define HAL_SRAM_MODULE_ENABLED   */
+/*#define HAL_TIM_MODULE_ENABLED   */
+/*#define HAL_UART_MODULE_ENABLED   */
+/*#define HAL_USART_MODULE_ENABLED   */
+/*#define HAL_WWDG_MODULE_ENABLED   */
+
+#define HAL_CORTEX_MODULE_ENABLED
+#define HAL_DMA_MODULE_ENABLED
+#define HAL_FLASH_MODULE_ENABLED
+#define HAL_EXTI_MODULE_ENABLED
+#define HAL_GPIO_MODULE_ENABLED
+#define HAL_PWR_MODULE_ENABLED
+#define HAL_RCC_MODULE_ENABLED
+
+/* ########################## Oscillator Values adaptation ####################*/
+/**
+  * @brief Adjust the value of External High Speed oscillator (HSE) used in your application.
+  *        This value is used by the RCC HAL module to compute the system frequency
+  *        (when HSE is used as system clock source, directly or through the PLL).
+  */
+#if !defined  (HSE_VALUE)
+  #define HSE_VALUE    8000000U /*!< Value of the External oscillator in Hz */
+#endif /* HSE_VALUE */
+
+#if !defined  (HSE_STARTUP_TIMEOUT)
+  #define HSE_STARTUP_TIMEOUT    100U   /*!< Time out for HSE start up, in ms */
+#endif /* HSE_STARTUP_TIMEOUT */
+
+/**
+  * @brief Internal High Speed oscillator (HSI) value.
+  *        This value is used by the RCC HAL module to compute the system frequency
+  *        (when HSI is used as system clock source, directly or through the PLL).
+  */
+#if !defined  (HSI_VALUE)
+  #define HSI_VALUE    8000000U /*!< Value of the Internal oscillator in Hz*/
+#endif /* HSI_VALUE */
+
+/**
+  * @brief Internal Low Speed oscillator (LSI) value.
+  */
+#if !defined  (LSI_VALUE)
+ #define LSI_VALUE               40000U    /*!< LSI Typical Value in Hz */
+#endif /* LSI_VALUE */                     /*!< Value of the Internal Low Speed oscillator in Hz
+                                                The real value may vary depending on the variations
+                                                in voltage and temperature. */
+
+/**
+  * @brief External Low Speed oscillator (LSE) value.
+  *        This value is used by the UART, RTC HAL module to compute the system frequency
+  */
+#if !defined  (LSE_VALUE)
+  #define LSE_VALUE    32768U /*!< Value of the External oscillator in Hz*/
+#endif /* LSE_VALUE */
+
+#if !defined  (LSE_STARTUP_TIMEOUT)
+  #define LSE_STARTUP_TIMEOUT    5000U   /*!< Time out for LSE start up, in ms */
+#endif /* LSE_STARTUP_TIMEOUT */
+
+/* Tip: To avoid modifying this file each time you need to use different HSE,
+   ===  you can define the HSE value in your toolchain compiler preprocessor. */
+
+/* ########################### System Configuration ######################### */
+/**
+  * @brief This is the HAL system configuration section
+  */
+#define  VDD_VALUE                    3300U /*!< Value of VDD in mv */
+#define  TICK_INT_PRIORITY            15U    /*!< tick interrupt priority (lowest by default)  */
+#define  USE_RTOS                     0U
+#define  PREFETCH_ENABLE              1U
+
+#define  USE_HAL_ADC_REGISTER_CALLBACKS         0U /* ADC register callback disabled       */
+#define  USE_HAL_CAN_REGISTER_CALLBACKS         0U /* CAN register callback disabled       */
+#define  USE_HAL_CEC_REGISTER_CALLBACKS         0U /* CEC register callback disabled       */
+#define  USE_HAL_DAC_REGISTER_CALLBACKS         0U /* DAC register callback disabled       */
+#define  USE_HAL_ETH_REGISTER_CALLBACKS         0U /* ETH register callback disabled       */
+#define  USE_HAL_HCD_REGISTER_CALLBACKS         0U /* HCD register callback disabled       */
+#define  USE_HAL_I2C_REGISTER_CALLBACKS         0U /* I2C register callback disabled       */
+#define  USE_HAL_I2S_REGISTER_CALLBACKS         0U /* I2S register callback disabled       */
+#define  USE_HAL_MMC_REGISTER_CALLBACKS         0U /* MMC register callback disabled       */
+#define  USE_HAL_NAND_REGISTER_CALLBACKS        0U /* NAND register callback disabled      */
+#define  USE_HAL_NOR_REGISTER_CALLBACKS         0U /* NOR register callback disabled       */
+#define  USE_HAL_PCCARD_REGISTER_CALLBACKS      0U /* PCCARD register callback disabled    */
+#define  USE_HAL_PCD_REGISTER_CALLBACKS         0U /* PCD register callback disabled       */
+#define  USE_HAL_RTC_REGISTER_CALLBACKS         0U /* RTC register callback disabled       */
+#define  USE_HAL_SD_REGISTER_CALLBACKS          0U /* SD register callback disabled        */
+#define  USE_HAL_SMARTCARD_REGISTER_CALLBACKS   0U /* SMARTCARD register callback disabled */
+#define  USE_HAL_IRDA_REGISTER_CALLBACKS        0U /* IRDA register callback disabled      */
+#define  USE_HAL_SRAM_REGISTER_CALLBACKS        0U /* SRAM register callback disabled      */
+#define  USE_HAL_SPI_REGISTER_CALLBACKS         0U /* SPI register callback disabled       */
+#define  USE_HAL_TIM_REGISTER_CALLBACKS         0U /* TIM register callback disabled       */
+#define  USE_HAL_UART_REGISTER_CALLBACKS        0U /* UART register callback disabled      */
+#define  USE_HAL_USART_REGISTER_CALLBACKS       0U /* USART register callback disabled     */
+#define  USE_HAL_WWDG_REGISTER_CALLBACKS        0U /* WWDG register callback disabled      */
+
+/* ########################## Assert Selection ############################## */
+/**
+  * @brief Uncomment the line below to expanse the "assert_param" macro in the
+  *        HAL drivers code
+  */
+/* #define USE_FULL_ASSERT    1U */
+
+/* ################## Ethernet peripheral configuration ##################### */
+
+/* Section 1 : Ethernet peripheral configuration */
+
+/* MAC ADDRESS: MAC_ADDR0:MAC_ADDR1:MAC_ADDR2:MAC_ADDR3:MAC_ADDR4:MAC_ADDR5 */
+#define MAC_ADDR0   2U
+#define MAC_ADDR1   0U
+#define MAC_ADDR2   0U
+#define MAC_ADDR3   0U
+#define MAC_ADDR4   0U
+#define MAC_ADDR5   0U
+
+/* Definition of the Ethernet driver buffers size and count */
+#define ETH_RX_BUF_SIZE                ETH_MAX_PACKET_SIZE /* buffer size for receive               */
+#define ETH_TX_BUF_SIZE                ETH_MAX_PACKET_SIZE /* buffer size for transmit              */
+#define ETH_RXBUFNB                    8U       /* 4 Rx buffers of size ETH_RX_BUF_SIZE  */
+#define ETH_TXBUFNB                    4U       /* 4 Tx buffers of size ETH_TX_BUF_SIZE  */
+
+/* Section 2: PHY configuration section */
+
+/* DP83848_PHY_ADDRESS Address*/
+#define DP83848_PHY_ADDRESS           0x01U
+/* PHY Reset delay these values are based on a 1 ms Systick interrupt*/
+#define PHY_RESET_DELAY                 0x000000FFU
+/* PHY Configuration delay */
+#define PHY_CONFIG_DELAY                0x00000FFFU
+
+#define PHY_READ_TO                     0x0000FFFFU
+#define PHY_WRITE_TO                    0x0000FFFFU
+
+/* Section 3: Common PHY Registers */
+
+#define PHY_BCR                         ((uint16_t)0x00)    /*!< Transceiver Basic Control Register   */
+#define PHY_BSR                         ((uint16_t)0x01)    /*!< Transceiver Basic Status Register    */
+
+#define PHY_RESET                       ((uint16_t)0x8000)  /*!< PHY Reset */
+#define PHY_LOOPBACK                    ((uint16_t)0x4000)  /*!< Select loop-back mode */
+#define PHY_FULLDUPLEX_100M             ((uint16_t)0x2100)  /*!< Set the full-duplex mode at 100 Mb/s */
+#define PHY_HALFDUPLEX_100M             ((uint16_t)0x2000)  /*!< Set the half-duplex mode at 100 Mb/s */
+#define PHY_FULLDUPLEX_10M              ((uint16_t)0x0100)  /*!< Set the full-duplex mode at 10 Mb/s  */
+#define PHY_HALFDUPLEX_10M              ((uint16_t)0x0000)  /*!< Set the half-duplex mode at 10 Mb/s  */
+#define PHY_AUTONEGOTIATION             ((uint16_t)0x1000)  /*!< Enable auto-negotiation function     */
+#define PHY_RESTART_AUTONEGOTIATION     ((uint16_t)0x0200)  /*!< Restart auto-negotiation function    */
+#define PHY_POWERDOWN                   ((uint16_t)0x0800)  /*!< Select the power down mode           */
+#define PHY_ISOLATE                     ((uint16_t)0x0400)  /*!< Isolate PHY from MII                 */
+
+#define PHY_AUTONEGO_COMPLETE           ((uint16_t)0x0020)  /*!< Auto-Negotiation process completed   */
+#define PHY_LINKED_STATUS               ((uint16_t)0x0004)  /*!< Valid link established               */
+#define PHY_JABBER_DETECTION            ((uint16_t)0x0002)  /*!< Jabber condition detected            */
+
+/* Section 4: Extended PHY Registers */
+#define PHY_SR                          ((uint16_t)0x10U)    /*!< PHY status register Offset                      */
+
+#define PHY_SPEED_STATUS                ((uint16_t)0x0002U)  /*!< PHY Speed mask                                  */
+#define PHY_DUPLEX_STATUS               ((uint16_t)0x0004U)  /*!< PHY Duplex mask                                 */
+
+/* ################## SPI peripheral configuration ########################## */
+
+/* CRC FEATURE: Use to activate CRC feature inside HAL SPI Driver
+* Activated: CRC code is present inside driver
+* Deactivated: CRC code cleaned from driver
+*/
+
+#define USE_SPI_CRC                     0U
+
+/* Includes ------------------------------------------------------------------*/
+/**
+  * @brief Include module's header file
+  */
+
+#ifdef HAL_RCC_MODULE_ENABLED
+#include "stm32f1xx_hal_rcc.h"
+#endif /* HAL_RCC_MODULE_ENABLED */
+
+#ifdef HAL_GPIO_MODULE_ENABLED
+#include "stm32f1xx_hal_gpio.h"
+#endif /* HAL_GPIO_MODULE_ENABLED */
+
+#ifdef HAL_EXTI_MODULE_ENABLED
+#include "stm32f1xx_hal_exti.h"
+#endif /* HAL_EXTI_MODULE_ENABLED */
+
+#ifdef HAL_DMA_MODULE_ENABLED
+#include "stm32f1xx_hal_dma.h"
+#endif /* HAL_DMA_MODULE_ENABLED */
+
+#ifdef HAL_ETH_MODULE_ENABLED
+#include "stm32f1xx_hal_eth.h"
+#endif /* HAL_ETH_MODULE_ENABLED */
+
+#ifdef HAL_CAN_MODULE_ENABLED
+#include "stm32f1xx_hal_can.h"
+#endif /* HAL_CAN_MODULE_ENABLED */
+
+#ifdef HAL_CAN_LEGACY_MODULE_ENABLED
+  #include "Legacy/stm32f1xx_hal_can_legacy.h"
+#endif /* HAL_CAN_LEGACY_MODULE_ENABLED */
+
+#ifdef HAL_CEC_MODULE_ENABLED
+#include "stm32f1xx_hal_cec.h"
+#endif /* HAL_CEC_MODULE_ENABLED */
+
+#ifdef HAL_CORTEX_MODULE_ENABLED
+#include "stm32f1xx_hal_cortex.h"
+#endif /* HAL_CORTEX_MODULE_ENABLED */
+
+#ifdef HAL_ADC_MODULE_ENABLED
+#include "stm32f1xx_hal_adc.h"
+#endif /* HAL_ADC_MODULE_ENABLED */
+
+#ifdef HAL_CRC_MODULE_ENABLED
+#include "stm32f1xx_hal_crc.h"
+#endif /* HAL_CRC_MODULE_ENABLED */
+
+#ifdef HAL_DAC_MODULE_ENABLED
+#include "stm32f1xx_hal_dac.h"
+#endif /* HAL_DAC_MODULE_ENABLED */
+
+#ifdef HAL_FLASH_MODULE_ENABLED
+#include "stm32f1xx_hal_flash.h"
+#endif /* HAL_FLASH_MODULE_ENABLED */
+
+#ifdef HAL_SRAM_MODULE_ENABLED
+#include "stm32f1xx_hal_sram.h"
+#endif /* HAL_SRAM_MODULE_ENABLED */
+
+#ifdef HAL_NOR_MODULE_ENABLED
+#include "stm32f1xx_hal_nor.h"
+#endif /* HAL_NOR_MODULE_ENABLED */
+
+#ifdef HAL_I2C_MODULE_ENABLED
+#include "stm32f1xx_hal_i2c.h"
+#endif /* HAL_I2C_MODULE_ENABLED */
+
+#ifdef HAL_I2S_MODULE_ENABLED
+#include "stm32f1xx_hal_i2s.h"
+#endif /* HAL_I2S_MODULE_ENABLED */
+
+#ifdef HAL_IWDG_MODULE_ENABLED
+#include "stm32f1xx_hal_iwdg.h"
+#endif /* HAL_IWDG_MODULE_ENABLED */
+
+#ifdef HAL_PWR_MODULE_ENABLED
+#include "stm32f1xx_hal_pwr.h"
+#endif /* HAL_PWR_MODULE_ENABLED */
+
+#ifdef HAL_RTC_MODULE_ENABLED
+#include "stm32f1xx_hal_rtc.h"
+#endif /* HAL_RTC_MODULE_ENABLED */
+
+#ifdef HAL_PCCARD_MODULE_ENABLED
+#include "stm32f1xx_hal_pccard.h"
+#endif /* HAL_PCCARD_MODULE_ENABLED */
+
+#ifdef HAL_SD_MODULE_ENABLED
+#include "stm32f1xx_hal_sd.h"
+#endif /* HAL_SD_MODULE_ENABLED */
+
+#ifdef HAL_NAND_MODULE_ENABLED
+#include "stm32f1xx_hal_nand.h"
+#endif /* HAL_NAND_MODULE_ENABLED */
+
+#ifdef HAL_SPI_MODULE_ENABLED
+#include "stm32f1xx_hal_spi.h"
+#endif /* HAL_SPI_MODULE_ENABLED */
+
+#ifdef HAL_TIM_MODULE_ENABLED
+#include "stm32f1xx_hal_tim.h"
+#endif /* HAL_TIM_MODULE_ENABLED */
+
+#ifdef HAL_UART_MODULE_ENABLED
+#include "stm32f1xx_hal_uart.h"
+#endif /* HAL_UART_MODULE_ENABLED */
+
+#ifdef HAL_USART_MODULE_ENABLED
+#include "stm32f1xx_hal_usart.h"
+#endif /* HAL_USART_MODULE_ENABLED */
+
+#ifdef HAL_IRDA_MODULE_ENABLED
+#include "stm32f1xx_hal_irda.h"
+#endif /* HAL_IRDA_MODULE_ENABLED */
+
+#ifdef HAL_SMARTCARD_MODULE_ENABLED
+#include "stm32f1xx_hal_smartcard.h"
+#endif /* HAL_SMARTCARD_MODULE_ENABLED */
+
+#ifdef HAL_WWDG_MODULE_ENABLED
+#include "stm32f1xx_hal_wwdg.h"
+#endif /* HAL_WWDG_MODULE_ENABLED */
+
+#ifdef HAL_PCD_MODULE_ENABLED
+#include "stm32f1xx_hal_pcd.h"
+#endif /* HAL_PCD_MODULE_ENABLED */
+
+#ifdef HAL_HCD_MODULE_ENABLED
+#include "stm32f1xx_hal_hcd.h"
+#endif /* HAL_HCD_MODULE_ENABLED */
+
+#ifdef HAL_MMC_MODULE_ENABLED
+#include "stm32f1xx_hal_mmc.h"
+#endif /* HAL_MMC_MODULE_ENABLED */
+
+/* Exported macro ------------------------------------------------------------*/
+#ifdef  USE_FULL_ASSERT
+/**
+  * @brief  The assert_param macro is used for function's parameters check.
+  * @param  expr If expr is false, it calls assert_failed function
+  *         which reports the name of the source file and the source
+  *         line number of the call that failed.
+  *         If expr is true, it returns no value.
+  * @retval None
+  */
+#define assert_param(expr) ((expr) ? (void)0U : assert_failed((uint8_t *)__FILE__, __LINE__))
+/* Exported functions ------------------------------------------------------- */
+void assert_failed(uint8_t* file, uint32_t line);
+#else
+#define assert_param(expr) ((void)0U)
+#endif /* USE_FULL_ASSERT */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __STM32F1xx_HAL_CONF_H */
+

+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    stm32f1xx_it.h
+  * @brief   This file contains the headers of the interrupt handlers.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2024 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+ ******************************************************************************
+  */
+/* USER CODE END Header */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F1xx_IT_H
+#define __STM32F1xx_IT_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Private includes ----------------------------------------------------------*/
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+/* Exported types ------------------------------------------------------------*/
+/* USER CODE BEGIN ET */
+
+/* USER CODE END ET */
+
+/* Exported constants --------------------------------------------------------*/
+/* USER CODE BEGIN EC */
+
+/* USER CODE END EC */
+
+/* Exported macro ------------------------------------------------------------*/
+/* USER CODE BEGIN EM */
+
+/* USER CODE END EM */
+
+/* Exported functions prototypes ---------------------------------------------*/
+void NMI_Handler(void);
+void HardFault_Handler(void);
+void MemManage_Handler(void);
+void BusFault_Handler(void);
+void UsageFault_Handler(void);
+void SVC_Handler(void);
+void DebugMon_Handler(void);
+void PendSV_Handler(void);
+void SysTick_Handler(void);
+void DMA1_Channel4_IRQHandler(void);
+void DMA1_Channel5_IRQHandler(void);
+void TIM4_IRQHandler(void);
+void USART1_IRQHandler(void);
+/* USER CODE BEGIN EFP */
+
+/* USER CODE END EFP */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __STM32F1xx_IT_H */

+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    tim.h
+  * @brief   This file contains all the function prototypes for
+  *          the tim.c file
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2024 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __TIM_H__
+#define __TIM_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* USER CODE BEGIN Includes */
+#include "stm32f1xx_hal_tim.h"
+/* USER CODE END Includes */
+
+/* USER CODE BEGIN Private defines */
+extern TIM_HandleTypeDef htim2_Self;
+extern TIM_HandleTypeDef htim3_Self;
+extern TIM_HandleTypeDef htim4_Self;
+/* USER CODE END Private defines */
+
+void MX_TIM2_Init(void);
+void MX_TIM3_Init(void);
+void MX_TIM4_Init(void);
+
+/* USER CODE BEGIN Prototypes */
+
+/* USER CODE END Prototypes */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __TIM_H__ */
+

+/*
+ * @Date: 2023-11-07 18:19:22
+ * @LastEditTime: 2024-02-01 15:08:59
+ * @FilePath: \IMU_T6_Single\Hardware\delay.h
+ * @Description:
+ */
+
+/*
+                       ::
+                      :;J7, :,                        ::;7:
+                      ,ivYi, ,                       ;LLLFS:
+                      :iv7Yi                       :7ri;j5PL
+                     ,:ivYLvr                    ,ivrrirrY2X,
+                     :;r@Wwz.7r:                :ivu@kexianli.
+                    :iL7::,:::iiirii:ii;::::,,irvF7rvvLujL7ur
+                   ri::,:,::i:iiiiiii:i:irrv177JX7rYXqZEkvv17
+                ;i:, , ::::iirrririi:i:::iiir2XXvii;L8OGJr71i
+              :,, ,,:   ,::ir@mingyi.irii:i:::j1jri7ZBOS7ivv,
+                 ,::,    ::rv77iiiriii:iii:i::,rvLq@huhao.Li
+             ,,      ,, ,:ir7ir::,:::i;ir:::i:i::rSGGYri712:
+           :::  ,v7r:: ::rrv77:, ,, ,:i7rrii:::::, ir7ri7Lri
+          ,     2OBBOi,iiir;r::        ,irriiii::,, ,iv7Luur:
+        ,,     i78MBBi,:,:::,:,  :7FSL: ,iriii:::i::,,:rLqXv::
+        :      iuMMP: :,:::,:ii;2GY7OBB0viiii:i:iii:i:::iJqL;::
+       ,     ::::i   ,,,,, ::LuBBu BBBBBErii:i:i:i:i:i:i:r77ii
+      ,       :       , ,,:::rruBZ1MBBqi, :,,,:::,::::::iiriri:
+     ,               ,,,,::::i:  @arqiao.       ,:,, ,:::ii;i7:
+    :,       rjujLYLi   ,,:::::,:::::::::,,   ,:i,:,,,,,::i:iii
+    ::      BBBBBBBBB0,    ,,::: , ,:::::: ,      ,,,, ,,:::::::
+    i,  ,  ,8BMMBBBBBBi     ,,:,,     ,,, , ,   , , , :,::ii::i::
+    :      iZMOMOMBBM2::::::::::,,,,     ,,,,,,:,,,::::i:irr:i:::,
+    i   ,,:;u0MBMOG1L:::i::::::  ,,,::,   ,,, ::::::i:i:iirii:i:i:
+    :    ,iuUuuXUkFu7i:iii:i:::, :,:,: ::::::::i:i:::::iirr7iiri::
+    :     :rk@Yizero.i:::::, ,:ii:::::::i:::::i::,::::iirrriiiri::,
+     :      5BMBBBBBBSr:,::rv2kuii:::iii::,:i:,, , ,,:,:i@petermu.,
+          , :r50EZ8MBBBBGOBBBZP7::::i::,:::::,: :,:,::i;rrririiii::
+              :jujYY7LS0ujJL7r::,::i::,::::::::::::::iirirrrrrrr:ii:
+           ,:  :@kevensun.:,:,,,::::i:i:::::,,::::::iir;ii;7v77;ii;i,
+           ,,,     ,,:,::::::i:iiiii:i::::,, ::::iiiir@xingjief.r;7:i,
+        , , ,,,:,,::::::::iiiiiiiiii:,:,:::::::::iiir;ri7vL77rrirri::
+         :,, , ::::::::i:::i:::i:i::,,,,,:,::i:i:::iir;@Secbone.ii:::
+*/
+
+/*
+_______________   _________
+\__    ___/\   \ /   /  _  \
+  |    |    \   Y   /  /_\  \
+  |    |     \     /    |    \
+  |____|      \___/\____|__  /
+                           \/
+
+Time Management Agency
+*/
+/*************************************************
+            The Gun delay/time API Announce (us)
+File name:   tva.h
+Author：     c17
+Description: Offer the general delay ways and time manager
+Others:      Need To Used Some API
+Log:         Last Update at 2023/12/7
+*************************************************/
+
+#ifndef __DELAY_H
+#define __DELAY_H
+// #include "stm32f4xx_ll_tim.h"
+#include "stm32f1xx_ll_tim.h"
+#include "stdint.h"
+// #include "main.h"
+
+#define TVA_USE_TIMER TIM4
+#define TVA_USE_TIMER_US_PREUP 50000
+#define TVA_FULLUP_MS_CUT_u32 (0xFFFFFFFF / TVA_USE_TIMER_US_PREUP - 1)
+// #define TVA_FULLUP_MS_CUT_u32 100
+#define TVA_FULLUP_US_u32  (TVA_FULLUP_MS_CUT_u32+1) * TVA_USE_TIMER_US_PREUP
+
+extern volatile uint32_t tvaTimerUptime;
+
+#define TVA_TIMER_IT_ACTION                                     \
+  {                                                             \
+    tvaTimerUptime++;                                           \
+    if (tvaTimerUptime > TVA_FULLUP_MS_CUT_u32) /*Manual overFlow*/ \
+    {                                                           \
+      tvaTimerUptime = 0;                                       \
+    }                                                           \
+  }
+
+static inline void tva_time_It_action(void)
+{
+  tvaTimerUptime++;
+  if (tvaTimerUptime > TVA_FULLUP_MS_CUT_u32) // Manual overFlow
+  {
+    tvaTimerUptime = 0;
+  }
+}
+
+// Time Record Struct (us)	//Overflow not tested!!
+typedef struct
+{
+  // uint32_t Now_Time;	// Current Time - Temp
+  uint32_t Last_Time; // Last operation system running time
+
+  uint32_t Pre_Run_Time; // Last operation during time
+
+  uint32_t Run_Time_High; // superstratum System running time HighPart - extraordinary long (1000day+++)
+                          // uint32_t Run_TIme_Low; // superstratum System running time LowPart
+
+} TimeRec_s;
+
+
+
+void delay_ms(uint16_t nms);
+void delay_us(uint32_t nus);
+void Delay(unsigned long delay_time);
+
+float TimeFlash(TimeRec_s *time);
+uint32_t TimeFlash_us(TimeRec_s *time);
+
+#endif
+
+//------------------End of File----------------------------

+/* USER CODE BEGIN Header */
+/**
+ ******************************************************************************
+ * @file    usart.h
+ * @brief   This file contains all the function prototypes for
+ *          the usart.c file
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2024 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+/* USER CODE END Header */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __USART_H__
+#define __USART_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* USER CODE BEGIN Includes */
+#include "stdbool.h"
+#include "Project_Config.h"
+/* USER CODE END Includes */
+
+/* USER CODE BEGIN Private defines */
+
+  typedef enum
+  {
+
+    UART_TX_STA_OK = 0,
+    UART_TX_STA_TX_BUSY,
+    UART_TX_STA_TX_UNBUSY,
+    UART_TX_STA_DATALEN_TOOLONG,
+
+  } UART_TX_STA; // UART DMA Result
+
+#define UART_PRECONFIG_ENABLE 1
+#define UART_PRECONFIG_DISABLE 0
+
+  extern __IO uint8_t usart1_Tx_dma_buffer[UART1_BUFF_TX_DMA_LEN];
+  extern __IO uint8_t usart1_Rx_dma_buffer[UART1_BUFF_RX_DMA_LEN];
+
+  extern __IO int32_t usart1_TX_dma_BusySign;
+  extern __IO uint8_t uasrt1_TX_dma_NeedToNofSign;
+
+  extern __IO uint32_t usart1_Rx_dma_count ;
+  extern __IO uint32_t usart1_Rx_dma_VerFALLCount ;
+
+  extern __IO uint8_t usart1_rx_L2_buffer[UART1_L2_BUFF_RX_LEN];
+  extern __IO uint8_t usart1_tx_L2_buffer[UART1_L2_BUFF_TX_LEN];
+
+#define UART1_TX_MODE_OPEN_DRAIN    LL_GPIO_SetPinOutputType(UART_BUS_TX_GPIO_Port,UART_BUS_TX_Pin,LL_GPIO_OUTPUT_OPENDRAIN);
+#define UART1_TX_MODE_PUSH_PULL     LL_GPIO_SetPinOutputType(UART_BUS_TX_GPIO_Port,UART_BUS_TX_Pin,LL_GPIO_OUTPUT_PUSHPULL);
+
+  /*+++++++++++++++++++++++++++++++++++ UART Gen Define +++++++++++++++++++++++++++++++++++*/
+
+  typedef struct
+  {
+    uint16_t volatile Wd_Indx;
+    uint16_t volatile Rd_Indx;
+    uint16_t Mask;
+    uint8_t *pbuf;
+  } UartBuf;
+
+  typedef enum
+  {
+    UARTRX_STATUS_END = 1,
+    UARTRX_STATUS_NOTEND
+  } UARTRX_STATUS;
+
+  extern UartBuf Uart1Txbuf;
+  extern UartBuf Uart1Rxbuf;
+
+/*+++++++++++++++++++++++++++++++++++ UART Gen Define +++++++++++++++++++++++++++++++++++*/
+
+// uart reicer flag
+#define b_uart_head 0x80
+#define b_rx_over 0x40
+
+/* USER CODE END Private defines */
+
+void MX_USART1_UART_Init(void);
+
+/* USER CODE BEGIN Prototypes */
+
+  /*+++++++++++++++++++++++++ UART1 DMA +++++++++++++++++++++++++++++*/
+  UART_TX_STA Uart1_Send_DMA_StartBuff(uint8_t *senddata, uint16_t datalen);
+  UART_TX_STA Uart1_Send_DMA_Start(uint8_t *senddata, uint16_t datalen);
+  bool Uart1_SendDMA_IsBusy(void);
+
+  /*+++++++++++++++++++++++++ UART Gen +++++++++++++++++++++++++++++*/
+  uint8_t UartBuf_RD(UartBuf *Ringbuf);
+  uint16_t UartBuf_Cnt(UartBuf *Ringbuf);
+  void UartBuf_WD(UartBuf *Ringbuf, uint8_t DataIn);
+
+  UARTRX_STATUS UartBuf_End_Check(UartBuf *Ringbuf);
+  UARTRX_STATUS UartBuf_End_Check_RC(UartBuf *Ringbuf);
+  int UartBuf_RD_MultBytes(UartBuf *Ringbuf, uint8_t *readbuff, uint32_t bufflen, uint32_t readlen);
+	
+	int fputc(int ch, FILE *f);
+
+/* USER CODE END Prototypes */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __USART_H__ */
+

+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    dma.c
+  * @brief   This file provides code for the configuration
+  *          of all the requested memory to memory DMA transfers.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2024 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+
+/* Includes ------------------------------------------------------------------*/
+#include "dma.h"
+
+/* USER CODE BEGIN 0 */
+
+/* USER CODE END 0 */
+
+/*----------------------------------------------------------------------------*/
+/* Configure DMA                                                              */
+/*----------------------------------------------------------------------------*/
+
+/* USER CODE BEGIN 1 */
+
+/* USER CODE END 1 */
+
+/**
+  * Enable DMA controller clock
+  */
+void MX_DMA_Init(void)
+{
+
+  /* Init with LL driver */
+  /* DMA controller clock enable */
+  LL_AHB1_GRP1_EnableClock(LL_AHB1_GRP1_PERIPH_DMA1);
+
+  /* DMA interrupt init */
+  /* DMA1_Channel4_IRQn interrupt configuration */
+  NVIC_SetPriority(DMA1_Channel4_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),0, 0));
+  NVIC_EnableIRQ(DMA1_Channel4_IRQn);
+  /* DMA1_Channel5_IRQn interrupt configuration */
+  NVIC_SetPriority(DMA1_Channel5_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),0, 0));
+  NVIC_EnableIRQ(DMA1_Channel5_IRQn);
+
+}
+
+/* USER CODE BEGIN 2 */
+
+/* USER CODE END 2 */
+

+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    gpio.c
+  * @brief   This file provides code for the configuration
+  *          of all used GPIO pins.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2024 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+
+/* Includes ------------------------------------------------------------------*/
+#include "gpio.h"
+
+/* USER CODE BEGIN 0 */
+
+/* USER CODE END 0 */
+
+/*----------------------------------------------------------------------------*/
+/* Configure GPIO                                                             */
+/*----------------------------------------------------------------------------*/
+/* USER CODE BEGIN 1 */
+
+/* USER CODE END 1 */
+
+/** Configure pins as
+        * Analog
+        * Input
+        * Output
+        * EVENT_OUT
+        * EXTI
+*/
+void MX_GPIO_Init(void)
+{
+
+  LL_GPIO_InitTypeDef GPIO_InitStruct = {0};
+
+  /* GPIO Ports Clock Enable */
+  LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOD);
+  LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
+  LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOB);
+
+  /**/
+  LL_GPIO_ResetOutputPin(SIGN1_LED_GPIO_Port, SIGN1_LED_Pin);
+
+  /**/
+  LL_GPIO_SetOutputPin(MGE_CS_GPIO_Port, MGE_CS_Pin);
+
+  /**/
+  GPIO_InitStruct.Pin = SIGN1_LED_Pin|MGE_CS_Pin;
+  GPIO_InitStruct.Mode = LL_GPIO_MODE_OUTPUT;
+  GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_HIGH;
+  GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
+  LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+  /**/
+  GPIO_InitStruct.Pin = MOT_SELECT_1_Pin|MOT_SELECT_2_Pin;
+  GPIO_InitStruct.Mode = LL_GPIO_MODE_INPUT;
+  GPIO_InitStruct.Pull = LL_GPIO_PULL_UP;
+  LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+}
+
+/* USER CODE BEGIN 2 */
+
+/* USER CODE END 2 */

+/* USER CODE BEGIN Header */
+/**
+ ******************************************************************************
+ * @file           : main.c
+ * @brief          : Main program body
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2024 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+/* USER CODE END Header */
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+#include "dma.h"
+#include "spi.h"
+#include "tim.h"
+#include "usart.h"
+#include "gpio.h"
+
+/* Private includes ----------------------------------------------------------*/
+/* USER CODE BEGIN Includes */
+#include "Project_Config.h"
+#include "BMCL.h"
+#include "BMCL_ParaLoadF1.h"
+#include "monitor.h"
+#include "tva.h"
+
+#include "MGE_Hal.h"
+
+#include "stdlib.h"
+
+//#include "cmsis_gcc.h"
+
+#include "OBS_MOT.h"
+
+#include "motor.h"
+#include "FOC.h"
+#include "protocolV1_1.h"
+
+#include "T_SpeedShape.h"
+
+#include "BMCL_Config.h"
+#include "Motor_Manage.h"
+#include "buzzer.h"
+#include "upgrade.h"
+
+#include "ParaMge_F1.h"
+//#include "IMU_Pubilc.h"
+
+#include "FilterExt.h"
+/* USER CODE END Includes */
+
+/* Private typedef -----------------------------------------------------------*/
+/* USER CODE BEGIN PTD */
+
+/* USER CODE END PTD */
+
+/* Private define ------------------------------------------------------------*/
+/* USER CODE BEGIN PD */
+extern bool frameGetSign;
+/* USER CODE END PD */
+
+/* Private macro -------------------------------------------------------------*/
+/* USER CODE BEGIN PM */
+void commander_run(void);
+void Parse_Posturd(uint8_t *buff, uint32_t len);
+/* USER CODE END PM */
+
+/* Private variables ---------------------------------------------------------*/
+
+/* USER CODE BEGIN PV */
+
+// static float pitchVelTaget, rollVelTaget, yawVelTaget = 0;
+// static float motAngP, motAngR, controlA = 0;
+uint8_t firstIn = 1;
+uint32_t RunCount = 0;
+float PlanTarget;
+// Roll trapezoidal velocity profile definition
+TRAP_CURVE_s rollANGPlan = {0};
+float rollANGPlan_Time = 0;
+TimeRec_s rollANGPlan_TimeS = {0};
+float rollPlanTarget = 0;
+
+//============To F4 PROTOCOL DATA/BUFF GROUP============
+#define TX_TO_MOT_BUFF_LEN 36
+uint8_t protocol_Tx_buff[TX_TO_MOT_BUFF_LEN];
+float protocol_data[4] = {0};
+float yawF4BaktimePass = 0;
+#define YAW_TO_F4_ANG_BAK_DIVTIME 0.002f // second
+
+// BMCL Semap
+uint32_t curAngArr_SRoute = 0X00;
+uint32_t tarAngArr_SRoute = 0X00;
+uint32_t calibration_SRoute = 0X00;
+uint32_t Music_SRoute = 0X00;
+// uint32_t calibration_Sequence = PROTOCOL_F_COMMSQR_DATA_00;
+
+//============Self-stabilizing mode control About=============
+//              S     S         M     quantity
+// KFP kfp_ssmq = {0.02, 0, 0, 0, 0.01, 0.1} ;
+
+/* USER CODE END PV */
+
+/* Private function prototypes -----------------------------------------------*/
+void SystemClock_Config(void);
+/* USER CODE BEGIN PFP */
+
+/* USER CODE END PFP */
+
+/* Private user code ---------------------------------------------------------*/
+/* USER CODE BEGIN 0 */
+
+/* USER CODE END 0 */
+
+/**
+  * @brief  The application entry point.
+  * @retval int
+  */
+int main(void)
+{
+  /* USER CODE BEGIN 1 */
+	__enable_irq();
+	__set_FAULTMASK(0);
+	SCB->VTOR = FLASH_BASE | 0x1400;
+	
+//	while(1)
+//	{
+//		SIGN1_TAGO;
+//	}
+  /* USER CODE END 1 */
+
+  /* MCU Configuration--------------------------------------------------------*/
+
+  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
+  HAL_Init();
+
+  /* USER CODE BEGIN Init */
+
+  /* USER CODE END Init */
+
+  /* Configure the system clock */
+  SystemClock_Config();
+
+  /* USER CODE BEGIN SysInit */
+
+  /* USER CODE END SysInit */
+
+  /* Initialize all configured peripherals */
+  MX_GPIO_Init();
+  MX_DMA_Init();
+  MX_SPI1_Init();
+  MX_TIM2_Init();
+  MX_TIM3_Init();
+  MX_USART1_UART_Init();
+  MX_TIM4_Init();
+  /* USER CODE BEGIN 2 */
+
+  /* USER CODE END 2 */
+
+  /* Infinite loop */
+  /* USER CODE BEGIN WHILE */
+
+  // 磁编码器初始�?
+  mge_hal_Init();
+  // PWM通道,主要是先�?启开启�?�道
+  PWM_Init(); // Enable the PWM output channel of Timx
+	
+	upgrade_check();
+	
+
+//CUT##-240724A201        电机基本初始化的示例 - Start -> 展示初始化流�?,�?要初始化哪些东西,以及有那些东西需要进行Load和Write
+
+  // TODO: 读取Flash,并标记状�?,相关初始化等外部协议进行处理
+  Para_Init();
+
+  // NOTE: BMCL 初始�?,�?要在硬件初始化之后第�?个调�?
+  BMCL_Init();
+  bmcl_Config_Init();
+	
+
+  bmcl_config_mot_select = BMCL_CONFIG_MOT_SELECT_ROLL;
+  workMode = WORK_MODE_1;
+	
+	
+	
+#if MOTOR_BOARD_DEBUG_OR_TEST == PROJECT_CONFIG_ENABLE
+
+//  while (frameGetSign != true)
+	while (1)
+  {
+			RunCount++;
+			if(RunCount==6000000)
+			{
+			RunCount = 0;
+			SIGN1_TAGO;
+			}
+	}
+#endif
+//  HAL_Delay(1000);
+  // BMCL_mot_Calibration = BMCL_CONFIG_MOT_CAL_STA_EMPTY;
+
+  // TEST#: 当Flash中没有参数时,模拟外部协议对电机进行初始化
+  if (BMCL_mot_Calibration == __PARAMGE_DEF_MOT_CALI_STA_BAD)
+  {
+    BMCL_PL_PreLoadALL();
+    BMCL_PL_WriteAll2ParaMge();
+
+    motor_Align_Sensor();
+    motor_Set_ZeroEAngleOffset(zeroElectricAngleOffset_Temp);
+    mge_Set_direction(mge_direction_Temp);
+    mge_Set_abOffset(offset_Temp);
+    if (motor_Calibration_Status != __PARAMGE_DEF_MOT_CALI_STA_GOOD) // flash只保存成功和失败两种情况
+    {
+      motor_Calibration_Status = __PARAMGE_DEF_MOT_CALI_STA_BAD;
+    }
+    BMCL_mot_Calibration = motor_Calibration_Status;
+    BMCL_PL_WriteAll2ParaMge();
+    paraMge_SaveALL();
+  }
+
+  if(BMCL_mot_Calibration == __PARAMGE_DEF_MOT_CALI_STA_GOOD)
+  {
+    BMCL_PL_LoadAll4ParaMge();
+  }
+	
+	uint8_t i;
+	uint8_t motor_SelfTest_flag;
+	for(i=0;i<2;i++)
+	{
+		if(motor_start_SelfTest()==0)
+		{
+			Operation_Reply(PROTOCOL_F_FUNCTION_2_0X01);
+			motor_SelfTest_flag = 0;
+			break;
+		}else motor_SelfTest_flag = 1;
+		playMusic(MelodyQuit, sizeof(MelodyQuit));
+	}
+	HAL_Delay(500);
+//   BMCL_PL_PreLoadALL();
+//CUT##       电机基本初始化的示例 - END
+	
+
+
+#if 0 // NOTE: flash参数保存测试程序 - 2407121053
+
+  __PARAMGE_TEMP_MOT dest,src;
+  memset(&dest, 0x00, sizeof(__PARAMGE_TEMP_MOT));
+  memset(&src, 0x00, sizeof(__PARAMGE_TEMP_MOT));
+  src.mge_absOffset=2.32;
+  src.mge_Calibration=BMCL_CONFIG_MGE_CAL_STA_CALED;
+  paraMge_WriteMOT( &src);
+  paraMge_SaveALL();
+  paraMge_ReadALL();
+  paraMge_GetMOT(&dest);
+
+#endif
+
+
+
+  while (1)
+  {
+    // SIGN1_ON
+
+    if (firstIn)
+    {
+      playMusic(MelodyStart, sizeof(MelodyStart));
+      HAL_Delay(1500);
+      
+      rollANGPlan_Time += TimeFlash(&rollANGPlan_TimeS);
+      trap_Curve_Init(&rollANGPlan, 400.0f, 800.0f, rollANGPlan_Time, TRAP_CURVE_CYCMODE_OFF, 0);
+
+      rollANGPlan.pos_Cur = mge_hal_GetAbsAngle_withFilter()*57.2957795130f;//弧度转角�?
+
+      trap_Curve_SetTarget(&rollANGPlan, 0);
+      firstIn = 0;
+    }
+
+    if((BMCL_mot_Calibration == __PARAMGE_DEF_MOT_CALI_STA_BAD||motor_SelfTest_flag)&&workMode == WORK_MODE_1)
+    {
+			Operation_Reply(PROTOCOL_F_FUNCTION_2_0XFF);
+      playMusic(MelodyQuit, sizeof(MelodyQuit));
+      SIGN1_TAGO;
+      HAL_Delay(1500);
+    }
+
+    if (BMCL_GenSemap_take(&bmcl_Music, &Music_SRoute) == BMCL_GENSEAMP_RESULT_GET_GIVEN)
+    {
+      switch (Music_SRoute)
+      {
+      case Start:
+        playMusic(MelodyStart, sizeof(MelodyStart));
+        break;
+      case Connect:
+        playMusic(MelodyConnect, sizeof(MelodyConnect));
+        break;
+      case Enter:
+        playMusic(MelodyEnter, sizeof(MelodyEnter));
+        break;
+      case Quit:
+        playMusic(MelodyQuit, sizeof(MelodyQuit));
+        break;
+      default:
+        break;
+      }
+    }
+
+    if (BMCL_GenSemap_take(&bmcl_Calibration, &calibration_SRoute) == BMCL_GENSEAMP_RESULT_GET_GIVEN)
+    {
+      motor_Align_Sensor();
+    }
+    if (BMCL_mot_Calibration == __PARAMGE_DEF_MOT_CALI_STA_GOOD && workMode == WORK_MODE_1)
+    {
+      trap_Curve_SetTarget(&rollANGPlan, PlanTarget);
+      rollANGPlan_Time += TimeFlash(&rollANGPlan_TimeS);
+      rollPlanTarget = trap_Curve_Update(&rollANGPlan, rollANGPlan_Time);
+      Target_Angle = rollPlanTarget / 57.2957795130f; // 角度转弧�?
+      close_Angle_Control_GenPID(Target_Angle);       // 目标角度闭环控制
+      RunCount++;
+    }else if(workMode == WORK_MODE_4)
+		{
+			setPhaseVoltage(0, 0, _3PI_2);
+		}
+//		  MOT_YandR_VelControl_Direct_GenPID_ErrIn(0);
+//		RunCount++;
+		if(RunCount==2000)
+		{
+//			DebugFrameLoad_F(0,motor_obs.actual_Angle);
+//			DebugFrameLoad_F(1,motor_obs.actual_Velocity);
+//			DebugFrameLoad_F(2,motor_obs.actual_Velocity_KPF);
+//			DebugFrameLoad_F(3,motor_obs.el_Angle);
+//			DebugFrameLoad_F(4,Target_Angle);
+//			Uart1_Send_DMA_StartBuff((uint8_t *)debugFrame.fdata, (uint16_t)(sizeof(float) * CH_COUNT + sizeof(uint8_t) * 4));
+			RunCount = 0;
+			SIGN1_TAGO;
+		}
+
+  }
+}
+
+/**
+  * @brief System Clock Configuration
+  * @retval None
+  */
+void SystemClock_Config(void)
+{
+  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
+  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
+
+  /** Initializes the RCC Oscillators according to the specified parameters
+  * in the RCC_OscInitTypeDef structure.
+  */
+  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
+  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
+  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
+  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
+  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
+  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
+  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
+  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Initializes the CPU, AHB and APB buses clocks
+  */
+  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
+                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
+  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
+  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
+  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
+  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
+
+  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+}
+
+/* USER CODE BEGIN 4 */
+
+// uint8_t readbuff[12];
+// uint8_t readlen;
+// void commander_run(void)
+// {
+//   if ((UartBuf_End_Check(&Uart1Rxbuf) == UARTRX_STATUS_END) && (UartBuf_Cnt(&Uart1Rxbuf) > 0))
+//   {
+//     readlen = UartBuf_RD_MultBytes(&Uart1Rxbuf, readbuff, 128, 8); // read Cmd Len
+//     Parse_Posturd(readbuff, readlen);
+//   }
+// }
+
+/* USER CODE END 4 */
+
+/**
+  * @brief  This function is executed in case of error occurrence.
+  * @retval None
+  */
+void Error_Handler(void)
+{
+  /* USER CODE BEGIN Error_Handler_Debug */
+  /* User can add his own implementation to report the HAL error return state */
+  __disable_irq();
+  while (1)
+  {
+  }
+  /* USER CODE END Error_Handler_Debug */
+}
+
+#ifdef  USE_FULL_ASSERT
+/**
+  * @brief  Reports the name of the source file and the source line number
+  *         where the assert_param error has occurred.
+  * @param  file: pointer to the source file name
+  * @param  line: assert_param error line source number
+  * @retval None
+  */
+void assert_failed(uint8_t *file, uint32_t line)
+{
+  /* USER CODE BEGIN 6 */
+  /* User can add his own implementation to report the file name and line number,
+     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
+  /* USER CODE END 6 */
+}
+#endif /* USE_FULL_ASSERT */

+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    spi.c
+  * @brief   This file provides code for the configuration
+  *          of the SPI instances.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2024 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+/* Includes ------------------------------------------------------------------*/
+#include "spi.h"
+
+/* USER CODE BEGIN 0 */
+
+/* USER CODE END 0 */
+
+/* SPI1 init function */
+void MX_SPI1_Init(void)
+{
+
+  /* USER CODE BEGIN SPI1_Init 0 */
+
+  /* USER CODE END SPI1_Init 0 */
+
+  LL_SPI_InitTypeDef SPI_InitStruct = {0};
+
+  LL_GPIO_InitTypeDef GPIO_InitStruct = {0};
+
+  /* Peripheral clock enable */
+  LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_SPI1);
+
+  LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
+  /**SPI1 GPIO Configuration
+  PA5   ------> SPI1_SCK
+  PA6   ------> SPI1_MISO
+  PA7   ------> SPI1_MOSI
+  */
+  GPIO_InitStruct.Pin = MGE_SCK_Pin|MGE_MOSI_Pin;
+  GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE;
+  GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_HIGH;
+  GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
+  LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+  GPIO_InitStruct.Pin = MGE_MISO_Pin;
+  GPIO_InitStruct.Mode = LL_GPIO_MODE_FLOATING;
+  LL_GPIO_Init(MGE_MISO_GPIO_Port, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN SPI1_Init 1 */
+
+  /* USER CODE END SPI1_Init 1 */
+  SPI_InitStruct.TransferDirection = LL_SPI_FULL_DUPLEX;
+  SPI_InitStruct.Mode = LL_SPI_MODE_MASTER;
+  SPI_InitStruct.DataWidth = LL_SPI_DATAWIDTH_16BIT;
+  SPI_InitStruct.ClockPolarity = LL_SPI_POLARITY_LOW;
+  SPI_InitStruct.ClockPhase = LL_SPI_PHASE_2EDGE;
+  SPI_InitStruct.NSS = LL_SPI_NSS_SOFT;
+  SPI_InitStruct.BaudRate = LL_SPI_BAUDRATEPRESCALER_DIV8;
+  SPI_InitStruct.BitOrder = LL_SPI_MSB_FIRST;
+  SPI_InitStruct.CRCCalculation = LL_SPI_CRCCALCULATION_DISABLE;
+  SPI_InitStruct.CRCPoly = 10;
+  LL_SPI_Init(SPI1, &SPI_InitStruct);
+  /* USER CODE BEGIN SPI1_Init 2 */
+  LL_SPI_Enable(SPI1);
+  /* USER CODE END SPI1_Init 2 */
+
+}
+
+/* USER CODE BEGIN 1 */
+
+/* USER CODE END 1 */

+
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file         stm32f1xx_hal_msp.c
+  * @brief        This file provides code for the MSP Initialization
+  *               and de-Initialization codes.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2024 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+/* Private typedef -----------------------------------------------------------*/
+/* USER CODE BEGIN TD */
+
+/* USER CODE END TD */
+
+/* Private define ------------------------------------------------------------*/
+/* USER CODE BEGIN Define */
+
+/* USER CODE END Define */
+
+/* Private macro -------------------------------------------------------------*/
+/* USER CODE BEGIN Macro */
+
+/* USER CODE END Macro */
+
+/* Private variables ---------------------------------------------------------*/
+/* USER CODE BEGIN PV */
+
+/* USER CODE END PV */
+
+/* Private function prototypes -----------------------------------------------*/
+/* USER CODE BEGIN PFP */
+
+/* USER CODE END PFP */
+
+/* External functions --------------------------------------------------------*/
+/* USER CODE BEGIN ExternalFunctions */
+
+/* USER CODE END ExternalFunctions */
+
+/* USER CODE BEGIN 0 */
+
+/* USER CODE END 0 */
+/**
+  * Initializes the Global MSP.
+  */
+void HAL_MspInit(void)
+{
+
+  /* USER CODE BEGIN MspInit 0 */
+
+  /* USER CODE END MspInit 0 */
+
+  __HAL_RCC_AFIO_CLK_ENABLE();
+  __HAL_RCC_PWR_CLK_ENABLE();
+
+  /* System interrupt init*/
+
+  /** NOJTAG: JTAG-DP Disabled and SW-DP Enabled
+  */
+  __HAL_AFIO_REMAP_SWJ_NOJTAG();
+
+  /* USER CODE BEGIN MspInit 1 */
+
+  /* USER CODE END MspInit 1 */
+}
+
+/* USER CODE BEGIN 1 */
+
+/* USER CODE END 1 */

+/* USER CODE BEGIN Header */
+/**
+ ******************************************************************************
+ * @file    stm32f1xx_it.c
+ * @brief   Interrupt Service Routines.
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2024 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+/* USER CODE END Header */
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+#include "stm32f1xx_it.h"
+/* Private includes ----------------------------------------------------------*/
+/* USER CODE BEGIN Includes */
+#include "Project_Config.h"
+#include "usart.h"
+#include "gpio.h"
+#include "tva.h"
+#include "protocolV1_1.h"
+#include "string.h"
+
+#include "BMCL.h"
+
+#include "motor.h"
+
+//#include "IMU_Pubilc.h"
+
+#include "T_SpeedShape.h"
+
+#include "BMCL_Config.h"
+#include "ParaMge_F1.h"
+#include "Motor_Manage.h"
+#include "buzzer.h"
+extern TimeRec_s buzzer_TimeS ;
+extern uint32_t pastedTime;
+
+/* USER CODE END Includes */
+
+/* Private typedef -----------------------------------------------------------*/
+/* USER CODE BEGIN TD */
+
+/* USER CODE END TD */
+
+/* Private define ------------------------------------------------------------*/
+/* USER CODE BEGIN PD */
+
+/* USER CODE END PD */
+
+/* Private macro -------------------------------------------------------------*/
+/* USER CODE BEGIN PM */
+
+/* USER CODE END PM */
+
+/* Private variables ---------------------------------------------------------*/
+/* USER CODE BEGIN PV */
+bool fstAttArr = false;
+Pro_Parse_Result protocol_parse_result;
+bool frameGetSign = false;
+
+// extern TRAP_CURVE_s yawANGPlan ;
+
+// extern KFP kfp_ssmq     ;
+extern KFP kfp_motAngP ;
+
+/* USER CODE END PV */
+
+/* Private function prototypes -----------------------------------------------*/
+/* USER CODE BEGIN PFP */
+
+/* USER CODE END PFP */
+
+/* Private user code ---------------------------------------------------------*/
+/* USER CODE BEGIN 0 */
+
+/* USER CODE END 0 */
+
+/* External variables --------------------------------------------------------*/
+
+/* USER CODE BEGIN EV */
+
+/* USER CODE END EV */
+
+/******************************************************************************/
+/*           Cortex-M3 Processor Interruption and Exception Handlers          */
+/******************************************************************************/
+/**
+  * @brief This function handles Non maskable interrupt.
+  */
+void NMI_Handler(void)
+{
+  /* USER CODE BEGIN NonMaskableInt_IRQn 0 */
+
+  /* USER CODE END NonMaskableInt_IRQn 0 */
+  /* USER CODE BEGIN NonMaskableInt_IRQn 1 */
+  while (1)
+  {
+  }
+  /* USER CODE END NonMaskableInt_IRQn 1 */
+}
+
+/**
+  * @brief This function handles Hard fault interrupt.
+  */
+void HardFault_Handler(void)
+{
+  /* USER CODE BEGIN HardFault_IRQn 0 */
+
+  /* USER CODE END HardFault_IRQn 0 */
+  while (1)
+  {
+    /* USER CODE BEGIN W1_HardFault_IRQn 0 */
+    /* USER CODE END W1_HardFault_IRQn 0 */
+  }
+}
+
+/**
+  * @brief This function handles Memory management fault.
+  */
+void MemManage_Handler(void)
+{
+  /* USER CODE BEGIN MemoryManagement_IRQn 0 */
+
+  /* USER CODE END MemoryManagement_IRQn 0 */
+  while (1)
+  {
+    /* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */
+    /* USER CODE END W1_MemoryManagement_IRQn 0 */
+  }
+}
+
+/**
+  * @brief This function handles Prefetch fault, memory access fault.
+  */
+void BusFault_Handler(void)
+{
+  /* USER CODE BEGIN BusFault_IRQn 0 */
+
+  /* USER CODE END BusFault_IRQn 0 */
+  while (1)
+  {
+    /* USER CODE BEGIN W1_BusFault_IRQn 0 */
+    /* USER CODE END W1_BusFault_IRQn 0 */
+  }
+}
+
+/**
+  * @brief This function handles Undefined instruction or illegal state.
+  */
+void UsageFault_Handler(void)
+{
+  /* USER CODE BEGIN UsageFault_IRQn 0 */
+
+  /* USER CODE END UsageFault_IRQn 0 */
+  while (1)
+  {
+    /* USER CODE BEGIN W1_UsageFault_IRQn 0 */
+    /* USER CODE END W1_UsageFault_IRQn 0 */
+  }
+}
+
+/**
+  * @brief This function handles System service call via SWI instruction.
+  */
+void SVC_Handler(void)
+{
+  /* USER CODE BEGIN SVCall_IRQn 0 */
+
+  /* USER CODE END SVCall_IRQn 0 */
+  /* USER CODE BEGIN SVCall_IRQn 1 */
+
+  /* USER CODE END SVCall_IRQn 1 */
+}
+
+/**
+  * @brief This function handles Debug monitor.
+  */
+void DebugMon_Handler(void)
+{
+  /* USER CODE BEGIN DebugMonitor_IRQn 0 */
+
+  /* USER CODE END DebugMonitor_IRQn 0 */
+  /* USER CODE BEGIN DebugMonitor_IRQn 1 */
+
+  /* USER CODE END DebugMonitor_IRQn 1 */
+}
+
+/**
+  * @brief This function handles Pendable request for system service.
+  */
+void PendSV_Handler(void)
+{
+  /* USER CODE BEGIN PendSV_IRQn 0 */
+
+  /* USER CODE END PendSV_IRQn 0 */
+  /* USER CODE BEGIN PendSV_IRQn 1 */
+
+  /* USER CODE END PendSV_IRQn 1 */
+}
+
+/**
+  * @brief This function handles System tick timer.
+  */
+void SysTick_Handler(void)
+{
+  /* USER CODE BEGIN SysTick_IRQn 0 */
+
+  /* USER CODE END SysTick_IRQn 0 */
+  HAL_IncTick();
+  /* USER CODE BEGIN SysTick_IRQn 1 */
+
+  /* USER CODE END SysTick_IRQn 1 */
+}
+
+/******************************************************************************/
+/* STM32F1xx Peripheral Interrupt Handlers                                    */
+/* Add here the Interrupt Handlers for the used peripherals.                  */
+/* For the available peripheral interrupt handler names,                      */
+/* please refer to the startup file (startup_stm32f1xx.s).                    */
+/******************************************************************************/
+
+/**
+  * @brief This function handles DMA1 channel4 global interrupt.
+  */
+void DMA1_Channel4_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA1_Channel4_IRQn 0 */
+  if (LL_DMA_IsActiveFlag_TC4(DMA1))
+  {
+    LL_DMA_ClearFlag_TC4(DMA1);
+    // UART1_TX_MODE_OPEN_DRAIN  // UART TX GUAN BI !
+    usart1_TX_dma_BusySign = UART_TX_STA_TX_UNBUSY;
+
+#if UART1_DMA_FREERTOS_SOUPPORT == PROJECT_CONFIG_ENABLE
+    if (uasrt1_TX_dma_NeedToNofSign)
+    {
+      vTaskNotifyGiveFromISR(cmdOutputTaskHandle, pdTRUE);
+    }
+#endif
+  }
+  /* USER CODE END DMA1_Channel4_IRQn 0 */
+
+  /* USER CODE BEGIN DMA1_Channel4_IRQn 1 */
+
+  /* USER CODE END DMA1_Channel4_IRQn 1 */
+}
+
+/**
+  * @brief This function handles DMA1 channel5 global interrupt.
+  */
+void DMA1_Channel5_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA1_Channel5_IRQn 0 */
+  if (LL_DMA_IsActiveFlag_TC5(DMA1))
+  {
+    LL_DMA_ClearFlag_TC5(DMA1);
+  }
+  /* USER CODE END DMA1_Channel5_IRQn 0 */
+
+  /* USER CODE BEGIN DMA1_Channel5_IRQn 1 */
+
+  /* USER CODE END DMA1_Channel5_IRQn 1 */
+}
+
+/**
+  * @brief This function handles TIM4 global interrupt.
+  */
+void TIM4_IRQHandler(void)
+{
+  /* USER CODE BEGIN TIM4_IRQn 0 */
+  if (LL_TIM_IsActiveFlag_UPDATE(TIM4))
+  {
+    LL_TIM_ClearFlag_UPDATE(TIM4);
+    // tvaTimerUptime++;
+    // if (tvaTimerUptime > TVA_FULLUP_MS_CUT_u32) //Manual overFlow
+    // {
+    //   tvaTimerUptime = 0;
+    // }
+    // TVA_TIMER_IT_ACTION
+    tva_time_It_action();
+    // playMusic_Ud(MelodyStart,sizeof(MelodyStart));
+  }
+  /* USER CODE END TIM4_IRQn 0 */
+  /* USER CODE BEGIN TIM4_IRQn 1 */
+
+  /* USER CODE END TIM4_IRQn 1 */
+}
+
+/**
+  * @brief This function handles USART1 global interrupt.
+  */
+void USART1_IRQHandler(void)
+{
+  /* USER CODE BEGIN USART1_IRQn 0 */
+  // if( LL_USART_IsActiveFlag_RXNE(USART1) ){
+  //   LL_USART_ClearFlag_RXNE(USART1);
+
+  //   uint8_t Udatatmp = LL_USART_ReceiveData8(USART1);
+  //   UartBuf_WD(&Uart1Rxbuf, Udatatmp);
+  // }
+
+  uint16_t count = 0;
+  uint32_t temp;
+  uint32_t temp2;
+  int judge = 0;
+
+  // ### IDLE PROCESS TIMES = 4碌s
+
+  /* Check for IDLE line interrupt */
+  if (LL_USART_IsActiveFlag_IDLE(USART1) != RESET)
+  {
+    // SIGN1_ON
+    temp = LL_DMA_GetDataLength(DMA1, LL_DMA_CHANNEL_5);
+    count = UART1_BUFF_RX_DMA_LEN - temp;
+    if ((count <= UART1_BUFF_RX_DMA_LEN)) // 闃叉鏁版嵁澶у皬鍑洪棶锟????
+    {
+      // SIGN1_UP;
+      memcpy((uint8_t *)usart1_rx_L2_buffer, (uint8_t *)usart1_Rx_dma_buffer, count); // 灏嗘暟鎹鍒跺埌鍐呴儴缂撳啿鍖轰腑-鍙互鐪佺暐鐩存帴瀵筊X DMA BUFFER杩涜澶勭悊
+
+      LL_DMA_DisableChannel(DMA1, LL_DMA_CHANNEL_5);
+      LL_DMA_SetDataLength(DMA1, LL_DMA_CHANNEL_5, UART1_BUFF_RX_DMA_LEN);
+      LL_DMA_EnableChannel(DMA1, LL_DMA_CHANNEL_5);
+
+      protocol_parse_result = protocol_frame_parse((uint8_t *)usart1_rx_L2_buffer, count + 2); // 澶勭悊鏁版嵁
+
+      SIGN1_TAGO;
+    }
+  USART1_JUMP_P1:
+
+
+    LL_USART_ClearFlag_IDLE(USART1);
+    // SIGN1_OFF
+  }
+
+    /* Check for TC line interrupt */
+  if ( (LL_USART_IsEnabledIT_TC(USART1) != RESET) && (LL_USART_IsActiveFlag_TC(USART1) != RESET) )
+  {
+    SIGN1_ON
+//    UART1_TX_MODE_OPEN_DRAIN  // UART TX GUAN BI !////此设备结束传输时，关闭tx（防止并联的串口设备短路）
+//    LL_USART_DisableIT_TC( USART1 );//关闭完成中断
+		
+    LL_USART_ClearFlag_TC( USART1 );
+    SIGN1_OFF
+  }
+
+  /* USER CODE END USART1_IRQn 0 */
+  /* USER CODE BEGIN USART1_IRQn 1 */
+
+  /* USER CODE END USART1_IRQn 1 */
+}
+
+/* USER CODE BEGIN 1 */
+
+/* USER CODE END 1 */

+/**
+  ******************************************************************************
+  * @file    system_stm32f1xx.c
+  * @author  MCD Application Team
+  * @brief   CMSIS Cortex-M3 Device Peripheral Access Layer System Source File.
+  * 
+  * 1.  This file provides two functions and one global variable to be called from 
+  *     user application:
+  *      - SystemInit(): Setups the system clock (System clock source, PLL Multiplier
+  *                      factors, AHB/APBx prescalers and Flash settings). 
+  *                      This function is called at startup just after reset and 
+  *                      before branch to main program. This call is made inside
+  *                      the "startup_stm32f1xx_xx.s" file.
+  *
+  *      - SystemCoreClock variable: Contains the core clock (HCLK), it can be used
+  *                                  by the user application to setup the SysTick 
+  *                                  timer or configure other parameters.
+  *                                     
+  *      - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must
+  *                                 be called whenever the core clock is changed
+  *                                 during program execution.
+  *
+  * 2. After each device reset the HSI (8 MHz) is used as system clock source.
+  *    Then SystemInit() function is called, in "startup_stm32f1xx_xx.s" file, to
+  *    configure the system clock before to branch to main program.
+  *
+  * 4. The default value of HSE crystal is set to 8 MHz (or 25 MHz, depending on
+  *    the product used), refer to "HSE_VALUE". 
+  *    When HSE is used as system clock source, directly or through PLL, and you
+  *    are using different crystal you have to adapt the HSE value to your own
+  *    configuration.
+  *        
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2017-2021 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+
+/** @addtogroup CMSIS
+  * @{
+  */
+
+/** @addtogroup stm32f1xx_system
+  * @{
+  */  
+  
+/** @addtogroup STM32F1xx_System_Private_Includes
+  * @{
+  */
+
+#include "stm32f1xx.h"
+
+/**
+  * @}
+  */
+
+/** @addtogroup STM32F1xx_System_Private_TypesDefinitions
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/** @addtogroup STM32F1xx_System_Private_Defines
+  * @{
+  */
+
+#if !defined  (HSE_VALUE) 
+  #define HSE_VALUE               8000000U /*!< Default value of the External oscillator in Hz.
+                                                This value can be provided and adapted by the user application. */
+#endif /* HSE_VALUE */
+
+#if !defined  (HSI_VALUE)
+  #define HSI_VALUE               8000000U /*!< Default value of the Internal oscillator in Hz.
+                                                This value can be provided and adapted by the user application. */
+#endif /* HSI_VALUE */
+
+/*!< Uncomment the following line if you need to use external SRAM  */ 
+#if defined(STM32F100xE) || defined(STM32F101xE) || defined(STM32F101xG) || defined(STM32F103xE) || defined(STM32F103xG)
+/* #define DATA_IN_ExtSRAM */
+#endif /* STM32F100xE || STM32F101xE || STM32F101xG || STM32F103xE || STM32F103xG */
+
+/* Note: Following vector table addresses must be defined in line with linker
+         configuration. */
+/*!< Uncomment the following line if you need to relocate the vector table
+     anywhere in Flash or Sram, else the vector table is kept at the automatic
+     remap of boot address selected */
+/* #define USER_VECT_TAB_ADDRESS */
+
+#if defined(USER_VECT_TAB_ADDRESS)
+/*!< Uncomment the following line if you need to relocate your vector Table
+     in Sram else user remap will be done in Flash. */
+/* #define VECT_TAB_SRAM */
+#if defined(VECT_TAB_SRAM)
+#define VECT_TAB_BASE_ADDRESS   SRAM_BASE       /*!< Vector Table base address field.
+                                                     This value must be a multiple of 0x200. */
+#define VECT_TAB_OFFSET         0x00000000U     /*!< Vector Table base offset field.
+                                                     This value must be a multiple of 0x200. */
+#else
+#define VECT_TAB_BASE_ADDRESS   FLASH_BASE      /*!< Vector Table base address field.
+                                                     This value must be a multiple of 0x200. */
+#define VECT_TAB_OFFSET         0x00000000U     /*!< Vector Table base offset field.
+                                                     This value must be a multiple of 0x200. */
+#endif /* VECT_TAB_SRAM */
+#endif /* USER_VECT_TAB_ADDRESS */
+
+/******************************************************************************/
+
+/**
+  * @}
+  */
+
+/** @addtogroup STM32F1xx_System_Private_Macros
+  * @{
+  */
+
+/**
+  * @}
+  */
+
+/** @addtogroup STM32F1xx_System_Private_Variables
+  * @{
+  */
+
+  /* This variable is updated in three ways:
+      1) by calling CMSIS function SystemCoreClockUpdate()
+      2) by calling HAL API function HAL_RCC_GetHCLKFreq()
+      3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency 
+         Note: If you use this function to configure the system clock; then there
+               is no need to call the 2 first functions listed above, since SystemCoreClock
+               variable is updated automatically.
+  */
+uint32_t SystemCoreClock = 16000000;
+const uint8_t AHBPrescTable[16U] = {0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 6, 7, 8, 9};
+const uint8_t APBPrescTable[8U] =  {0, 0, 0, 0, 1, 2, 3, 4};
+
+/**
+  * @}
+  */
+
+/** @addtogroup STM32F1xx_System_Private_FunctionPrototypes
+  * @{
+  */
+
+#if defined(STM32F100xE) || defined(STM32F101xE) || defined(STM32F101xG) || defined(STM32F103xE) || defined(STM32F103xG)
+#ifdef DATA_IN_ExtSRAM
+  static void SystemInit_ExtMemCtl(void); 
+#endif /* DATA_IN_ExtSRAM */
+#endif /* STM32F100xE || STM32F101xE || STM32F101xG || STM32F103xE || STM32F103xG */
+
+/**
+  * @}
+  */
+
+/** @addtogroup STM32F1xx_System_Private_Functions
+  * @{
+  */
+
+/**
+  * @brief  Setup the microcontroller system
+  *         Initialize the Embedded Flash Interface, the PLL and update the 
+  *         SystemCoreClock variable.
+  * @note   This function should be used only after reset.
+  * @param  None
+  * @retval None
+  */
+void SystemInit (void)
+{
+#if defined(STM32F100xE) || defined(STM32F101xE) || defined(STM32F101xG) || defined(STM32F103xE) || defined(STM32F103xG)
+  #ifdef DATA_IN_ExtSRAM
+    SystemInit_ExtMemCtl(); 
+  #endif /* DATA_IN_ExtSRAM */
+#endif 
+
+  /* Configure the Vector Table location -------------------------------------*/
+#if defined(USER_VECT_TAB_ADDRESS)
+  SCB->VTOR = VECT_TAB_BASE_ADDRESS | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal SRAM. */
+#endif /* USER_VECT_TAB_ADDRESS */
+}
+
+/**
+  * @brief  Update SystemCoreClock variable according to Clock Register Values.
+  *         The SystemCoreClock variable contains the core clock (HCLK), it can
+  *         be used by the user application to setup the SysTick timer or configure
+  *         other parameters.
+  *           
+  * @note   Each time the core clock (HCLK) changes, this function must be called
+  *         to update SystemCoreClock variable value. Otherwise, any configuration
+  *         based on this variable will be incorrect.         
+  *     
+  * @note   - The system frequency computed by this function is not the real 
+  *           frequency in the chip. It is calculated based on the predefined 
+  *           constant and the selected clock source:
+  *             
+  *           - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(*)
+  *                                              
+  *           - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(**)
+  *                          
+  *           - If SYSCLK source is PLL, SystemCoreClock will contain the HSE_VALUE(**) 
+  *             or HSI_VALUE(*) multiplied by the PLL factors.
+  *         
+  *         (*) HSI_VALUE is a constant defined in stm32f1xx.h file (default value
+  *             8 MHz) but the real value may vary depending on the variations
+  *             in voltage and temperature.   
+  *    
+  *         (**) HSE_VALUE is a constant defined in stm32f1xx.h file (default value
+  *              8 MHz or 25 MHz, depending on the product used), user has to ensure
+  *              that HSE_VALUE is same as the real frequency of the crystal used.
+  *              Otherwise, this function may have wrong result.
+  *                
+  *         - The result of this function could be not correct when using fractional
+  *           value for HSE crystal.
+  * @param  None
+  * @retval None
+  */
+void SystemCoreClockUpdate (void)
+{
+  uint32_t tmp = 0U, pllmull = 0U, pllsource = 0U;
+
+#if defined(STM32F105xC) || defined(STM32F107xC)
+  uint32_t prediv1source = 0U, prediv1factor = 0U, prediv2factor = 0U, pll2mull = 0U;
+#endif /* STM32F105xC */
+
+#if defined(STM32F100xB) || defined(STM32F100xE)
+  uint32_t prediv1factor = 0U;
+#endif /* STM32F100xB or STM32F100xE */
+    
+  /* Get SYSCLK source -------------------------------------------------------*/
+  tmp = RCC->CFGR & RCC_CFGR_SWS;
+  
+  switch (tmp)
+  {
+    case 0x00U:  /* HSI used as system clock */
+      SystemCoreClock = HSI_VALUE;
+      break;
+    case 0x04U:  /* HSE used as system clock */
+      SystemCoreClock = HSE_VALUE;
+      break;
+    case 0x08U:  /* PLL used as system clock */
+
+      /* Get PLL clock source and multiplication factor ----------------------*/
+      pllmull = RCC->CFGR & RCC_CFGR_PLLMULL;
+      pllsource = RCC->CFGR & RCC_CFGR_PLLSRC;
+      
+#if !defined(STM32F105xC) && !defined(STM32F107xC)      
+      pllmull = ( pllmull >> 18U) + 2U;
+      
+      if (pllsource == 0x00U)
+      {
+        /* HSI oscillator clock divided by 2 selected as PLL clock entry */
+        SystemCoreClock = (HSI_VALUE >> 1U) * pllmull;
+      }
+      else
+      {
+ #if defined(STM32F100xB) || defined(STM32F100xE)
+       prediv1factor = (RCC->CFGR2 & RCC_CFGR2_PREDIV1) + 1U;
+       /* HSE oscillator clock selected as PREDIV1 clock entry */
+       SystemCoreClock = (HSE_VALUE / prediv1factor) * pllmull; 
+ #else
+        /* HSE selected as PLL clock entry */
+        if ((RCC->CFGR & RCC_CFGR_PLLXTPRE) != (uint32_t)RESET)
+        {/* HSE oscillator clock divided by 2 */
+          SystemCoreClock = (HSE_VALUE >> 1U) * pllmull;
+        }
+        else
+        {
+          SystemCoreClock = HSE_VALUE * pllmull;
+        }
+ #endif
+      }
+#else
+      pllmull = pllmull >> 18U;
+      
+      if (pllmull != 0x0DU)
+      {
+         pllmull += 2U;
+      }
+      else
+      { /* PLL multiplication factor = PLL input clock * 6.5 */
+        pllmull = 13U / 2U; 
+      }
+            
+      if (pllsource == 0x00U)
+      {
+        /* HSI oscillator clock divided by 2 selected as PLL clock entry */
+        SystemCoreClock = (HSI_VALUE >> 1U) * pllmull;
+      }
+      else
+      {/* PREDIV1 selected as PLL clock entry */
+        
+        /* Get PREDIV1 clock source and division factor */
+        prediv1source = RCC->CFGR2 & RCC_CFGR2_PREDIV1SRC;
+        prediv1factor = (RCC->CFGR2 & RCC_CFGR2_PREDIV1) + 1U;
+        
+        if (prediv1source == 0U)
+        { 
+          /* HSE oscillator clock selected as PREDIV1 clock entry */
+          SystemCoreClock = (HSE_VALUE / prediv1factor) * pllmull;          
+        }
+        else
+        {/* PLL2 clock selected as PREDIV1 clock entry */
+          
+          /* Get PREDIV2 division factor and PLL2 multiplication factor */
+          prediv2factor = ((RCC->CFGR2 & RCC_CFGR2_PREDIV2) >> 4U) + 1U;
+          pll2mull = ((RCC->CFGR2 & RCC_CFGR2_PLL2MUL) >> 8U) + 2U; 
+          SystemCoreClock = (((HSE_VALUE / prediv2factor) * pll2mull) / prediv1factor) * pllmull;                         
+        }
+      }
+#endif /* STM32F105xC */ 
+      break;
+
+    default:
+      SystemCoreClock = HSI_VALUE;
+      break;
+  }
+  
+  /* Compute HCLK clock frequency ----------------*/
+  /* Get HCLK prescaler */
+  tmp = AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4U)];
+  /* HCLK clock frequency */
+  SystemCoreClock >>= tmp;  
+}
+
+#if defined(STM32F100xE) || defined(STM32F101xE) || defined(STM32F101xG) || defined(STM32F103xE) || defined(STM32F103xG)
+/**
+  * @brief  Setup the external memory controller. Called in startup_stm32f1xx.s 
+  *          before jump to __main
+  * @param  None
+  * @retval None
+  */ 
+#ifdef DATA_IN_ExtSRAM
+/**
+  * @brief  Setup the external memory controller. 
+  *         Called in startup_stm32f1xx_xx.s/.c before jump to main.
+  *         This function configures the external SRAM mounted on STM3210E-EVAL
+  *         board (STM32 High density devices). This SRAM will be used as program
+  *         data memory (including heap and stack).
+  * @param  None
+  * @retval None
+  */ 
+void SystemInit_ExtMemCtl(void) 
+{
+  __IO uint32_t tmpreg;
+  /*!< FSMC Bank1 NOR/SRAM3 is used for the STM3210E-EVAL, if another Bank is 
+    required, then adjust the Register Addresses */
+
+  /* Enable FSMC clock */
+  RCC->AHBENR = 0x00000114U;
+
+  /* Delay after an RCC peripheral clock enabling */
+  tmpreg = READ_BIT(RCC->AHBENR, RCC_AHBENR_FSMCEN);
+  
+  /* Enable GPIOD, GPIOE, GPIOF and GPIOG clocks */
+  RCC->APB2ENR = 0x000001E0U;
+  
+  /* Delay after an RCC peripheral clock enabling */
+  tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_IOPDEN);
+
+  (void)(tmpreg);
+  
+/* ---------------  SRAM Data lines, NOE and NWE configuration ---------------*/
+/*----------------  SRAM Address lines configuration -------------------------*/
+/*----------------  NOE and NWE configuration --------------------------------*/  
+/*----------------  NE3 configuration ----------------------------------------*/
+/*----------------  NBL0, NBL1 configuration ---------------------------------*/
+  
+  GPIOD->CRL = 0x44BB44BBU;  
+  GPIOD->CRH = 0xBBBBBBBBU;
+
+  GPIOE->CRL = 0xB44444BBU;  
+  GPIOE->CRH = 0xBBBBBBBBU;
+
+  GPIOF->CRL = 0x44BBBBBBU;  
+  GPIOF->CRH = 0xBBBB4444U;
+
+  GPIOG->CRL = 0x44BBBBBBU;  
+  GPIOG->CRH = 0x444B4B44U;
+   
+/*----------------  FSMC Configuration ---------------------------------------*/  
+/*----------------  Enable FSMC Bank1_SRAM Bank ------------------------------*/
+  
+  FSMC_Bank1->BTCR[4U] = 0x00001091U;
+  FSMC_Bank1->BTCR[5U] = 0x00110212U;
+}
+#endif /* DATA_IN_ExtSRAM */
+#endif /* STM32F100xE || STM32F101xE || STM32F101xG || STM32F103xE || STM32F103xG */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+  
+/**
+  * @}
+  */

+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    tim.c
+  * @brief   This file provides code for the configuration
+  *          of the TIM instances.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2024 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+/* Includes ------------------------------------------------------------------*/
+#include "tim.h"
+
+/* USER CODE BEGIN 0 */
+TIM_HandleTypeDef htim2_Self = {0};
+TIM_HandleTypeDef htim3_Self = {0};
+TIM_HandleTypeDef htim4_Self = {0};
+/* USER CODE END 0 */
+
+/* TIM2 init function */
+void MX_TIM2_Init(void)
+{
+
+  /* USER CODE BEGIN TIM2_Init 0 */
+  htim2_Self.Instance = TIM2;
+  /* USER CODE END TIM2_Init 0 */
+
+  LL_TIM_InitTypeDef TIM_InitStruct = {0};
+  LL_TIM_OC_InitTypeDef TIM_OC_InitStruct = {0};
+
+  LL_GPIO_InitTypeDef GPIO_InitStruct = {0};
+  /* Peripheral clock enable */
+  LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM2);
+
+  /* USER CODE BEGIN TIM2_Init 1 */
+
+  /* USER CODE END TIM2_Init 1 */
+  TIM_InitStruct.Prescaler = 0;
+  TIM_InitStruct.CounterMode = LL_TIM_COUNTERMODE_CENTER_DOWN;
+  TIM_InitStruct.Autoreload = 1600-LL_TIM_IC_FILTER_FDIV1_N2;
+  TIM_InitStruct.ClockDivision = LL_TIM_CLOCKDIVISION_DIV1;
+  LL_TIM_Init(TIM2, &TIM_InitStruct);
+  LL_TIM_EnableARRPreload(TIM2);
+  LL_TIM_SetClockSource(TIM2, LL_TIM_CLOCKSOURCE_INTERNAL);
+  LL_TIM_OC_EnablePreload(TIM2, LL_TIM_CHANNEL_CH4);
+  TIM_OC_InitStruct.OCMode = LL_TIM_OCMODE_PWM1;
+  TIM_OC_InitStruct.OCState = LL_TIM_OCSTATE_DISABLE;
+  TIM_OC_InitStruct.OCNState = LL_TIM_OCSTATE_DISABLE;
+  TIM_OC_InitStruct.CompareValue = 0;
+  TIM_OC_InitStruct.OCPolarity = LL_TIM_OCPOLARITY_HIGH;
+  LL_TIM_OC_Init(TIM2, LL_TIM_CHANNEL_CH4, &TIM_OC_InitStruct);
+  LL_TIM_OC_DisableFast(TIM2, LL_TIM_CHANNEL_CH4);
+  LL_TIM_SetTriggerOutput(TIM2, LL_TIM_TRGO_RESET);
+  LL_TIM_DisableMasterSlaveMode(TIM2);
+  /* USER CODE BEGIN TIM2_Init 2 */
+
+  LL_TIM_EnableAllOutputs(TIM2);
+  LL_TIM_EnableCounter(TIM2);
+
+  /* USER CODE END TIM2_Init 2 */
+  LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
+    /**TIM2 GPIO Configuration
+    PA3     ------> TIM2_CH4
+    */
+  GPIO_InitStruct.Pin = LL_GPIO_PIN_3;
+  GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE;
+  GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_LOW;
+  GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
+  LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+}
+/* TIM3 init function */
+void MX_TIM3_Init(void)
+{
+
+  /* USER CODE BEGIN TIM3_Init 0 */
+  htim3_Self.Instance = TIM3;
+  /* USER CODE END TIM3_Init 0 */
+
+  LL_TIM_InitTypeDef TIM_InitStruct = {0};
+  LL_TIM_OC_InitTypeDef TIM_OC_InitStruct = {0};
+
+  LL_GPIO_InitTypeDef GPIO_InitStruct = {0};
+  /* Peripheral clock enable */
+  LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM3);
+
+  /* USER CODE BEGIN TIM3_Init 1 */
+
+  /* USER CODE END TIM3_Init 1 */
+  TIM_InitStruct.Prescaler = 0;
+  TIM_InitStruct.CounterMode = LL_TIM_COUNTERMODE_CENTER_DOWN;
+  TIM_InitStruct.Autoreload = 1600-LL_TIM_IC_FILTER_FDIV1_N2;
+  TIM_InitStruct.ClockDivision = LL_TIM_CLOCKDIVISION_DIV1;
+  LL_TIM_Init(TIM3, &TIM_InitStruct);
+  LL_TIM_EnableARRPreload(TIM3);
+  LL_TIM_SetClockSource(TIM3, LL_TIM_CLOCKSOURCE_INTERNAL);
+  LL_TIM_OC_EnablePreload(TIM3, LL_TIM_CHANNEL_CH3);
+  TIM_OC_InitStruct.OCMode = LL_TIM_OCMODE_PWM1;
+  TIM_OC_InitStruct.OCState = LL_TIM_OCSTATE_DISABLE;
+  TIM_OC_InitStruct.OCNState = LL_TIM_OCSTATE_DISABLE;
+  TIM_OC_InitStruct.CompareValue = 0;
+  TIM_OC_InitStruct.OCPolarity = LL_TIM_OCPOLARITY_HIGH;
+  LL_TIM_OC_Init(TIM3, LL_TIM_CHANNEL_CH3, &TIM_OC_InitStruct);
+  LL_TIM_OC_DisableFast(TIM3, LL_TIM_CHANNEL_CH3);
+  LL_TIM_OC_EnablePreload(TIM3, LL_TIM_CHANNEL_CH4);
+  LL_TIM_OC_Init(TIM3, LL_TIM_CHANNEL_CH4, &TIM_OC_InitStruct);
+  LL_TIM_OC_DisableFast(TIM3, LL_TIM_CHANNEL_CH4);
+  LL_TIM_SetTriggerOutput(TIM3, LL_TIM_TRGO_RESET);
+  LL_TIM_DisableMasterSlaveMode(TIM3);
+  /* USER CODE BEGIN TIM3_Init 2 */
+
+  LL_TIM_EnableAllOutputs(TIM3);
+  LL_TIM_EnableCounter(TIM3);
+
+  /* USER CODE END TIM3_Init 2 */
+  LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOB);
+    /**TIM3 GPIO Configuration
+    PB0     ------> TIM3_CH3
+    PB1     ------> TIM3_CH4
+    */
+  GPIO_InitStruct.Pin = LL_GPIO_PIN_0|LL_GPIO_PIN_1;
+  GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE;
+  GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_LOW;
+  GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
+  LL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+}
+/* TIM4 init function */
+void MX_TIM4_Init(void)
+{
+
+  /* USER CODE BEGIN TIM4_Init 0 */
+  htim4_Self.Instance = TIM4;
+  /* USER CODE END TIM4_Init 0 */
+
+  LL_TIM_InitTypeDef TIM_InitStruct = {0};
+
+  /* Peripheral clock enable */
+  LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM4);
+
+  /* TIM4 interrupt Init */
+  NVIC_SetPriority(TIM4_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),0, 0));
+  NVIC_EnableIRQ(TIM4_IRQn);
+
+  /* USER CODE BEGIN TIM4_Init 1 */
+
+  /* USER CODE END TIM4_Init 1 */
+  TIM_InitStruct.Prescaler = 72-LL_TIM_IC_FILTER_FDIV1_N2;
+  TIM_InitStruct.CounterMode = LL_TIM_COUNTERMODE_UP;
+  TIM_InitStruct.Autoreload = 50000-LL_TIM_IC_FILTER_FDIV1_N2;
+  TIM_InitStruct.ClockDivision = LL_TIM_CLOCKDIVISION_DIV1;
+  LL_TIM_Init(TIM4, &TIM_InitStruct);
+  LL_TIM_DisableARRPreload(TIM4);
+  LL_TIM_SetClockSource(TIM4, LL_TIM_CLOCKSOURCE_INTERNAL);
+  LL_TIM_SetTriggerOutput(TIM4, LL_TIM_TRGO_RESET);
+  LL_TIM_DisableMasterSlaveMode(TIM4);
+  /* USER CODE BEGIN TIM4_Init 2 */
+  LL_TIM_EnableIT_UPDATE(TIM4);
+  LL_TIM_EnableCounter(TIM4);
+  /* USER CODE END TIM4_Init 2 */
+
+}
+
+/* USER CODE BEGIN 1 */
+
+/* USER CODE END 1 */

+/*************************************************
+			The Gun delay/time API Implementation
+Copyright ? not there is not such of right
+File name:   tva.c
+Author：     c17
+Description: Offer the general delay ways and time manager (use Systick this time)
+Others:      Need To Used Some API
+Log:         Last Update at 2023/12/7
+*************************************************/
+
+#include "tva.h"
+#include "stdbool.h"
+
+// #include "stm32f10x_it.h"
+
+// cycles per microsecond
+// current uptime for 1kHz systick timer. will rollover after 49 days. hopefully we won't care.
+volatile uint32_t tvaTimerUptime = 0;
+volatile bool timeInt_Happen = 0;
+
+/*************************\
+************************************* API BASE implementation *****************************************************
+\*************************/
+
+// Return system uptime in microseconds (rollover in 70min)
+uint32_t micros_10(void)
+{
+	register uint32_t _RecMS, cycle_cnt;
+	do
+	{
+		_RecMS = tvaTimerUptime;
+		cycle_cnt = LL_TIM_GetCounter(TVA_USE_TIMER);
+	} while (_RecMS != tvaTimerUptime);
+	cycle_cnt = _RecMS * TVA_USE_TIMER_US_PREUP + cycle_cnt;
+	return cycle_cnt;
+}
+
+// // Return system uptime in nanoseconds (only return after millisecond) (rollover in 4second)
+// uint32_t nanos(void)
+// {
+// 	register uint32_t ms, cycle_cnt;
+// 	do {
+// 	    ms = tvaTimerUptime;
+// 	    cycle_cnt = LL_TIM_GetCounter(TIM9);
+// 	} while (ms != tvaTimerUptime);
+// 	return cycle_cnt * nanoPSC;
+// }
+
+// // Return system uptime in milliseconds (rollover in 49 days)
+// uint32_t millis(void)
+// {
+// 	return cycle_cnt/1000;
+// }
+
+/******************************\
+************************************* Top-level API implementation *****************************************************
+\******************************/
+
+/**
+ * @brief delay in ms
+ * @param nms the ms need to wait
+ */
+void delay_ms(uint16_t nms)
+{
+	uint32_t t0 = micros_10();
+	while (micros_10() - t0 < nms * 1000)
+		;
+}
+
+/**
+ * @brief delay in us
+ * @param nms the us need to wait
+ */
+void delay_us(uint32_t nus)
+{
+	uint32_t t0 = micros_10();
+	while (micros_10() - t0 < nus)
+		;
+}
+
+// 粗略延时
+void Delay(unsigned long delay_time)
+{
+	long i;
+
+	for (i = 0; i < delay_time; i++)
+		;
+}
+
+/**
+ * @brief Update each time run of the "time struct"
+ * @param time The "time struct" needs to be updated
+ * @return The elapsed time (in microseconds) from the last TimeFlash call to this one
+ * 		   ##the pass time from last TimeFlash called to this time, in us
+ */
+float TimeFlash(TimeRec_s *time)
+{
+	uint32_t now_time;
+	now_time = micros_10();
+	if (now_time < time->Last_Time)
+	{ // 时间溢出
+		// time->Pre_Run_Time = 0xFFFFFFFF - time->Last_Time + now_time;
+		time->Pre_Run_Time = TVA_FULLUP_US_u32 - time->Last_Time + now_time;
+		time->Run_Time_High++; // 溢出一次记录一次
+	}
+	else
+	{
+		time->Pre_Run_Time = now_time - time->Last_Time;
+	}
+	time->Last_Time = now_time;
+	return ((float)time->Pre_Run_Time) * 1e-6f;
+}
+
+/**
+ * @brief Update each time run of the "time struct"
+ * @param time The "time struct" needs to be updated
+ * @return The elapsed time (in microseconds) from the last TimeFlash call to this one
+ * 		   ##the pass time from last TimeFlash called to this time, in us
+ */
+uint32_t TimeFlash_us(TimeRec_s *time)
+{
+	uint32_t now_time;
+	now_time = micros_10();
+	if (now_time < time->Last_Time)
+	{ // 时间溢出
+		// time->Pre_Run_Time = 0xFFFFFFFF - time->Last_Time + now_time;
+		time->Pre_Run_Time = TVA_FULLUP_US_u32 - time->Last_Time + now_time;
+		time->Run_Time_High++; // 溢出一次记录一次
+	}
+	else
+	{
+		time->Pre_Run_Time = now_time - time->Last_Time;
+	}
+	time->Last_Time = now_time;
+	return time->Pre_Run_Time;
+}
+
+
+//------------------End of File----------------------------

+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    usart.c
+  * @brief   This file provides code for the configuration
+  *          of the USART instances.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2024 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+/* Includes ------------------------------------------------------------------*/
+#include "usart.h"
+
+/* USER CODE BEGIN 0 */
+#include <string.h>
+#include "Project_Config.h"
+
+/*+++++++++++++++++++++++++ UART1 DMA Data ++++++++++++++++++++++++++++++*/
+
+__IO uint8_t usart1_Tx_dma_buffer[UART1_BUFF_TX_DMA_LEN];
+__IO int32_t usart1_TX_dma_BusySign = UART_TX_STA_TX_UNBUSY;
+__IO uint8_t uasrt1_TX_dma_NeedToNofSign = false;
+
+__IO uint8_t usart1_Rx_dma_buffer[UART1_BUFF_RX_DMA_LEN];
+
+__IO uint32_t usart1_Rx_dma_count = 1;
+__IO uint32_t usart1_Rx_dma_VerFALLCount = 1;
+
+__IO uint8_t usart1_rx_L2_buffer[UART1_L2_BUFF_RX_LEN];
+__IO uint8_t usart1_tx_L2_buffer[UART1_L2_BUFF_TX_LEN];
+
+/*++++++++++++++++++++++++++++++++++++++ Uart Gen Define +++++++++++++++++++++++++++++++++++*/
+// UartBuf Uart1Txbuf ;
+UartBuf Uart1Rxbuf ;
+
+uint8_t uartRxStatus ;
+
+unsigned char u1rx_buffer[UART1_BUFF_RX_IT_LEN];
+
+/* USER CODE END 0 */
+
+/* USART1 init function */
+
+void MX_USART1_UART_Init(void)
+{
+
+  /* USER CODE BEGIN USART1_Init 0 */
+  LL_DMA_DeInit(DMA1, LL_DMA_CHANNEL_4);
+  /* USER CODE END USART1_Init 0 */
+
+  LL_USART_InitTypeDef USART_InitStruct = {0};
+
+  LL_GPIO_InitTypeDef GPIO_InitStruct = {0};
+
+  /* Peripheral clock enable */
+  LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_USART1);
+
+  LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
+  /**USART1 GPIO Configuration
+  PA9   ------> USART1_TX
+  PA10   ------> USART1_RX
+  */
+  GPIO_InitStruct.Pin = UART_BUS_TX_Pin;
+  GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE;
+  GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_HIGH;
+  GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
+  LL_GPIO_Init(UART_BUS_TX_GPIO_Port, &GPIO_InitStruct);
+
+  GPIO_InitStruct.Pin = UART_BUS_RX_Pin;
+  GPIO_InitStruct.Mode = LL_GPIO_MODE_FLOATING;
+  LL_GPIO_Init(UART_BUS_RX_GPIO_Port, &GPIO_InitStruct);
+
+  /* USART1 DMA Init */
+
+  /* USART1_TX Init */
+  LL_DMA_SetDataTransferDirection(DMA1, LL_DMA_CHANNEL_4, LL_DMA_DIRECTION_MEMORY_TO_PERIPH);
+
+  LL_DMA_SetChannelPriorityLevel(DMA1, LL_DMA_CHANNEL_4, LL_DMA_PRIORITY_HIGH);
+
+  LL_DMA_SetMode(DMA1, LL_DMA_CHANNEL_4, LL_DMA_MODE_NORMAL);
+
+  LL_DMA_SetPeriphIncMode(DMA1, LL_DMA_CHANNEL_4, LL_DMA_PERIPH_NOINCREMENT);
+
+  LL_DMA_SetMemoryIncMode(DMA1, LL_DMA_CHANNEL_4, LL_DMA_MEMORY_INCREMENT);
+
+  LL_DMA_SetPeriphSize(DMA1, LL_DMA_CHANNEL_4, LL_DMA_PDATAALIGN_BYTE);
+
+  LL_DMA_SetMemorySize(DMA1, LL_DMA_CHANNEL_4, LL_DMA_MDATAALIGN_BYTE);
+
+  /* USART1_RX Init */
+  LL_DMA_SetDataTransferDirection(DMA1, LL_DMA_CHANNEL_5, LL_DMA_DIRECTION_PERIPH_TO_MEMORY);
+
+  LL_DMA_SetChannelPriorityLevel(DMA1, LL_DMA_CHANNEL_5, LL_DMA_PRIORITY_LOW);
+
+  LL_DMA_SetMode(DMA1, LL_DMA_CHANNEL_5, LL_DMA_MODE_NORMAL);
+
+  LL_DMA_SetPeriphIncMode(DMA1, LL_DMA_CHANNEL_5, LL_DMA_PERIPH_NOINCREMENT);
+
+  LL_DMA_SetMemoryIncMode(DMA1, LL_DMA_CHANNEL_5, LL_DMA_MEMORY_INCREMENT);
+
+  LL_DMA_SetPeriphSize(DMA1, LL_DMA_CHANNEL_5, LL_DMA_PDATAALIGN_BYTE);
+
+  LL_DMA_SetMemorySize(DMA1, LL_DMA_CHANNEL_5, LL_DMA_MDATAALIGN_BYTE);
+
+  /* USART1 interrupt Init */
+  NVIC_SetPriority(USART1_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),0, 0));
+  NVIC_EnableIRQ(USART1_IRQn);
+
+  /* USER CODE BEGIN USART1_Init 1 */
+
+  /*_________ Self Add On DMA For UART1 TX _________ */
+  LL_DMA_EnableIT_TC(DMA1, LL_DMA_CHANNEL_4); // Enable DMA TC IT
+  // LL_DMA_DisableIT_TC(DMA1, LL_DMA_CHANNEL_4);
+  // LL_DMA_DisableIT_DME(DMA1, LL_DMA_CHANNEL_4); // Disable Useless IT
+  LL_DMA_DisableIT_TE(DMA1, LL_DMA_CHANNEL_4);
+  LL_DMA_SetPeriphAddress(DMA1, LL_DMA_CHANNEL_4, LL_USART_DMA_GetRegAddr(USART1)); // Set The Peripheral Address
+  LL_DMA_SetMemoryAddress(DMA1, LL_DMA_CHANNEL_4, (uint32_t)usart1_Tx_dma_buffer);  // Set The Memony Address
+  LL_DMA_SetDataLength(DMA1, LL_DMA_CHANNEL_4, 0);
+  LL_USART_EnableDMAReq_TX(USART1); // Enable USART1 TX DMA Rqe
+
+    /*_________ Self Add On DMA For UART1 RX _________ */
+  LL_DMA_EnableIT_TC(DMA1, LL_DMA_CHANNEL_5); // Enable DMA TC IT
+  // LL_DMA_DisableIT_TC(DMA1, LL_DMA_CHANNEL_5);
+  // LL_DMA_DisableIT_DME(DMA1, LL_DMA_CHANNEL_5); // Disable Useless IT
+  LL_DMA_DisableIT_TE(DMA1, LL_DMA_CHANNEL_5);
+  LL_DMA_SetPeriphAddress(DMA1, LL_DMA_CHANNEL_5, LL_USART_DMA_GetRegAddr(USART1)); // Set The Peripheral Address
+  LL_DMA_SetMemoryAddress(DMA1, LL_DMA_CHANNEL_5, (uint32_t)usart1_Rx_dma_buffer);  // Set The Memony Address
+  LL_DMA_SetDataLength(DMA1, LL_DMA_CHANNEL_5, UART1_BUFF_RX_DMA_LEN);
+  LL_DMA_EnableChannel(DMA1,LL_DMA_CHANNEL_5);
+  LL_USART_EnableDMAReq_RX(USART1); // Enable USART3 TX DMA Rqe
+
+  /* USER CODE END USART1_Init 1 */
+  USART_InitStruct.BaudRate = 115200;
+  USART_InitStruct.DataWidth = LL_USART_DATAWIDTH_8B;
+  USART_InitStruct.StopBits = LL_USART_STOPBITS_1;
+  USART_InitStruct.Parity = LL_USART_PARITY_NONE;
+  USART_InitStruct.TransferDirection = LL_USART_DIRECTION_TX_RX;
+  USART_InitStruct.HardwareFlowControl = LL_USART_HWCONTROL_NONE;
+  USART_InitStruct.OverSampling = LL_USART_OVERSAMPLING_16;
+  LL_USART_Init(USART1, &USART_InitStruct);
+  LL_USART_ConfigAsyncMode(USART1);
+  LL_USART_Enable(USART1);
+  /* USER CODE BEGIN USART1_Init 2 */
+
+  LL_USART_DisableIT_RXNE(USART1);
+  LL_USART_EnableIT_IDLE(USART1);
+  LL_USART_ClearFlag_IDLE(USART1);
+  
+#if UART1_TX_OPENDRAIN == PROJECT_CONFIG_ENABLE
+  LL_GPIO_SetPinOutputType(GPIOA,LL_GPIO_PIN_9,LL_GPIO_OUTPUT_OPENDRAIN);
+#endif
+
+  /*++++++++++++++++++++++++ Uart Gen Init +++++++++++++++++++++++++++*/
+  Uart1Rxbuf.Wd_Indx = 0;
+  Uart1Rxbuf.Rd_Indx = 0;
+  Uart1Rxbuf.Mask = UART1_BUFF_RX_IT_LEN - 1;
+  Uart1Rxbuf.pbuf = &u1rx_buffer[0];
+
+  /* USER CODE END USART1_Init 2 */
+
+}
+
+/* USER CODE BEGIN 1 */
+
+//int fputc(int ch,FILE *f)
+//{
+//    HAL_UART_Transmit(&USART1, (uint8_t *) &ch, 1, 0xFFFF);
+
+//    return ch;
+//}
+
+ int fputc(int ch, FILE *f)
+ {
+		 LL_USART_TransmitData8(USART1, (uint8_t) ch);
+		 while (LL_USART_IsActiveFlag_TXE(USART1) == 0);
+		 return ch;
+ }
+/*++++++++++++++++++++++++++++++++++++++++++++++ UART Gen Part ++++++++++++++++++++++++++++++++++++++++*/
+
+
+
+uint8_t UartBuf_RD(UartBuf *Ringbuf)
+{
+  uint8_t temp;
+  temp = Ringbuf->pbuf[Ringbuf->Rd_Indx & Ringbuf->Mask];
+  Ringbuf->Rd_Indx++;
+  return temp;
+}
+
+int UartBuf_RD_MultBytes(UartBuf *Ringbuf, uint8_t *readbuff, uint32_t bufflen, uint32_t readlen)
+{
+  uint32_t vauleLen, i;
+  vauleLen = UartBuf_Cnt(Ringbuf); // 澶氫綑锟?????????
+  if (UartBuf_Cnt(Ringbuf) < readlen)
+    readlen = vauleLen;
+  if (bufflen < readlen)
+    readlen = bufflen;
+  for (i = 0; i < readlen; i++)
+  {
+    readbuff[i] = UartBuf_RD(Ringbuf);
+  }
+  return readlen;
+}
+
+inline UARTRX_STATUS UartBuf_End_Check(UartBuf *Ringbuf)
+{
+  if (Ringbuf->pbuf[(Ringbuf->Wd_Indx - 1) & Ringbuf->Mask] == '\n' &&
+      Ringbuf->pbuf[(Ringbuf->Wd_Indx - 2) & Ringbuf->Mask] == '\r')
+  {
+    return UARTRX_STATUS_END;
+  }
+  else
+  {
+    return UARTRX_STATUS_NOTEND;
+  }
+}
+
+inline UARTRX_STATUS UartBuf_End_Check_RC(UartBuf *Ringbuf)
+{
+  if (Ringbuf->pbuf[(Ringbuf->Wd_Indx - 1) & Ringbuf->Mask] == 0x34 &&
+      Ringbuf->pbuf[(Ringbuf->Wd_Indx - 2) & Ringbuf->Mask] == 0x33)
+  {
+    return UARTRX_STATUS_END;
+  }
+  else
+  {
+    return UARTRX_STATUS_NOTEND;
+  }
+}
+
+inline void UartBuf_WD(UartBuf *Ringbuf, uint8_t DataIn)
+{
+  Ringbuf->pbuf[Ringbuf->Wd_Indx & Ringbuf->Mask] = DataIn;
+  Ringbuf->Wd_Indx++;
+}
+
+inline uint16_t UartBuf_Cnt(UartBuf *Ringbuf)
+{
+  return (Ringbuf->Wd_Indx - Ringbuf->Rd_Indx) & Ringbuf->Mask;
+}
+
+inline void UartBufClear(UartBuf *Ringbuf)
+{
+  Ringbuf->Rd_Indx = Ringbuf->Wd_Indx;
+}
+
+/*++++++++++++++++++++++++++++++++++++++++++++++ UART1 DMA Part ++++++++++++++++++++++++++++++++++++++++*/
+
+/**
+ * @brief UART1 TX StartSteam - With Buff(Data will copy to In-Built Buff frist before transimitting)
+ * @param senddata
+ * @param datalen
+ */
+UART_TX_STA Uart1_Send_DMA_StartBuff(uint8_t *senddata, uint16_t datalen)
+{
+
+  if (datalen > UART1_BUFF_TX_DMA_LEN)
+  {
+    return UART_TX_STA_DATALEN_TOOLONG;
+  }
+
+  if (usart1_TX_dma_BusySign == UART_TX_STA_TX_BUSY)
+  {
+    return UART_TX_STA_TX_BUSY;
+  }
+  // The Uart1 is not busy , good to send data
+
+#if UART1_DMA_FREERTOS_SOUPPORT == PROJECT_CONFIG_ENABLE
+  taskENTER_CRITICAL();
+#endif
+  // SIGN1_ON
+  memcpy(usart1_Tx_dma_buffer, senddata, sizeof(uint8_t) * datalen);
+  LL_DMA_DisableChannel(DMA1, LL_DMA_CHANNEL_4);
+  
+  LL_DMA_SetMemoryAddress(DMA1, LL_DMA_CHANNEL_4, (uint32_t)usart1_Tx_dma_buffer); // Set The Memony Address
+  LL_DMA_SetDataLength(DMA1, LL_DMA_CHANNEL_4, datalen);
+
+  UART1_TX_MODE_PUSH_PULL // UART TX DI DONG!//此设备要传输时，打开tx
+  LL_USART_EnableIT_TC( USART1 );//打开完成中断
+  LL_DMA_EnableChannel(DMA1, LL_DMA_CHANNEL_4);
+
+  usart1_TX_dma_BusySign = UART_TX_STA_TX_BUSY;//标志dma正忙
+  // SIGN1_OFF
+#if UART1_DMA_FREERTOS_SOUPPORT == PROJECT_CONFIG_ENABLE
+  taskEXIT_CRITICAL();
+#endif
+
+  return UART_TX_STA_OK;
+}
+
+/**
+ * @brief UART1 TX StartSteam - With Not Buff(Need To keep DMA Buff vaild while transimitting)
+ * @param senddata
+ * @param datalen
+ */
+UART_TX_STA Uart1_Send_DMA_Start(uint8_t *senddata, uint16_t datalen)
+{
+
+  if (datalen > UART1_BUFF_TX_DMA_LEN)
+  {
+    return UART_TX_STA_DATALEN_TOOLONG;
+  }
+
+  if (usart1_TX_dma_BusySign == UART_TX_STA_TX_BUSY)
+  {
+    return UART_TX_STA_TX_BUSY;
+  }
+
+#if UART1_DMA_FREERTOS_SOUPPORT == PROJECT_CONFIG_ENABLE
+  taskENTER_CRITICAL();
+#endif
+
+  LL_DMA_DisableChannel(DMA1, LL_DMA_CHANNEL_4);
+  LL_DMA_SetMemoryAddress(DMA1, LL_DMA_CHANNEL_4, (uint32_t)senddata); // Set The Memony Address
+  LL_DMA_SetDataLength(DMA1, LL_DMA_CHANNEL_4, datalen);
+
+  UART1_TX_MODE_PUSH_PULL // UART TX DI DONG!
+  LL_DMA_EnableChannel(DMA1, LL_DMA_CHANNEL_4);
+
+  usart1_TX_dma_BusySign = UART_TX_STA_TX_BUSY;
+
+#if UART1_DMA_FREERTOS_SOUPPORT == PROJECT_CONFIG_ENABLE
+  taskEXIT_CRITICAL();
+#endif
+
+  return UART_TX_STA_OK;
+}
+
+inline bool Uart1_SendDMA_IsBusy(void)
+{
+  return (usart1_TX_dma_BusySign == UART_TX_STA_TX_BUSY) ? true : false;
+}
+
+
+
+/* USER CODE END 1 */

+#include "IMU_Pubilc.h"
+
+state_t curAttitude = {0};
+state_t tagAttitude = {0};

+/*
+ * @Date: 2023-11-07 18:19:22
+ * @LastEditTime: 2024-02-06 10:16:08
+ * @FilePath: \IMU_T6_Single\IMU_About\Inc\MPU_Pubilc.h
+ * @Description: 
+ */
+#ifndef __PUBLIC_H
+#define __PUBLIC_H
+
+#include "stdint.h"
+#include "sensors_types.h"
+
+#include "Project_Config.h"
+
+//+++++++++++++++++++++++++++++++++++++++++++++++++++++MPU6500 Special Define Start
+#pragma region
+
+	//____________________________ Setting PreDefine
+
+	#define MPU6500_PISET_ACC_RANGE_2G	0
+	#define MPU6500_PISET_ACC_RANGE_4G	1
+	#define MPU6500_PISET_ACC_RANGE_8G	2
+	#define MPU6500_PISET_ACC_RANGE_16G	3
+
+	#define MPU6500_PSET_ACC_RANGE_2G_LSB	16384.0f
+	#define MPU6500_PSET_ACC_RANGE_4G_LSB	8192.0f
+	#define MPU6500_PSET_ACC_RANGE_8G_LSB	4096.0f
+	#define MPU6500_PSET_ACC_RANGE_16G_LSB	2048.0f
+
+	#define MPU6500_PISET_GYR_RANGE_200		0
+	#define MPU6500_PISET_GYR_RANGE_500		1
+	#define MPU6500_PISET_GYR_RANGE_1000	2
+	#define MPU6500_PISET_GYR_RANGE_2000	3
+
+	#define MPU6500_PSET_GYR_RANGE_200_LSB	131.0f
+	#define MPU6500_PSET_GYR_RANGE_500_LSB	65.6f
+	#define MPU6500_PSET_GYR_RANGE_1000_LSB	32.8f
+	#define MPU6500_PSET_GYR_RANGE_2000_LSB	16.4f
+
+	//============================ Setting Start
+
+	#define MPU6500_SET_ACC_RANGE	MPU6500_PISET_ACC_RANGE_4G
+
+	#define MPU6500_SET_GYR_RANGE	MPU6500_PISET_GYR_RANGE_2000
+
+	//============================ Setting End
+#pragma endregion
+//+++++++++++++++++++++++++++++++++++++++++++++++++++++MPU6500 Special Define End
+
+
+//=================================MPU Holder Define
+
+#define HOLDER_PITCH MOTOR_HOLDER_AXIS_PITCH
+#define HOLDER_ROLL MOTOR_HOLDER_AXIS_ROLL
+#define HOLDER_YAW MOTOR_HOLDER_AXIS_YAW
+
+#define IMU_XAXIS 0
+#define IMU_YAXIS 1
+#define IMU_ZAXIS 2
+
+
+
+//________________IMU_Sense_RAWData_Short
+
+#define IMU_DATA_In_ACCX_u16 0
+#define IMU_DATA_In_ACCY_u16 1
+#define IMU_DATA_In_ACCZ_u16 2
+#define IMU_DATA_In_Temp_u16 3
+#define IMU_DATA_In_GYRX_u16 4
+#define IMU_DATA_In_GYRY_u16 5
+#define IMU_DATA_In_GYRZ_u16 6
+
+typedef struct
+{
+	uint16_t accl_origin_x_u16;
+	uint16_t accl_origin_y_u16;
+	uint16_t accl_origin_z_u16;
+	uint16_t temperature_raw;
+	uint16_t gyro_origin_x_u16;
+	uint16_t gyro_origin_y_u16;
+	uint16_t gyro_origin_z_u16;
+	uint16_t reserve;
+}IMU_RAWDATAu16_X8;
+
+typedef union 
+{
+	uint16_t data[8];
+	IMU_RAWDATAu16_X8 data_s;
+}IMU_Sense_RAWData_Short;
+
+//________________IMU_Sense_RAWData
+
+typedef struct
+{
+	float accl_origin_x;
+	float accl_origin_y;
+	float accl_origin_z;
+	float temperature_raw;
+	float gyro_origin_x;
+	float gyro_origin_y;
+	float gyro_origin_z;
+	float reserve;
+}IMU_RAWDATA_X8;
+
+typedef union 
+{
+	float data[8];
+	IMU_RAWDATA_X8 data_s;
+}IMU_Sense_RAWData;
+
+//________________IMU_Sense_Read_ResultData
+
+typedef struct {
+	Axis3f accData;
+	Axis3f gyroData;
+	float temperature;
+}IMU_Sense_ResData;
+
+
+//==================IMU_CRETIFY
+
+typedef struct
+{
+    int16_t accelData500Hz[3];
+    float accelTCBias[3];   //加速计校准结果
+
+    float gyroRTBias[3];
+    float gyroTCBias[3];    //陀螺仪校准结果
+
+    float accelOneG ;       //1G的加速度
+    int16_t* orientationMatrix;    //方向校准矩阵
+} IMU_CALIBRATE;
+
+// extern IMU_Sense_RAWData senser_datas;
+extern IMU_CALIBRATE imu_cali ;   //MPU校准信息结构体
+
+//==================IMU_AHRS Result
+
+typedef struct  
+{
+	uint32_t timestamp;	/*时间戳*/
+
+	float roll;
+	float pitch;
+	float yaw;
+} attitude_t;
+
+struct vec3_s
+{
+	uint32_t timestamp;	/*时间戳*/
+
+	float x;
+	float y;
+	float z;
+};
+
+typedef struct vec3_s point_t;
+typedef struct vec3_s velocity_t;
+typedef struct vec3_s acc_t;
+
+typedef struct
+{
+	attitude_t attitude;
+	// attitude_t attitude_2;
+	// quaternion_t attitudeQuaternion;
+	// point_t position;
+	// velocity_t velocity;
+	acc_t acc;
+	// bool isRCLocked;
+} state_t;
+
+
+// Add for Motor side 
+
+extern state_t curAttitude ;
+extern state_t tagAttitude ;
+
+#endif

+/*
+ * @Date: 2023-11-16 09:48:59
+ * @LastEditTime: 2024-01-08 15:21:16
+ * @FilePath: \IMU_T6_Single\IMU_About\Inc\sensors_types.h
+ * @Description: 
+ */
+#ifndef __SENSORS_TYPES_H
+#define __SENSORS_TYPES_H
+
+typedef union 
+{
+	struct
+	{
+		int16_t x;
+		int16_t y;
+		int16_t z;
+	};
+	int16_t axis[3];
+} Axis3i16;
+
+typedef union 
+{
+	struct 
+	{
+		int32_t x;
+		int32_t y;
+		int32_t z;
+	};
+	int32_t axis[3];
+} Axis3i32;
+
+typedef union 
+{
+	struct 
+	{
+		int64_t x;
+		int64_t y;
+		int64_t z;
+	};
+	int64_t axis[3];
+} Axis3i64;
+
+typedef union 
+{
+	struct 
+	{
+		float x;
+		float y;
+		float z;
+	};
+	float axis[3];
+} Axis3f;
+ 
+#endif /* __SENSORS_TYPES_H */

+#include "crc16ibm.h"
+//#include "Hex_and_Dex.h"
+#include "string.h"
+//#include "dji_logger.h"
+
+uint8_t Buff_Compare(uint8_t *buff_1,uint8_t* buff_2,uint8_t BuffSize)
+{
+	int i = 0;
+	for(i=0;i<BuffSize;i++)
+	{
+		if(buff_1[i]!=buff_2[i])
+			return 0 ;
+	}
+	return 1;
+}
+
+/*
+功能：  crc16校验
+参数：  要校验的数组地址，
+	    传入的数组长度
+返回值：16位的校验数据
+*/
+uint16_t crc16_ibm(uint8_t *ptr,uint16_t len)
+{
+		uint8_t i;
+		uint16_t crc = 0x00;
+
+		if (len == 0)
+		{
+				len = 1;
+		}
+		while(len--)
+		{
+			crc ^= *ptr;
+			for(i = 0;i < 8;i++)
+			{
+				if (crc & 1)
+				{
+						crc >>= 1;
+						crc ^= 0xA001;
+				}
+				else
+				{
+						crc >>= 1;
+				}
+			}
+			ptr++;
+		}
+		return crc;
+}
+
+void u16_2_u8(uint16_t *data,uint8_t *a)
+{
+	   *a  = (*data) >> 8;
+	*(a+1) = (*data) & 0xff;
+}
+
+uint8_t Frame_Check(uint8_t* frame)
+{
+
+	if(0x5A==*frame && 0x5A==*(frame+1) && 0x77==*(frame+2))		//帧头正确
+	{
+		if(0x00==*(frame+11)&&0x23==*(frame+12))		//校验位正确
+			return 1;
+	}
+	return 0;
+}
+
+//判断帧头和帧尾
+//5B 5B 76 00 13 6E 2D 3D 37 45 00 23
+uint8_t Frame1_Check(uint8_t *checkBuf, uint32_t bufLength)
+{
+    if (bufLength < 12) // 检查缓冲区长度是否小于12
+    {
+        return 0;
+    }
+	 uint8_t CompareBuf[4][3] = {{0x5A, 0x5A, 0x77}, {0x5B, 0x5B, 0x77}, {0x6A, 0x6A, 0x77}, {0x6B, 0x6B, 0x77},};
+
+	int i, j;
+	for (i = 0; i < 3; i++) {
+		int match = 1;
+		for (j = 0; j < 3; j++) {
+			if (checkBuf[j] == CompareBuf[i][j]) {
+				match = 0;
+				break;
+			}
+		}
+		if(match) {
+			return 0;
+		}
+	}
+    
+    // 判断长度位
+   if (checkBuf[3] > 0xff || checkBuf[4] > 0xff) {
+//	   printf("-----1-----\r\n");
+		return 0;
+	}
+
+    
+    // 判断应答位
+    if (checkBuf[5] != 0x00 && checkBuf[5] != 0x01) {
+//		printf("-----2-----\r\n");
+        return 0;
+    }
+    
+    // 判断应答位
+    if (checkBuf[6] != 0x00) {
+//		printf("-----3-----\r\n");
+        return 0;
+		
+    }
+
+    // 判断帧尾
+    if (checkBuf[bufLength - 2] == 0x00 && checkBuf[bufLength - 1] == 0x23) {
+        return 1;
+    } else {
+//		printf("-----4-----\r\n");
+        return 0;
+    }
+}
+
+//uint8_t Length(uint8_t* frame)
+//{
+//		*(frame+3)
+
+//}
+
+/*
+功能：将u8数据转为u16数据
+参数：u16数据的地址
+	  u8数组的首地址
+
+*/
+//void u8_2_u16(uint16_t* data,uint8_t* b)
+//{
+//	*data = (*b)<<8;
+//	*data |= *(b+1);
+//}
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+

+#ifndef __CRC16_IBM_H
+#define __CRC16_IBM_H
+
+#include "stm32f1xx.h"
+
+//将两位的 u8 转为一位的 u16
+//void u8_2_u16(uint16_t *value, uint8_t * buff);
+
+void u16_2_u8(uint16_t *data,uint8_t *a);
+uint8_t Buff_Compare(uint8_t *buff_1,uint8_t* buff_2,uint8_t BuffSize);
+//crc16校验
+uint16_t crc16_ibm(uint8_t *ptr,uint16_t len);
+
+uint8_t Frame_Check(uint8_t* frame);
+uint8_t Frame1_Check(uint8_t *checkBuf, uint32_t bufLength);
+
+#endif

+#include "string.h"
+//#include "FreeRTOS.h"
+//#include "FreeRTOSConfig.h"
+//#include "task.h"
+
+//#include "dji_sdk_config.h"
+#include "usart.h"
+#include "util_md5.h"
+//#include "dji_typedef.h"
+//#include "dji_upgrade.h"
+
+#include "data_processing.h"
+#include "upgrade.h"
+#include "crc16ibm.h"
+#include "data_frame.h"
+#include "stmflash.h"
+
+
+/*------------------数据帧------------*/
+// 6A 6A 77 00 1B 01 00 69 54 54 33 53 45 4E 46 31 38 33 30 30 30 43 46 35 31 00 23
+uint8_t SN_Reply[27] = {0x5B, 0x5B, 0x77, 0x00, 0x1B, 0x01, 0x00, 0x6F, 0x57,
+						0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+						0x00, 0x23};		
+uint8_t SN_Reply1[27] = {0x5B, 0x5B, 0x77, 0x00, 0x1B, 0x01, 0x00, 0x50, 0x56,
+						0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+						0x00, 0x23};	// 序列号回复
+uint8_t Dev_SN_Reply[28] = {0x5B, 0x5B, 0x77, 0x00, 0x1C, 0x01, 0x00, 0x50, 0x56,
+						0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+						0x00, 0x23};																						   // 序列号回复
+						
+uint8_t Version_Return[16] = {0x5B, 0x5B, 0x77, 0x00, 0x0F, 0x00, 0x00, 0x53, 0xF1, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x23}; // 版本返回						
+uint8_t Dev_Ver_Return[17] = {0x5B, 0x5B, 0x77, 0x00, 0x10, 0x00, 0x00, 0x50, 0x55, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x23}; // 版本返回	
+
+uint8_t ConnetReque[12] = {0x5A, 0x5A, 0x77, 0x00, 0x0C, 0x01, 0x00, 0x50, 0x51, 0x00, 0x00, 0x23}; // 连接帧
+uint8_t ConntAnswer[12] = {0x5B, 0x5B, 0x77, 0x00, 0x0C, 0x00, 0x00, 0x50, 0x51, 0x73, 0x00, 0x23}; // 应答帧
+
+uint8_t Ret1[12] = {0x5b,0x5b,0x77,0x00,0x0c,0x00,0x00,0x51,0x01,0x00,0x00,0x23};//操作成功
+uint8_t Ret2[12] = {0x5b,0x5b,0x77,0x00,0x0c,0x00,0x00,0x51,0xff,0x00,0x00,0x23};//操作失败
+
+
+
+///*------------------数据帧------------*/
+//extern uint8_t 	devConnetState;	// 设备握手成功标志
+
+
+
+//// 数据帧解析
+//uint8_t DataFrame_Analyse(uint8_t *frame, uint16_t len)
+//{
+//	uint8_t result = 0;
+//	uint8_t Read_Sn_Buff[20] = {0};//序列号
+//	
+//	// 连接帧
+//	uint8_t connectBuff[] = {0x5a, 0x5a, 0x77, 0x00, 0x0c, 0x01, 0x00, 0x50, 0x51, 0x00, 0x00, 0x23};
+//	uint8_t versionBuff[] = {0x5a, 0x5a, 0x77, 0x00, 0x0c, 0x01, 0x00, 0x53, 0xf1, 0x00, 0x00, 0x23};
+
+//	printf("Frame_data:\n");
+//	for (int i = 0; i < len; i++)
+//	{
+//		printf("%02X ", frame[i]);
+//	}
+//	printf("\r\n");
+
+//	if (Frame1_Check(frame, len)) // 检查是否符合帧协议
+//	{
+//		if (Buff_Compare(frame, ConnetReque, 12)) // 接收到请求
+//		{
+//			printf("连接帧\r\n");
+//			devConnetState = 1;	
+////			UART_Write(UART_NUM_1, ConntAnswer, 12); // 发送应答帧
+//		}
+//		if (frame[7] == 0x50)
+//		{
+//			switch (frame[8]) 	// 判断功能位
+//			{
+//				case 0x55: {	//版本号
+//					switch (frame[9]) // 判断功能位
+//					{
+//						case 0x00:		//查询单设备
+////							Version_Return[9] = USER_FIRMWARE_MAJOR_VERSION;
+////							Version_Return[10] = USER_FIRMWARE_MINOR_VERSION;
+////							Version_Return[11] = USER_FIRMWARE_MODIFY_VERSION;
+////							Version_Return[12] = USER_FIRMWARE_DEBUG_VERSION;
+////							UART_Write(UART_NUM_1, Version_Return, sizeof(Version_Return));
+////							printf("Version: %d.%d.%d.%d\n", USER_FIRMWARE_MAJOR_VERSION, USER_FIRMWARE_MINOR_VERSION, USER_FIRMWARE_MODIFY_VERSION, USER_FIRMWARE_DEBUG_VERSION);
+//							break;
+//						case 0x01:		//查询全设备
+////							Dev_Ver_Return[9] = 0x73;
+////							Dev_Ver_Return[10] = USER_FIRMWARE_MAJOR_VERSION;
+////							Dev_Ver_Return[11] = USER_FIRMWARE_MINOR_VERSION;
+////							Dev_Ver_Return[12] = USER_FIRMWARE_MODIFY_VERSION;
+////							Dev_Ver_Return[13] = USER_FIRMWARE_DEBUG_VERSION;
+////							UART_Write(UART_NUM_1, Dev_Ver_Return, sizeof(Dev_Ver_Return));
+////							printf("Version: %d.%d.%d.%d\n", USER_FIRMWARE_MAJOR_VERSION, USER_FIRMWARE_MINOR_VERSION, USER_FIRMWARE_MODIFY_VERSION, USER_FIRMWARE_DEBUG_VERSION);
+//							break;
+//					}
+//				}break;
+
+//				case 0x56: {		//序列号
+////					Read_SN_FromFlash(Read_Sn_Buff,SN_LEN);
+//					printf("查询序列号\r\n");
+//					switch (frame[9]) // 判断功能位
+//					{
+//						case 0x00:	{	//查询单设备
+//							for (int i = 0; i < 16; i++)
+//							{
+//								SN_Reply1[9 + i] = Read_Sn_Buff[i];
+//								printf("%c", Read_Sn_Buff[i]);
+//							}
+//							printf("\r\n");
+
+////							UART_Write(UART_NUM_1, SN_Reply1, sizeof(SN_Reply1));
+//						}break;
+//						
+//						case 0x01:	{	//查询全设备
+//							Dev_SN_Reply[9] = 0x27;
+//							
+//							for (int i = 0; i < 16; i++)
+//							{
+//								Dev_SN_Reply[10 + i] = Read_Sn_Buff[i];
+//								printf("%c", Read_Sn_Buff[i]);
+//							}
+//							printf("\r\n");
+
+////							UART_Write(UART_NUM_1, Dev_SN_Reply, sizeof(Dev_SN_Reply));
+//						}break;
+//					}
+//				}break;
+//			}
+//		}
+//		
+//		if (frame[7] == 0x53)
+//		{
+//			switch (frame[8]) 	// 判断功能位
+//			{
+//				case 0xF1: {	//版本号
+////					Version_Return[9] = USER_FIRMWARE_MAJOR_VERSION;
+////					Version_Return[10] = USER_FIRMWARE_MINOR_VERSION;
+////					Version_Return[11] = USER_FIRMWARE_MODIFY_VERSION;
+////					Version_Return[12] = USER_FIRMWARE_DEBUG_VERSION;
+////					UART_Write(UART_NUM_1, Version_Return, sizeof(Version_Return));
+////					printf("Version: %d.%d.%d.%d\n", USER_FIRMWARE_MAJOR_VERSION, USER_FIRMWARE_MINOR_VERSION, USER_FIRMWARE_MODIFY_VERSION, USER_FIRMWARE_DEBUG_VERSION);
+//				}break;
+//			}
+//		}
+
+//		if (frame[7] == 0xA1) // 升级功能
+//		{
+//			switch (frame[8]) // 判断功能位
+//			{
+//				case 0x01: {// 准备串口升级
+//					printf("准备串口升级\r\n");
+//					result = UpgradePreparation();
+//					if (result != 0)
+//					{
+//						AnswerUpgradeFrame(0x01, 0x01);
+//					}
+//				}break;
+
+//				case 0x02: {// 固件校验MD5校验码
+//					printf("固件校验MD5校验码\r\n");
+//					UpgradeFileMD5Code_Get(frame, len);
+//				}break;
+
+//				case 0x03: {// 开始发送文件
+//					printf("开始发送文件\r\n");
+//					AnswerUpgradeFrame(0x03, 0x00);
+//				}break;
+
+//				case 0x04: {// 结束文件传输
+//					printf("结束文件传输\r\n");
+
+//					AnswerUpgradeFrame(0x04, 0x00);
+//					UpgradeFile_MD5Create();
+//				}break;
+
+//				case 0xF1: {// 定长文件数据
+//					printf("定长文件数据\r\n");
+//					result = UpgradeFile_Write(frame, len);
+//					if (result != 0) // 传输出错,提前结束文件传输
+//					{
+//						printf("传输出错\r\n");
+//					}
+//				}break;
+//				default:
+//					break;
+//			}
+//		}
+//	}
+//}

+#ifndef __DATA_FRAME_H_
+#define __DATA_FRAME_H_
+
+
+#include "stm32f1xx.h"
+#include "protocolV1_1.h"
+
+
+
+
+#endif

+/**
+该文件从串口缓冲区中读取数据放入缓冲区后并进行帧合法判断，帧数据处理在其它任务
+*/
+#include "string.h"
+//#include "FreeRTOS.h"
+//#include "FreeRTOSConfig.h"
+//#include "task.h"
+
+//#include "dji_logger.h"
+#include "usart.h"
+
+#include "data_processing.h"
+
+
+
+uint32_t countTims = 0;//连接的时间
+uint32_t errorTimes = 0;//错误时间
+
+
+
+/**
+	@brief	判断帧头格式
+	@parame	no
+	@return no
+*/
+uint8_t Is_Frame_Head(uint8_t *headBuf)
+{
+	if (headBuf[0] == 0x5b && headBuf[1] == 0x5b && headBuf[2] == 0x77) // 当前为通用协议
+		return 1;
+
+	else if (headBuf[0] == 0x5a && headBuf[1] == 0x5a && headBuf[2] == 0x77) // 收到连接帧
+		return 2;
+
+	else if (headBuf[0] == 0x6b && headBuf[1] == 0x6b && headBuf[2] == 0x77) // 当前为私有协议
+		return 3;
+
+	else if (headBuf[0] == 0x6a && headBuf[1] == 0x6a && headBuf[2] == 0x77) // 当前为私有协议
+		return 4;
+	return 0;
+}
+/**
+ * @brief 数据出队解析任务
+ * @param pvParam 缓存队列
+ * @param s_getFrame 结构体
+ */
+#if 1
+void Data_Analysis(void *pvParam)//处理升级串口来的数据
+{
+	int16_t getLen = 0;		 // 获取到的数据长度
+	int16_t readLen = 1;	 // 需要读取的读取长度
+	uint16_t datalen = 0;	 // 数据长度
+	uint8_t Byte[512] = {0}; // 数据缓存数组
+
+	t_queue_info *framehandle = (t_queue_info *)pvParam; // 强制类型转换为队列信息结构体指针
+	while(1)
+	{
+		getLen = 0;
+		memset(Byte, 0x00, sizeof(Byte)); // 清空数据缓存
+		
+//		getLen = UART_Read(UART_NUM_1, Byte, readLen);//从串口缓冲区
+		
+		if(getLen > 0)//获取到数据存放在环形缓冲区中
+		{
+			memcpy(&framehandle->frameinfo.buff[framehandle->frameinfo.count], Byte, getLen); // 数据存入缓存
+
+			framehandle->frameinfo.count += getLen; // 计数增加
+			
+			if(datalen == 0)//当前帧未检查,开始检查
+			{
+				if(framehandle->frameinfo.count >= 5)//检查当前是否满足进行帧检查条件
+				{
+					if (Is_Frame_Head(framehandle->frameinfo.buff) == 0)	// 检测帧头，帧头不对则将数据丢弃
+					{
+						printf("Discard the error header\r\n");
+						memcpy(&framehandle->frameinfo.buff[0], &framehandle->frameinfo.buff[1], framehandle->frameinfo.count);
+						framehandle->frameinfo.count--;
+						continue;
+					}else//帧头正常才进行帧长度计算
+					{
+						datalen = (framehandle->frameinfo.buff[3] * 256) + framehandle->frameinfo.buff[4];// 生成数据长度
+						if (datalen > 512)
+							goto error;
+					}
+				}
+			}
+			else
+			{
+				readLen = datalen - getLen - 5;//计算下一次读取的数据
+				if (readLen < 1)
+					readLen = 1;
+				
+				if (framehandle->frameinfo.count >= datalen)
+				{
+					// 判断帧尾
+					if (framehandle->frameinfo.buff[datalen - 2] == 0x00 && framehandle->frameinfo.buff[datalen - 1] == 0x23)
+					{
+						printf("a frame\r\n");
+						framehandle->frameinfo.flag = 1;
+						datalen = 0;
+						readLen = 1;
+						countTims++;
+					}
+					else
+						goto error;
+				}
+			}
+		}
+		continue;//没有报错直接开始下一次循环
+error:
+		{
+		printf("c = %d   e = %d\r\n", countTims, errorTimes);
+		errorTimes++;
+		readLen = 1;
+		datalen = 0;
+		framehandle->frameinfo.count = 0;
+		memset(framehandle->frameinfo.buff, 0x00, sizeof(framehandle->frameinfo.buff));
+		framehandle->frameinfo.flag = 0;
+		}
+	}
+}
+#else
+void Data_Analysis(void *pvParam)
+{
+	int16_t getLen = 0;		 // 获取长度
+	uint16_t datalen = 0;	 // 数据长度
+	int16_t readLen = 1;	 // 读取长度
+	uint8_t Byte[512] = {0}; // 数据缓存数组
+
+	t_queue_info *framehandle = (t_queue_info *)pvParam; // 强制类型转换为队列信息结构体指针
+	printf("--------------Data_Analysis------------\r\n");
+	while (1)
+	{
+		getLen = 0;
+		memset(Byte, 0x00, sizeof(Byte)); // 清空数据缓存
+
+		if (framehandle->frameinfo.flag == 0) // 空闲状态
+		{
+			getLen = UART_Read(UART_NUM_1, Byte, readLen);//从串口缓冲区
+
+			if (getLen > 0) // 队列非空
+			{
+				memcpy(&framehandle->frameinfo.buff[framehandle->frameinfo.count], Byte, getLen); // 数据存入缓存
+
+				framehandle->frameinfo.count += getLen; // 计数增加
+
+				if (framehandle->frameinfo.count <= 5)
+				{
+					if (framehandle->frameinfo.count == 3)
+					{
+						// 检测帧头，帧头不对则将数据丢弃
+						if (Is_Frame_Head(framehandle->frameinfo.buff) == 0)
+						{
+							printf("------------Is_Frame_Head ok------------\r\n");
+							memcpy(&framehandle->frameinfo.buff[0], &framehandle->frameinfo.buff[1], 2);
+							framehandle->frameinfo.count--;
+							continue;
+						}
+					}
+
+					if (framehandle->frameinfo.count == 5)
+					{
+						// 生成数据长度
+						datalen = (framehandle->frameinfo.buff[3] * 256) + framehandle->frameinfo.buff[4];
+						if (datalen > 512)
+							goto errorloop;
+					}
+				}
+				else
+				{
+					readLen = datalen - getLen - 5;
+					if (readLen < 1)
+						readLen = 1;
+
+					if (framehandle->frameinfo.count >= datalen)
+					{
+						// 判断帧尾
+						if (framehandle->frameinfo.buff[datalen - 2] == 0x00 && framehandle->frameinfo.buff[datalen - 1] == 0x23)
+						{
+							printf("a frame\r\n");
+							framehandle->frameinfo.flag = 1;
+							datalen = 0;
+							readLen = 1;
+							countTims++;
+
+							// 清空缓存
+							// framehandle->frameinfo.count = 0;
+							// memset(framehandle->frameinfo.buff, 0x00, sizeof(framehandle->frameinfo.buff));
+							// framehandle->frameinfo.flag = 0;
+						}
+						else
+							goto errorloop;
+					}
+				}
+			}
+		}
+		// else
+		// {
+		//     printf("c = %d   e = %d\r\n", countTims, errorTimes);
+		//     vTaskDelay(1000);
+		// }
+		continue;
+
+	errorloop:
+		printf("c = %d   e = %d\r\n", countTims, errorTimes);
+		errorTimes++;
+		readLen = 1;
+		datalen = 0;
+		framehandle->frameinfo.count = 0;
+		memset(framehandle->frameinfo.buff, 0x00, sizeof(framehandle->frameinfo.buff));
+		framehandle->frameinfo.flag = 0;
+	}
+}
+#endif
+/**
+// * @brief 数据出队解析
+// * @param 缓存队列
+// * @param s_getFrame 结构体
+// */
+// void Data_Analysis(ringBuf_t* ringBuff,s_getFrame* framehandle)
+//{
+//	int16_t getLen = 0;
+//	uint16_t datalen = 0;
+//	uint16_t readLen = 1;
+//	uint8_t Byte[512] = {0};
+//
+//	while(1)
+//	{
+//		getLen = 0;
+//		memset(Byte,0x00,sizeof(Byte));
+//
+//		if(framehandle->flag==0)	//空闲状态
+//			getLen = ringBufRead(ringBuff,(char*)Byte,readLen);			//读出队列, 获取到帧头和长度位之前每次读一个字节,获取长度位之后读取多个字节
+//
+//		if(getLen > 0)					//队列不为空
+//		{
+//			memcpy(&framehandle->buff[framehandle->count],Byte,getLen);	//数据转存
+//
+//			framehandle->count+=getLen;		//计数增加
+//
+//			if(framehandle->count<=5)	//帧头和长度位检测
+//			{
+//				if(framehandle->count==3)
+//				{
+//					if(Is_Frame_Head(framehandle->buff)==0)					//没接收到帧头
+//					{
+//						for(int8_t i=0;i<2;i++)
+//							framehandle->buff[i] = framehandle->buff[i+1];	//舍弃前一位数据
+//						framehandle->count--;
+//						continue;
+//					}
+//				}
+//
+//				if(framehandle->count==5)		//接收完长度位后生成长度位
+//					datalen = (framehandle->buff[3]*256)+framehandle->buff[4];
+//			}
+//			else
+//			{
+//				readLen = datalen - getLen - 5;		//接收完长度位之后,更改读每次读队列的长度
+//
+//				if(framehandle->count>=datalen)
+//				{
+//					if(framehandle->buff[datalen-2]==0x00&&framehandle->buff[datalen-1]==0x23)
+//					{
+//						countTims++;
+////						framehandle->flag = 1;						//接收标志 置 1 ,初步判断接收满一帧
+//						datalen = 0;
+//						readLen = 1;
+//						framehandle->count = 0;
+//						memset(framehandle->buff,0x00,sizeof(framehandle->buff));
+//						framehandle->flag = 0;
+//					}
+//					else	//帧尾检测失败
+//					{
+//						errorTimes++;
+//						readLen = 1;
+//						datalen = 0;
+//						framehandle->count = 0;
+//						memset(framehandle->buff,0x00,sizeof(framehandle->buff));
+//						framehandle->flag = 0;
+//					}
+//				}
+//			}
+//
+//		}
+//		else
+//		{
+//			vTaskDelay(100);
+//		}
+//	}
+//}
+

+#ifndef __DATA_PROCESSING_H_
+#define __DATA_PROCESSING_H_
+
+
+
+#include "stm32f1xx.h"
+
+typedef struct {
+	uint8_t flag;
+	uint8_t buff[512];
+	uint16_t count;
+} t_get_frame;
+//ضϢ
+typedef struct {
+	t_get_frame	frameinfo;
+} t_queue_info;
+
+void Data_Analysis(void* pvParam);
+
+extern uint32_t countTims ;
+extern uint32_t errorTimes;
+
+
+
+#endif

+#ifndef __MY_TYPEDEF_H_
+#define __MY_TYPEDEF_H_
+
+#include "stm32f1xx.h"
+
+
+typedef struct {
+    uint8_t majorVersion; /*!< The major version of firmware, the range is 0 ~ 99. */
+    uint8_t minorVersion; /*!< The minor version of firmware, the range is 0 ~ 99. */
+    uint8_t modifyVersion; /*!< The modify version of firmware, the range is 0 ~ 99. */
+    uint8_t debugVersion; /*!< The debug version of firmware, the range is 0 ~ 99. */
+} T_FirmwareVersion;
+
+
+///////////////////////////////////
+typedef enum {
+    UPGRADE_END_STATE_SUCCESS = 1, /*!< Upgrade success. */
+    UPGRADE_END_STATE_UNKNOWN_ERROR = 2, /*!< Upgrade failure due to unknown reason. */
+} E_UpgradeEndState;
+
+
+typedef struct {
+    E_UpgradeEndState upgradeEndState; /*!< The upgrade end state */
+} T_UpgradeEndInfo;
+
+
+typedef struct {
+    uint32_t upgradeRebootKey;
+    T_UpgradeEndInfo upgradeEndInfo;
+} T_UpgradeRebootParam;
+
+typedef struct {
+    uint32_t fileSize; /*! The size of file. */
+    char fileName[256]; /*! The name of file. */
+} T_UpgradeFileInfo;
+
+
+
+
+typedef enum{
+	Uart_Port = 0,
+	Usb_Port,
+} Port_t;
+
+
+typedef enum{
+	T160 = 21,
+	T90,
+	T60,
+	T60S,
+	T30,
+	N3,
+	T30S
+}E_Light;
+
+
+typedef enum{
+	Upgrade_Stage_IDEL = 0,
+	Upgrade_Stage_Ready = 1,
+	Upgrade_Stage_GetMd5 = 2,
+	Upgrade_Stage_OnGoing = 3,
+	Upgrade_Stage_End = 4,
+	Upgrade_Stage_Reboot = 5,
+	Upgrade_Stage_Error = 6,
+} E_UpgradeState;
+
+
+typedef struct {
+	uint32_t state;
+	T_UpgradeEndInfo upgradeEndInfo;
+	uint32_t filesize;
+	uint8_t md5code[32];
+}myUpgrade_t;
+
+
+
+
+#endif