初步功能已经加全了

HARDWARE/ADC/adc.c

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+#include "adc.h"
+#include "delay.h"		 
+//////////////////////////////////////////////////////////////////////////////////	 
+//本程序只供学习使用，未经作者许可，不得用于其它任何用途
+//ALIENTEK STM32F407开发板
+//ADC 驱动代码	   
+//正点原子@ALIENTEK
+//技术论坛:www.openedv.com
+//创建日期:2014/5/6
+//版本：V1.0
+//版权所有，盗版必究。
+//Copyright(C) 广州市星翼电子科技有限公司 2014-2024
+//All rights reserved									  
+////////////////////////////////////////////////////////////////////////////////// 	
+
+
+//初始化ADC															   
+void  Adc_Init(void)
+{    
+  GPIO_InitTypeDef  GPIO_InitStructure;
+	ADC_CommonInitTypeDef ADC_CommonInitStructure;
+	ADC_InitTypeDef       ADC_InitStructure;
+	
+  RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);//使能GPIOA时钟
+  RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE); //使能ADC1时钟
+
+  //先初始化ADC1通道5 IO口
+  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5 | GPIO_Pin_6 | GPIO_Pin_7;//PA5 通道5
+  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN;//模拟输入
+  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL ;//不带上下拉
+  GPIO_Init(GPIOA, &GPIO_InitStructure);//初始化  
+ 
+	RCC_APB2PeriphResetCmd(RCC_APB2Periph_ADC1,ENABLE);	  //ADC1复位
+	RCC_APB2PeriphResetCmd(RCC_APB2Periph_ADC1,DISABLE);	//复位结束	 
+ 
+	
+  ADC_CommonInitStructure.ADC_Mode = ADC_Mode_Independent;//独立模式
+  ADC_CommonInitStructure.ADC_TwoSamplingDelay = ADC_TwoSamplingDelay_5Cycles;//两个采样阶段之间的延迟5个时钟
+  ADC_CommonInitStructure.ADC_DMAAccessMode = ADC_DMAAccessMode_Disabled; //DMA失能
+  ADC_CommonInitStructure.ADC_Prescaler = ADC_Prescaler_Div4;//预分频4分频。ADCCLK=PCLK2/4=84/4=21Mhz,ADC时钟最好不要超过36Mhz 
+  ADC_CommonInit(&ADC_CommonInitStructure);//初始化
+	
+  ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b;//12位模式
+  ADC_InitStructure.ADC_ScanConvMode = DISABLE;//非扫描模式	
+  ADC_InitStructure.ADC_ContinuousConvMode = DISABLE;//关闭连续转换
+  ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_None;//禁止触发检测，使用软件触发
+  ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;//右对齐	
+  ADC_InitStructure.ADC_NbrOfConversion = 1;//1个转换在规则序列中 也就是只转换规则序列1 
+  ADC_Init(ADC1, &ADC_InitStructure);//ADC初始化
+	
+ 
+	ADC_Cmd(ADC1, ENABLE);//开启AD转换器	
+
+}				  
+//获得ADC值
+//ch: @ref ADC_channels 
+//通道值 0~16取值范围为：ADC_Channel_0~ADC_Channel_16
+//返回值:转换结果
+u16 Get_Adc(u8 ch)   
+{
+	  	//设置指定ADC的规则组通道，一个序列，采样时间
+	ADC_RegularChannelConfig(ADC1, ch, 1, ADC_SampleTime_480Cycles );	//ADC1,ADC通道,480个周期,提高采样时间可以提高精确度			    
+  
+	ADC_SoftwareStartConv(ADC1);		//使能指定的ADC1的软件转换启动功能	
+	 
+	while(!ADC_GetFlagStatus(ADC1, ADC_FLAG_EOC ));//等待转换结束
+
+	return ADC_GetConversionValue(ADC1);	//返回最近一次ADC1规则组的转换结果
+}
+//获取通道ch的转换值，取times次,然后平均 
+//ch:通道编号
+//times:获取次数
+//返回值:通道ch的times次转换结果平均值
+u16 Get_Adc_Average(u8 ch,u8 times)
+{
+	u32 temp_val=0;
+	u8 t;
+	for(t=0;t<times;t++)
+	{
+		temp_val+=Get_Adc(ch);
+		delay_ms(1);
+	}
+	return temp_val/times;
+} 
+	 
+
+
+
+
+
+
+
+

HARDWARE/ADC/adc.h

@@ -0,0 +1,35 @@
+#ifndef __ADC_H
+#define __ADC_H	
+#include "sys.h" 
+//////////////////////////////////////////////////////////////////////////////////	 
+//本程序只供学习使用，未经作者许可，不得用于其它任何用途
+//ALIENTEK STM32F407开发板
+//ADC 驱动代码	   
+//正点原子@ALIENTEK
+//技术论坛:www.openedv.com
+//创建日期:2014/5/6
+//版本：V1.0
+//版权所有，盗版必究。
+//Copyright(C) 广州市星翼电子科技有限公司 2014-2024
+//All rights reserved									  
+////////////////////////////////////////////////////////////////////////////////// 	 
+ 							   
+void Adc_Init(void); 				//ADC通道初始化
+u16  Get_Adc(u8 ch); 				//获得某个通道值 
+u16 Get_Adc_Average(u8 ch,u8 times);//得到某个通道给定次数采样的平均值  
+#endif 
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+

HARDWARE/SPI/spi.c

@@ -0,0 +1,90 @@
+#include "spi.h"
+//////////////////////////////////////////////////////////////////////////////////	 
+
+//SPI 驱动代码	   
+//STM32F4工程模板-库函数版本
+//淘宝店铺：http://mcudev.taobao.com										  
+////////////////////////////////////////////////////////////////////////////////// 	 
+
+
+//以下是SPI模块的初始化代码，配置成主机模式 						  
+//SPI口初始化
+//这里针是对SPI1的初始化
+void SPI1_Init(void)
+{	 
+  GPIO_InitTypeDef  GPIO_InitStructure;
+  SPI_InitTypeDef  SPI_InitStructure;
+	
+  RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);//使能GPIOA时钟
+  RCC_APB2PeriphClockCmd(RCC_APB2Periph_SPI1, ENABLE);//使能SPI1时钟
+ 
+  //GPIOFB3,4,5初始化设置
+  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3|GPIO_Pin_4|GPIO_Pin_5;//PB3~5复用功能输出	
+  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//复用功能
+  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//推挽输出
+  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
+  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//上拉
+  GPIO_Init(GPIOB, &GPIO_InitStructure);//初始化
+	
+	GPIO_PinAFConfig(GPIOB,GPIO_PinSource3,GPIO_AF_SPI1); //PB3复用为 SPI1
+	GPIO_PinAFConfig(GPIOB,GPIO_PinSource4,GPIO_AF_SPI1); //PB4复用为 SPI1
+	GPIO_PinAFConfig(GPIOB,GPIO_PinSource5,GPIO_AF_SPI1); //PB5复用为 SPI1
+ 
+	//这里只针对SPI口初始化
+	RCC_APB2PeriphResetCmd(RCC_APB2Periph_SPI1,ENABLE);//复位SPI1
+	RCC_APB2PeriphResetCmd(RCC_APB2Periph_SPI1,DISABLE);//停止复位SPI1
+
+	SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;  //设置SPI单向或者双向的数据模式:SPI设置为双线双向全双工
+	SPI_InitStructure.SPI_Mode = SPI_Mode_Master;		//设置SPI工作模式:设置为主SPI
+	SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b;		//设置SPI的数据大小:SPI发送接收8位帧结构
+	SPI_InitStructure.SPI_CPOL = SPI_CPOL_High;		//串行同步时钟的空闲状态为高电平
+	SPI_InitStructure.SPI_CPHA = SPI_CPHA_2Edge;	//串行同步时钟的第二个跳变沿（上升或下降）数据被采样
+	SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;		//NSS信号由硬件（NSS管脚）还是软件（使用SSI位）管理:内部NSS信号有SSI位控制
+	SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_256;		//定义波特率预分频的值:波特率预分频值为256
+	SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;	//指定数据传输从MSB位还是LSB位开始:数据传输从MSB位开始
+	SPI_InitStructure.SPI_CRCPolynomial = 7;	//CRC值计算的多项式
+	SPI_Init(SPI1, &SPI_InitStructure);  //根据SPI_InitStruct中指定的参数初始化外设SPIx寄存器
+ 
+	SPI_Cmd(SPI1, ENABLE); //使能SPI外设
+
+	SPI1_ReadWriteByte(0xff);//启动传输		 
+}   
+//SPI1速度设置函数
+//SPI速度=fAPB2/分频系数
+//@ref SPI_BaudRate_Prescaler:SPI_BaudRatePrescaler_2~SPI_BaudRatePrescaler_256  
+//fAPB2时钟一般为84Mhz：
+void SPI1_SetSpeed(u8 SPI_BaudRatePrescaler)
+{
+  assert_param(IS_SPI_BAUDRATE_PRESCALER(SPI_BaudRatePrescaler));//判断有效性
+	SPI1->CR1&=0XFFC7;//位3-5清零，用来设置波特率
+	SPI1->CR1|=SPI_BaudRatePrescaler;	//设置SPI1速度 
+	SPI_Cmd(SPI1,ENABLE); //使能SPI1
+} 
+//SPI1 读写一个字节
+//TxData:要写入的字节
+//返回值:读取到的字节
+u8 SPI1_ReadWriteByte(u8 TxData)
+{		 			 
+ 
+  while (SPI_I2S_GetFlagStatus(SPI1, SPI_I2S_FLAG_TXE) == RESET){}//等待发送区空  
+	
+	SPI_I2S_SendData(SPI1, TxData); //通过外设SPIx发送一个byte  数据
+		
+  while (SPI_I2S_GetFlagStatus(SPI1, SPI_I2S_FLAG_RXNE) == RESET){} //等待接收完一个byte  
+ 
+	return SPI_I2S_ReceiveData(SPI1); //返回通过SPIx最近接收的数据	
+ 		    
+}
+
+u8 spi1_read_write_byte(u8 TxData)
+{
+     SPI1_ReadWriteByte(TxData);
+}
+
+
+
+
+
+
+
+

HARDWARE/SPI/spi.h

@@ -0,0 +1,16 @@
+#ifndef __SPI_H
+#define __SPI_H
+#include "sys.h"
+//////////////////////////////////////////////////////////////////////////////////	 
+
+//SPI 驱动代码	   
+//STM32F4工程模板-库函数版本
+//淘宝店铺：http://mcudev.taobao.com									  
+////////////////////////////////////////////////////////////////////////////////// 	
+ 	    													  
+void SPI1_Init(void);			 //初始化SPI1口
+void SPI1_SetSpeed(u8 SpeedSet); //设置SPI1速度   
+u8 SPI1_ReadWriteByte(u8 TxData);//SPI1总线读写一个字节
+		 
+#endif
+

HARDWARE/TIMER/timer.c

@@ -0,0 +1,172 @@
+#include "timer.h"
+#include "led.h"
+//////////////////////////////////////////////////////////////////////////////////	 
+//本程序只供学习使用，未经作者许可，不得用于其它任何用途
+//ALIENTEK STM32F407开发板
+//定时器 驱动代码	   
+//正点原子@ALIENTEK
+//技术论坛:www.openedv.com
+//创建日期:2014/5/4
+//版本：V1.0
+//版权所有，盗版必究。
+//Copyright(C) 广州市星翼电子科技有限公司 2014-2024
+//All rights reserved									  
+////////////////////////////////////////////////////////////////////////////////// 	 
+
+
+void TIM2_Int_Init(u16 arr,u16 psc)
+{
+	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
+	NVIC_InitTypeDef NVIC_InitStructure;
+	
+	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);  ///使能TIM3时钟
+	
+  TIM_TimeBaseInitStructure.TIM_Period = arr; 	//自动重装载值
+	TIM_TimeBaseInitStructure.TIM_Prescaler=psc;  //定时器分频
+	TIM_TimeBaseInitStructure.TIM_CounterMode=TIM_CounterMode_Up; //向上计数模式
+	TIM_TimeBaseInitStructure.TIM_ClockDivision=TIM_CKD_DIV1; 
+	
+	TIM_TimeBaseInit(TIM2,&TIM_TimeBaseInitStructure);//初始化TIM3
+	
+	TIM_ITConfig(TIM2,TIM_IT_Update,ENABLE); //允许定时器3更新中断
+	TIM_Cmd(TIM2,ENABLE); //使能定时器3
+	
+	NVIC_InitStructure.NVIC_IRQChannel=TIM2_IRQn; //定时器3中断
+	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=0x01; //抢占优先级1
+	NVIC_InitStructure.NVIC_IRQChannelSubPriority=0x03; //子优先级3
+	NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;
+	NVIC_Init(&NVIC_InitStructure);
+	
+}
+
+u8 led_flag=0;
+u16 index=0;
+
+extern u16 real_dis_data[6];
+extern u16 real_dis_data_bak[6];
+extern u8 double_buffer_flag;
+
+//定时器3中断服务函数
+void TIM2_IRQHandler(void)
+{
+       char vcm_cmd[16]; 
+	if(TIM_GetITStatus(TIM2,TIM_IT_Update)==SET) //溢出中断
+	{
+
+#if 1           
+                 if(led_flag == 0)
+                  {
+                        GPIO_SetBits(GPIOE, GPIO_Pin_0);
+                        led_flag = 1;
+			TIM_ClearITPendingBit(TIM2,TIM_IT_Update);  //清除中断标志位			
+			return;			
+                  }
+                  if(led_flag == 1)
+                  {
+                        GPIO_ResetBits(GPIOE, GPIO_Pin_0);
+                        led_flag = 0;
+			TIM_ClearITPendingBit(TIM2,TIM_IT_Update);  //清除中断标志位			
+			return;			
+                  }
+#endif
+#if 0
+                     sprintf(vcm_cmd,VCM_DISPLACE_CMD,real_dis_data[index]);
+                     usart_send(USART3, vcm_cmd);
+		     usart_send(USART3, START_MACRO_NUM);
+		     TIM_ClearITPendingBit(TIM2,TIM_IT_Update);  //清除中断标志位
+		     return;
+            
+#endif
+#if 0	
+	        if(led_flag == 0)
+	        {
+                     sprintf(vcm_cmd,VCM_DISPLACE_CMD,real_dis_data[index]);
+                     usart_send(USART3, vcm_cmd);
+			usart_send(USART3, START_MACRO_NUM);
+			index++;
+			TIM_ClearITPendingBit(TIM2,TIM_IT_Update);  //清除中断标志位
+			return;
+	        }
+		 if(led_flag == 1)
+	        {
+                     sprintf(vcm_cmd,VCM_DISPLACE_CMD,real_dis_data_bak[index]);
+                     usart_send(USART3, vcm_cmd);
+			usart_send(USART3, START_MACRO_NUM);
+			TIM_ClearITPendingBit(TIM2,TIM_IT_Update);  //清除中断标志位
+			return;
+	        }	
+		 if(index > 199 && led_flag == 0)
+		 {
+		        index = 0;
+			 led_flag = 1;
+                      double_buffer_flag = 0;
+			 usart_send(USART1, "laishuju");
+		 }
+		 if(index > 199 && led_flag == 1)
+		 {
+		        index = 0;
+			 led_flag = 0;
+			 double_buffer_flag = 1;
+			 usart_send(USART1, "laishuju");
+		 }
+#endif			
+	}
+	
+}
+
+
+
+
+//通用定时器3中断初始化
+//arr：自动重装值。
+//psc：时钟预分频数
+//定时器溢出时间计算方法:Tout=((arr+1)*(psc+1))/Ft us.
+//Ft=定时器工作频率,单位:Mhz
+//这里使用的是定时器3!
+void TIM3_PWM_Init(u16 arr,u16 psc)
+{
+       GPIO_InitTypeDef GPIO_InitStructure;  
+	TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
+	TIM_OCInitTypeDef  TIM_OCInitStructure;
+
+	
+	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);  ///使能TIM3时钟
+	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA,ENABLE);
+
+       GPIO_PinAFConfig(GPIOA,GPIO_PinSource6,GPIO_AF_TIM3); 
+
+	 	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;           
+	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;        
+	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;	
+	GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;     
+	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;       
+	GPIO_Init(GPIOA,&GPIO_InitStructure);            
+
+        GPIO_ResetBits(GPIOA, GPIO_Pin_6);
+	
+  TIM_TimeBaseInitStructure.TIM_Period = arr; 	//自动重装载值
+	TIM_TimeBaseInitStructure.TIM_Prescaler=psc;  //定时器分频
+	TIM_TimeBaseInitStructure.TIM_CounterMode=TIM_CounterMode_Up; //向上计数模式
+	TIM_TimeBaseInitStructure.TIM_ClockDivision=TIM_CKD_DIV1; 
+	
+	TIM_TimeBaseInit(TIM3,&TIM_TimeBaseInitStructure);//初始化TIM3
+	
+	TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; 
+	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; 
+	TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
+	TIM_OCInitStructure.TIM_Pulse = 100;
+	
+	TIM_OC1Init(TIM3, &TIM_OCInitStructure);  
+	
+	TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);  
+	
+       TIM_ARRPreloadConfig(TIM3,ENABLE); 
+	
+	//TIM_Cmd(TIM3, ENABLE); 
+	
+}
+
+//定时器3中断服务函数
+void TIM3_IRQHandler(void)
+{
+}

HARDWARE/TIMER/timer.h

@@ -0,0 +1,18 @@
+#ifndef _TIMER_H
+#define _TIMER_H
+#include "sys.h"
+//////////////////////////////////////////////////////////////////////////////////	 
+//本程序只供学习使用，未经作者许可，不得用于其它任何用途
+//ALIENTEK STM32F407开发板
+//定时器 驱动代码	   
+//正点原子@ALIENTEK
+//技术论坛:www.openedv.com
+//创建日期:2014/6/16
+//版本：V1.0
+//版权所有，盗版必究。
+//Copyright(C) 广州市星翼电子科技有限公司 2014-2024
+//All rights reserved									  
+////////////////////////////////////////////////////////////////////////////////// 	
+
+void TIM3_PWM_Init(u16 arr,u16 psc);
+#endif

HARDWARE/elemachinery/elemachinery.c

@@ -0,0 +1,834 @@
+#include "elemachinery.h"
+//#include "stm32f4xx_hal.h"
+
+typedef uint32_t  u32;
+typedef uint16_t u16;
+typedef uint8_t  u8;
+
+
+#define Poutup(n)   GPIO_SetBits(GPIOC, n) //输出 
+#define Poutdown(n)   GPIO_ResetBits(GPIOC, n) //输出 
+
+
+u32 lcd_key;
+char if_mobilemotor_rotate = 0; // 推拉移动电机是否旋转 旋转为1 不旋转为0
+char if_rotatingmotor_rotate = 1; // 旋转采集电机是否旋转 旋转为1 不旋转为0
+char mobile_configure = 0; //  推拉移动电机是否怕配置参数 0为未配置参数 1为配置参数
+char rotating_configure = 0; // 旋转采集电机是否怕配置参数 0为未配置参数 1为配置参数
+char step;
+
+
+
+enum process_stage{
+	CHANGE_STAGE_TO_RIGHT_LIMIT_POSITION,                  	// 找零阶段向右移动
+	CHANGE_STAGE_TO_LEFT_LIMIT_POSITION,                  	// 找零阶段向左移
+	CLOESE_THE_LID,                 //	关盖阶段 左移压紧
+	FIND_THE_RIGHT_LIMIT_POSITION,  //  找右线位阶段 
+	FAILD_FIND, 										// 没有找到试剂
+	TESTING_SAMPLES,                //	 检测阶段
+	FIND_THE_LEFT_LIMIT_POSITION,    //找右线位阶段
+	MOTOR_STOP //电机停止状态
+};
+enum rotating_stage{
+	GIVE_CHANGE, 							// 找零阶段		
+	ROTATE,                  	// 电机旋转
+	RO_MOTOR_STOP,               // 找零阶段向左移
+	FIND_READ_FROM_CHANGE     // 从零点到红色
+};
+enum motor_movement_direction{
+	MOVE_LEFT, // 向左移动
+	MOVE_RIGHT // 向右移动
+};
+
+enum motor_movement_direction motor_move = MOVE_LEFT;
+enum process_stage pro_stage = CHANGE_STAGE_TO_RIGHT_LIMIT_POSITION; // 电机启动 进入找零阶段
+enum rotating_stage rot_stage  = RO_MOTOR_STOP;
+
+void TMC2240_CS_LOW(){
+
+		Poutdown(GPIO_Pin_4);
+		Poutdown(GPIO_Pin_1);
+#if 0	
+	if(step == 1){
+		Poutdown(4);
+	}
+	else{
+		Poutdown(1);
+	}
+#endif	
+}
+void TMC2240_CS_HIGH(){
+	Poutup(GPIO_Pin_4);Poutup(GPIO_Pin_1);
+}
+
+// 向TMC2240写入数据
+void tmc2240_write(uint8_t address, uint8_t data) {
+    // 先发送地址
+    spi1_read_write_byte(address);
+    // 再发送数据
+    spi1_read_write_byte(data);
+}
+
+// TMC2240寄存器写操作（地址+32位数据）
+void TMC2240_WriteReg(uint8_t addr, uint32_t data) {
+	
+    TMC2240_CS_LOW();
+    
+    spi1_read_write_byte(addr | 0x80); // 写命令（bit7=1）?:ml-citation{ref="1" data="citationList"}
+    spi1_read_write_byte((data >> 24) & 0xFF);
+    spi1_read_write_byte((data >> 16) & 0xFF);
+    spi1_read_write_byte((data >> 8) & 0xFF);
+    spi1_read_write_byte(data & 0xFF);
+
+//    SoftSPI_TransferByte(addr | 0x80); // 写命令（bit7=1）?:ml-citation{ref="1" data="citationList"}
+//   SoftSPI_TransferByte((data >> 24) & 0xFF);
+//   SoftSPI_TransferByte((data >> 16) & 0xFF);
+//   SoftSPI_TransferByte((data >> 8) & 0xFF);
+//    SoftSPI_TransferByte(data & 0xFF);
+
+
+    TMC2240_CS_HIGH();
+}
+
+// TMC2240寄存器读操作
+uint32_t TMC2240_ReadReg(uint8_t addr) {
+    uint32_t data = 0;
+    
+    TMC2240_CS_LOW();
+    
+    spi1_read_write_byte(addr & 0x7F); // 读命令（bit7=0）?:ml-citation{ref="1" data="citationList"}
+    data = (uint32_t)spi1_read_write_byte(0xFF) << 24;
+    data |= (uint32_t)spi1_read_write_byte(0xFF) << 16;
+    data |= (uint32_t)spi1_read_write_byte(0xFF) << 8;
+    data |= spi1_read_write_byte(0xFF);
+
+//    SoftSPI_TransferByte(addr & 0x7F); // 读命令（bit7=0）?:ml-citation{ref="1" data="citationList"}
+//    data = (uint32_t)SoftSPI_TransferByte(0xFF) << 24;
+//    data |= (uint32_t)SoftSPI_TransferByte(0xFF) << 16;
+//    data |= (uint32_t)SoftSPI_TransferByte(0xFF) << 8;
+//    data |= SoftSPI_TransferByte(0xFF);
+	
+    TMC2240_CS_HIGH();
+
+    return data;
+}
+
+
+// direct_mode (Bit 16)
+void TMC2240_SetDirectMode(uint8_t value, uint32_t *gconf) {
+    if (value > 1) return; // 允许值0或1
+    *gconf = (*gconf & ~(1 << 16)) | ((value & 0x01) << 16);
+    TMC2240_WriteReg(0x00, *gconf);
+}
+
+// stop_enable (Bit 15)
+void TMC2240_SetStopEnable(uint8_t value, uint32_t *gconf) {
+    if (value > 1) return;
+    *gconf = (*gconf & ~(1 << 15)) | ((value & 0x01) << 15);
+    TMC2240_WriteReg(0x00, *gconf);
+}
+
+// small_hysteresis (Bit 14)
+void TMC2240_SetSmallHysteresis(uint8_t value, uint32_t *gconf) {
+    if (value > 1) return;
+    *gconf = (*gconf & ~(1 << 14)) | ((value & 0x01) << 14);
+    TMC2240_WriteReg(0x00, *gconf);
+}
+
+// diag1_pushpull (Bit 13)
+void TMC2240_SetDiag1PushPull(uint8_t value, uint32_t *gconf) {
+    if (value > 1) return;
+    *gconf = (*gconf & ~(1 << 13)) | ((value & 0x01) << 13);
+    TMC2240_WriteReg(0x00, *gconf);
+}
+
+// diag0_pushpull (Bit 12)
+void TMC2240_SetDiag0PushPull(uint8_t value, uint32_t *gconf) {
+    if (value > 1) return;
+    *gconf = (*gconf & ~(1 << 12)) | ((value & 0x01) << 12);
+    TMC2240_WriteReg(0x00, *gconf);
+}
+
+// diag1_onstate (Bit 10)
+void TMC2240_SetDiag1OnState(uint8_t value, uint32_t *gconf) {
+    if (value > 1) return;
+    *gconf = (*gconf & ~(1 << 10)) | ((value & 0x01) << 10);
+    TMC2240_WriteReg(0x00, *gconf);
+}
+
+// diag1_index (Bit 9)
+void TMC2240_SetDiag1Index(uint8_t value, uint32_t *gconf) {
+    if (value > 1) return;
+    *gconf = (*gconf & ~(1 << 9)) | ((value & 0x01) << 9);
+    TMC2240_WriteReg(0x00, *gconf);
+}
+
+// diag1_stall (Bit 8)
+void TMC2240_SetDiag1Stall(uint8_t value, uint32_t *gconf) {
+    if (value > 1) return;
+    *gconf = (*gconf & ~(1 << 8)) | ((value & 0x01) << 8);
+    TMC2240_WriteReg(0x00, *gconf);
+}
+
+// diag0_stall (Bit 7)
+void TMC2240_SetDiag0Stall(uint8_t value, uint32_t *gconf) {
+    if (value > 1) return;
+    *gconf = (*gconf & ~(1 << 7)) | ((value & 0x01) << 7);
+    TMC2240_WriteReg(0x00, *gconf);
+}
+
+// diag0_otpw (Bit 6)
+void TMC2240_SetDiag0Otpw(uint8_t value, uint32_t *gconf) {
+    if (value > 1) return;
+    *gconf = (*gconf & ~(1 << 6)) | ((value & 0x01) << 6);
+    TMC2240_WriteReg(0x00, *gconf);
+}
+
+// diag0_error (Bit 5)
+void TMC2240_SetDiag0Error(uint8_t value, uint32_t *gconf) {
+    if (value > 1) return;
+    *gconf = (*gconf & ~(1 << 5)) | ((value & 0x01) << 5);
+    TMC2240_WriteReg(0x00, *gconf);
+}
+
+// shaft (Bit 4)
+void TMC2240_SetShaft(uint8_t value, uint32_t *gconf) {
+    if (value > 1) return;
+    *gconf = (*gconf & ~(1 << 4)) | ((value & 0x01) << 4);
+    TMC2240_WriteReg(0x00, *gconf);
+}
+
+// multistep_filt (Bit 3)
+void TMC2240_SetMultistepFilt(uint8_t value, uint32_t *gconf) {
+    if (value > 1) return;
+    *gconf = (*gconf & ~(1 << 3)) | ((value & 0x01) << 3);
+    TMC2240_WriteReg(0x00, *gconf);
+}
+
+// en_pwm_mode (Bit 2)
+void TMC2240_SetEnPwmMode(uint8_t value, uint32_t *gconf) {
+    if (value > 1) return;
+    *gconf = (*gconf & ~(1 << 2)) | ((value & 0x01) << 2);
+    TMC2240_WriteReg(0x00, *gconf);
+}
+
+// fast_standstill (Bit 1)
+void TMC2240_SetFastStandstill(uint8_t value, uint32_t *gconf) {
+    if (value > 1) return;
+    *gconf = (*gconf & ~(1 << 1)) | ((value & 0x01) << 1);
+    TMC2240_WriteReg(0x00, *gconf);
+}
+
+void set_GCONF(uint8_t field_selector, uint8_t param_value, uint32_t *gconf) {
+    switch(field_selector) {
+        case 0x00: TMC2240_SetDirectMode(param_value, gconf); break;
+        case 0x01: TMC2240_SetStopEnable(param_value, gconf); break;
+        case 0x02: TMC2240_SetSmallHysteresis(param_value, gconf); break;
+        case 0x03: TMC2240_SetDiag1PushPull(param_value, gconf); break;
+        case 0x04: TMC2240_SetDiag0PushPull(param_value, gconf); break;
+        case 0x05: TMC2240_SetDiag1OnState(param_value, gconf); break;
+        case 0x06: TMC2240_SetDiag1Index(param_value, gconf); break;
+        case 0x07: TMC2240_SetDiag1Stall(param_value, gconf); break;
+        case 0x08: TMC2240_SetDiag0Stall(param_value, gconf); break;
+        case 0x09: TMC2240_SetDiag0Otpw(param_value, gconf); break;
+        case 0x0A: TMC2240_SetDiag0Error(param_value, gconf); break;
+        case 0x0B: TMC2240_SetShaft(param_value, gconf); break;
+        case 0x0C: TMC2240_SetMultistepFilt(param_value, gconf); break;
+        case 0x0D: TMC2240_SetEnPwmMode(param_value, gconf); break;
+        case 0x0E: TMC2240_SetFastStandstill(param_value, gconf); break;
+        default:
+            // 可添加错误处理（如打印无效选择器）
+            break;
+    }
+}
+
+
+// IRUNDELAY (Bits 27:24)
+void TMC2240_SetIRunDelay(uint8_t value, uint32_t *current_config) {
+    if (value > 15) return; // 错误：超出范围（0-15）
+    *current_config = (*current_config & 0xF0FFFFFF) | ((value & 0x0F) << 24);
+    TMC2240_WriteReg(0x10, *current_config);
+}
+
+// IHOLDDELAY (Bits 19:16)
+void TMC2240_SetIHoldDelay(uint8_t value, uint32_t *current_config) {
+    if (value > 15) return;
+    *current_config = (*current_config & 0xFFF0FFFF) | ((value & 0x0F) << 16);
+    TMC2240_WriteReg(0x10, *current_config);
+}
+
+// IRUN (Bits 12:8)
+void TMC2240_SetIRun(uint8_t value, uint32_t *current_config) {
+    if (value > 31) return; // 错误：超出范围（0-31）
+    *current_config = (*current_config & 0xFFFFE0FF) | ((value & 0x1F) << 8);
+    TMC2240_WriteReg(0x10, *current_config);
+}
+
+// IHOLD (Bits 4:0)
+void TMC2240_SetIHold(uint8_t value, uint32_t *current_config) {
+    if (value > 31) return;
+    *current_config = (*current_config & 0xFFFFFFE0) | (value & 0x1F);
+    TMC2240_WriteReg(0x10, *current_config);
+}
+
+// CHOPCONF寄存器配置（0x6C）
+void set_IHOLD_IRUN(uint8_t field_selector, uint8_t param_value, uint32_t *current_config) {
+    switch(field_selector) {
+        case 0x00:  // IHOLD (0-31)
+            TMC2240_SetIHold(param_value, current_config);
+            break;
+        case 0x01:  // IRUN (0-31)
+            TMC2240_SetIRun(param_value, current_config);
+            break;
+        case 0x02:  // IHOLDDELAY (0-15)
+            TMC2240_SetIHoldDelay(param_value, current_config);
+            break;
+        case 0x03:  // IRUNDELAY (0-15)
+            TMC2240_SetIRunDelay(param_value, current_config);
+            break;
+        default:
+            // 可添加错误处理（如日志输出）
+            break;
+    }
+}
+
+
+// 设置TOFF（位0-3）
+void TMC2240_SetTOFF(uint8_t toff_value, uint32_t *chopconf) {
+    if (toff_value > 15) return;      // 错误：超出范围
+    *chopconf = (*chopconf & 0xFFFFFFF0) | (toff_value & 0x0F);
+    TMC2240_WriteReg(0x6C, *chopconf);
+}
+
+// 设置HSTRT（位4-6）
+void TMC2240_SetHSTRT(uint8_t hstrt_value, uint32_t *chopconf) {
+    if (hstrt_value > 7) return;       // 错误：超出范围
+    *chopconf = (*chopconf & 0xFFFFF8FF) | ((hstrt_value & 0x07) << 4);
+    TMC2240_WriteReg(0x6C, *chopconf);
+}
+
+// 设置HEND（位7-10）
+void TMC2240_SetHEND(uint8_t hend_value, uint32_t *chopconf) {
+    if (hend_value > 15) return;       // 错误：超出范围
+    *chopconf = (*chopconf & 0xFFFFF0FF) | ((hend_value & 0x0F) << 7);
+    TMC2240_WriteReg(0x6C, *chopconf);
+}
+
+// 设置FD3（位11）
+void TMC2240_SetFD3(uint8_t enable, uint32_t *chopconf) {
+    enable = (enable != 0) ? 1 : 0;    // 强制转换为0或1
+    *chopconf = (*chopconf & 0xFFFFF7FF) | (enable << 11);
+    TMC2240_WriteReg(0x6C, *chopconf);
+}
+
+// 设置DISFDCC（位12）
+void TMC2240_SetDISFDCC(uint8_t enable, uint32_t *chopconf) {
+    enable = (enable != 0) ? 1 : 0;
+    *chopconf = (*chopconf & 0xFFFFEFFF) | (enable << 12);
+    TMC2240_WriteReg(0x6C, *chopconf);
+}
+
+// 设置RNDTF（位13）
+void TMC2240_SetRNDTF(uint8_t enable, uint32_t *chopconf) {
+    enable = (enable != 0) ? 1 : 0;
+    *chopconf = (*chopconf & 0xFFFFDFFF) | (enable << 13);
+    TMC2240_WriteReg(0x6C, *chopconf);
+}
+
+// 设置CHM模式（位14）
+void TMC2240_SetCHM(uint8_t enable, uint32_t *chopconf) {
+    enable = (enable != 0) ? 1 : 0;
+    *chopconf = (*chopconf & 0xFFFFBFFF) | (enable << 14);
+    TMC2240_WriteReg(0x6C, *chopconf);
+}
+
+// 设置TBL（位15-16）
+void TMC2240_SetTBL(uint8_t tbl_value, uint32_t *chopconf) {
+    if (tbl_value > 3) return;         // 错误：超出范围
+    *chopconf = (*chopconf & 0xFFF9FFFF) | ((tbl_value & 0x03) << 15);
+    TMC2240_WriteReg(0x6C, *chopconf);
+}
+
+// 设置VHIGHFS（位18）
+void TMC2240_SetVHIGHFS(uint8_t enable, uint32_t *chopconf) {
+    enable = (enable != 0) ? 1 : 0;
+    *chopconf = (*chopconf & 0xFFFBFFFF) | (enable << 18);
+    TMC2240_WriteReg(0x6C, *chopconf);
+}
+
+// 设置VHIGHCHM（位19）
+void TMC2240_SetVHIGHCHM(uint8_t enable, uint32_t *chopconf) {
+    enable = (enable != 0) ? 1 : 0;
+    *chopconf = (*chopconf & 0xFFF7FFFF) | (enable << 19);
+    TMC2240_WriteReg(0x6C, *chopconf);
+}
+
+// 设置TPFD（位20-23）
+void TMC2240_SetTPFD(uint8_t tpfd_value, uint32_t *chopconf) {
+    if (tpfd_value > 15) return;       // 错误：超出范围
+    *chopconf = (*chopconf & 0xFF0FFFFF) | ((tpfd_value & 0x0F) << 20);
+    TMC2240_WriteReg(0x6C, *chopconf);
+}
+
+// 设置MRES（位24-27）
+void TMC2240_SetMRES(uint8_t mres_value, uint32_t *chopconf) {
+    if (mres_value > 15) return;      // 错误：超出范围
+    *chopconf = (*chopconf & 0xF0FFFFFF) | ((mres_value & 0x0F) << 24);
+    TMC2240_WriteReg(0x6C, *chopconf);
+}
+
+void set_CHOPCONF(uint8_t field_selector, uint8_t param_value, uint32_t *chopconf) {
+    switch(field_selector) {
+        case 0x00: TMC2240_SetTOFF(param_value, chopconf); break;      // Bits 0-3
+        case 0x01: TMC2240_SetHSTRT(param_value, chopconf); break;     // Bits 4-6
+        case 0x02: TMC2240_SetHEND(param_value, chopconf); break;      // Bits 7-10
+        case 0x03: TMC2240_SetFD3(param_value, chopconf); break;       // Bit 11
+        case 0x04: TMC2240_SetDISFDCC(param_value, chopconf); break;   // Bit 12
+        case 0x05: TMC2240_SetRNDTF(param_value, chopconf); break;     // Bit 13
+        case 0x06: TMC2240_SetCHM(param_value, chopconf); break;       // Bit 14
+        case 0x07: TMC2240_SetTBL(param_value, chopconf); break;       // Bits 15-16
+        case 0x08: TMC2240_SetVHIGHFS(param_value, chopconf); break;   // Bit 18
+        case 0x09: TMC2240_SetVHIGHCHM(param_value, chopconf); break;  // Bit 19
+        case 0x0A: TMC2240_SetTPFD(param_value, chopconf); break;      // Bits 20-23
+        case 0x0B: TMC2240_SetMRES(param_value, chopconf); break;      // Bits 24-27
+        default:
+            lcd_key |= 0x80000000; // 假设最高位用作错误标志
+            break;
+    }
+}
+
+
+// sfilt (Bit 24)
+void TMC2240_SetSFilt(uint8_t value, uint32_t *coolstep_config) {
+    if (value > 1) return; // 允许值0或1
+    *coolstep_config = (*coolstep_config & ~(1 << 24)) | ((value & 0x01) << 24);
+    TMC2240_WriteReg(0x6D, *coolstep_config);
+}
+
+// sgt (Bits 22:16) 有符号整数范围 -64~63
+void TMC2240_SetSGT(int8_t value, uint32_t *coolstep_config) {
+    if (value < -64 || value > 63) return; // 错误：超出范围
+    *coolstep_config = (*coolstep_config & ~(0x7F << 16)) | ((value & 0x7F) << 16);
+    TMC2240_WriteReg(0x6D, *coolstep_config);
+}
+
+// seimin (Bit 15)
+void TMC2240_SetSEIMin(uint8_t value, uint32_t *coolstep_config) {
+    if (value > 1) return;
+    *coolstep_config = (*coolstep_config & ~(1 << 15)) | ((value & 0x01) << 15);
+    TMC2240_WriteReg(0x6D, *coolstep_config);
+}
+
+// sedn (Bits 14:13)
+void TMC2240_SetSEDN(uint8_t value, uint32_t *coolstep_config) {
+    if (value > 3) return; // 允许值0~3
+    *coolstep_config = (*coolstep_config & ~(0x03 << 13)) | ((value & 0x03) << 13);
+    TMC2240_WriteReg(0x6D, *coolstep_config);
+}
+
+// semax (Bits 11:8)
+void TMC2240_SetSEMax(uint8_t value, uint32_t *coolstep_config) {
+    if (value > 15) return; // 允许值0~15
+    *coolstep_config = (*coolstep_config & ~(0x0F << 8)) | ((value & 0x0F) << 8);
+    TMC2240_WriteReg(0x6D, *coolstep_config);
+}
+
+// seup (Bits 6:5)
+void TMC2240_SetSEUp(uint8_t value, uint32_t *coolstep_config) {
+    if (value > 3) return; // 允许值0~3
+    *coolstep_config = (*coolstep_config & ~(0x03 << 5)) | ((value & 0x03) << 5);
+    TMC2240_WriteReg(0x6D, *coolstep_config);
+}
+
+// semin (Bits 3:0)
+void TMC2240_SetSEMin(uint8_t value, uint32_t *coolstep_config) {
+    if (value > 15) return; // 允许值0~15
+    *coolstep_config = (*coolstep_config & ~0x0F) | (value & 0x0F);
+    TMC2240_WriteReg(0x6D, *coolstep_config);
+}
+
+// COOLCONF寄存器配置函数
+void set_COOLCONF(uint8_t field_selector, uint8_t param_value, uint32_t *coolstep_config) {
+    switch(field_selector) {
+        case 0x00: TMC2240_SetSEMin(param_value, coolstep_config); break;
+        case 0x01: TMC2240_SetSEUp(param_value, coolstep_config); break;
+        case 0x02: TMC2240_SetSEMax(param_value, coolstep_config); break;
+        case 0x03: TMC2240_SetSEDN(param_value, coolstep_config); break;
+        case 0x04: TMC2240_SetSEIMin(param_value, coolstep_config); break;
+        case 0x05: TMC2240_SetSGT((int8_t)param_value, coolstep_config); break;
+        case 0x06: TMC2240_SetSFilt(param_value, coolstep_config); break;
+        default:
+            // 可添加错误处理（如日志输出）
+            break;
+    }
+}
+
+//---- 左右平移电机电机参数配置
+// 0x00 GCONF 参数配置
+uint32_t mobile_gconf = 0x000000C4 | (1 << 7);
+// 全局变量声明
+uint32_t mobile_current_config = 0x00180C10; // 地址 0x10 的寄存器值
+// CHOPCONF寄存器配置（地址0x6C）
+uint32_t mobile_chopconf = 0x020080C3;
+// 全局变量声明
+uint32_t mobile_coolstep_config = 0; // 地址 0x6D 的寄存器值
+//---- 旋转采集电机参数配置
+// 0x00 GCONF 参数配置
+uint32_t rotating_gconf = 0x000000C4 | (1 << 7);
+// 全局变量声明
+uint32_t rotating_current_config = 0x00180C10; // 地址 0x10 的寄存器值
+// CHOPCONF寄存器配置（地址0x6C）
+uint32_t rotating_chopconf = 0x020080C3;
+// 全局变量声明
+uint32_t rotating_coolstep_config = 0; // 地址 0x6D 的寄存器值
+
+void motor_left(){
+	delay_us(500);
+	MOVE_THE_MOTOR_TO_THE_LEFT;
+	TMC2240_SetMRES(6, &mobile_gconf);
+	motor_move = MOVE_LEFT;
+	//TMC2240_WriteReg(0x10, 0x00180C10);
+}
+void motor_right(){
+	delay_us(500);
+	MOVE_THE_MOTOR_TO_THE_RIGHT;
+	TMC2240_SetMRES(6, &mobile_gconf);
+	motor_move = MOVE_RIGHT;
+	//TMC2240_WriteReg(0x10, 0x00180C10);
+}
+#if 0
+//---- 左右平移电机电机参数配置
+// 0x00 GCONF 参数配置
+uint32_t mobile_gconf = 0x000000C4 | (1 << 7);
+// 全局变量声明
+uint32_t mobile_current_config = 0x00180C10; // 地址 0x10 的寄存器值
+// CHOPCONF寄存器配置（地址0x6C）
+uint32_t mobile_chopconf = 0x020080C3;
+// 全局变量声明
+uint32_t mobile_coolstep_config = 0; // 地址 0x6D 的寄存器值
+//---- 旋转采集电机参数配置
+// 0x00 GCONF 参数配置
+uint32_t rotating_gconf = 0x000000C4 | (1 << 7);
+// 全局变量声明
+uint32_t rotating_current_config = 0x00180C10; // 地址 0x10 的寄存器值
+// CHOPCONF寄存器配置（地址0x6C）
+uint32_t rotating_chopconf = 0x020080C3;
+// 全局变量声明
+uint32_t rotating_coolstep_config = 0; // 地址 0x6D 的寄存器值
+
+extern uint16_t Rotation_times;
+char rotatingbit = 0;
+void change_spi(char *str){
+		
+		uint8_t stepselete = str[0];
+		uint8_t reg_addr = str[1];
+    uint8_t field_selector = str[2];
+    uint16_t param_value = str[3] ; // 合并高/低字节
+		if(stepselete == 1){
+				mobile_configure = 1; //配置参数结束		
+				step = 1;		
+				 switch(reg_addr) {
+					case  0x00: // 用于全局状态监控和故障诊断。
+							set_CHOPCONF(field_selector, param_value,&mobile_gconf);
+							break;
+					case 0x10: // 用于动态调节电机电流以优化能耗和性能
+							set_IHOLD_IRUN(field_selector, param_value,&mobile_current_config);
+							break;
+							
+					case 0x6C:    // 用于配置静音、高效或高动态的驱动模式。
+							set_CHOPCONF(field_selector, param_value,&mobile_chopconf);
+							break;
+					
+					case 0x0D:   // 提供实时状态反馈，支持负载检测和温度保护。
+							set_COOLCONF(field_selector, param_value,&mobile_coolstep_config);
+							break;
+					case 0x01:   // 正转 反转
+							if(param_value == 1)  GPIO_SetBits(GPIOD,GPIO_Pin_8);
+							else  GPIO_ResetBits(GPIOD,GPIO_Pin_8);
+							break;
+					case 0xFF:	// 电机是否启动
+							if_mobilemotor_rotate = param_value;
+					break;
+					case 0xF1:	//	设置电机旋转圈数
+							pro_stage = CLOESE_THE_LID;
+							rot_stage = GIVE_CHANGE;
+							rotatingbit = GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_15);
+							ProcessControl();
+							OPENMOTOR;
+					break;
+					default:
+							// 可添加错误处理（如日志输出）
+							break;
+			}
+			mobile_configure = 0; //配置参数结束
+		}
+		else{
+				 switch(reg_addr) {
+					 rotating_configure = 1; //配置参数结束
+					 step = 2;
+					case  0x00: // 用于全局状态监控和故障诊断。
+							set_CHOPCONF(field_selector, param_value,&rotating_gconf);
+							break;
+					case 0x10: // 用于动态调节电机电流以优化能耗和性能
+							set_IHOLD_IRUN(field_selector, param_value,&rotating_current_config);
+							break;
+							
+					case 0x6C:    // 用于配置静音、高效或高动态的驱动模式。
+							set_CHOPCONF(field_selector, param_value,&rotating_chopconf);
+							break;
+					
+					case 0x0D:   // 提供实时状态反馈，支持负载检测和温度保护。
+							set_COOLCONF(field_selector, param_value,&rotating_coolstep_config);
+							break;
+					case 0x01:   // 正转 反转
+							if(param_value == 1)  GPIO_SetBits(GPIOB,GPIO_Pin_14);
+							else  GPIO_ResetBits(GPIOB,GPIO_Pin_14);
+							break;
+					case 0xFF:	// 电机是否启动
+							if_rotatingmotor_rotate = param_value;
+					break;
+					case 0xF0:	//	设置电机旋转圈数
+							Rotation_times = param_value*100;
+					break;
+					
+					default:
+							// 可添加错误处理（如日志输出）
+							break;
+			}
+				 rotating_configure = 0; //配置参数结束
+		}
+}
+extern volatile uint32_t pulse_count;
+// 电机移动
+//void motor_move(){
+//	step = 1;
+//	GPIO_SetBits(GPIOD,GPIO_Pin_9);
+//	delay_us(50);
+//	GPIO_ResetBits(GPIOD,GPIO_Pin_9);
+//	Rotation_quantity++;
+//	if(Rotation_quantity == 1500){
+//		delay_us(100);
+//		// TMC2240_WriteReg(0x10, 0x00190C10);
+//		TMC2240_SetMRES(7, &mobile_gconf);
+//	}
+//	
+//}
+void accelerate(){
+	step = 1;
+	if(pulse_count == 1600){
+				TMC2240_SetMRES(7, &mobile_gconf);
+			}
+}
+void motor_left(){
+	delay_us(500);
+	MOVE_THE_MOTOR_TO_THE_LEFT;
+	TMC2240_SetMRES(6, &mobile_gconf);
+	motor_move = MOVE_LEFT;
+	//TMC2240_WriteReg(0x10, 0x00180C10);
+	pulse_count = 0;
+}
+void motor_right(){
+	delay_us(500);
+	MOVE_THE_MOTOR_TO_THE_RIGHT;
+	TMC2240_SetMRES(6, &mobile_gconf);
+	motor_move = MOVE_RIGHT;
+	//TMC2240_WriteReg(0x10, 0x00180C10);
+	pulse_count = 0;
+}
+uint16_t rotating_rotation_times = 0; // 旋转采集电机需要旋转的圈数
+char number_of_detection_cycles  = 0;
+// 清除线位
+
+extern char right_limit; // 到达右线位
+extern char left_limit; // 到达左线位
+extern char mid_limit; // 到达左线位
+void clean_limit(void){	
+	right_limit = 0;	
+	left_limit = 0;	
+	mid_limit = 0;
+}
+// 左右平移电机电机流程控制函数
+void ProcessControl(void){
+	step = 1;
+	switch(pro_stage){
+		case CHANGE_STAGE_TO_RIGHT_LIMIT_POSITION: // 找零阶段
+			// 向右
+			motor_right();
+			OPENMOTOR;
+			break;
+		case CHANGE_STAGE_TO_LEFT_LIMIT_POSITION: // 找零阶段
+			motor_left();
+			break;
+		case CLOESE_THE_LID: //	关盖阶段 左移压紧
+			motor_left();
+			break;
+		case FIND_THE_RIGHT_LIMIT_POSITION: //  找右线位阶段 
+			motor_right();
+			/////--------------------还需要开启等光 待完善
+			break;
+		case TESTING_SAMPLES:  //	 检测阶段
+			rotating_rotation_times = 1600;
+			number_of_detection_cycles = 0;
+			motor_left();
+			break;
+		case FIND_THE_LEFT_LIMIT_POSITION: //找左线位阶段
+			rotating_rotation_times  = 1600; // 因为绿色在上时 就是处于0点位置 防止出现校准问题 转开他
+			motor_left();
+			break;
+		case FAILD_FIND:
+			motor_left();
+			break;
+	}
+}
+extern u8 if_read7683;
+void detection_steps(){
+	step = 1;
+	static u32 steps = 0;
+	static char needstep = 0; //记录上一次是否路过左线位 0为向左的阶段 1为向右的阶段
+	if(motor_move == MOVE_LEFT){
+		if((steps == 0) && (mid_limit == 1)){
+			clean_limit();
+			steps = 3000;
+		}
+		else if(steps > 0){
+			steps --;
+			if(steps <= 0){
+				motor_right();
+			}
+		}
+		if(pulse_count > START_THE_BLACK_LIGHT){
+			if_read7683 = 1;
+		}
+	}
+	else{
+		// 右移 到达右限位 
+		if(right_limit == 1)
+		{
+			motor_left();
+			clean_limit();
+			number_of_detection_cycles++;
+			if(number_of_detection_cycles >= 8){ //完成8次检测
+				pro_stage = FIND_THE_LEFT_LIMIT_POSITION;
+				ProcessControl();
+				number_of_detection_cycles = 0;
+			}
+		}
+		if(pulse_count > END_THE_BLACK_LIGHT){
+			if_read7683 = 2;
+		}
+	}
+}
+
+// 大电机运动
+void motor_motion(void){
+	step = 1;
+	switch(pro_stage){
+		case CHANGE_STAGE_TO_RIGHT_LIMIT_POSITION: 
+			if(right_limit == 1){
+				pro_stage = CHANGE_STAGE_TO_LEFT_LIMIT_POSITION; //进入下个阶段 向左移动
+				ProcessControl();
+				clean_limit();
+			}
+			break;
+		case CHANGE_STAGE_TO_LEFT_LIMIT_POSITION: // 找零阶段
+			if(left_limit == 1){ //找零阶段结束
+				clean_limit();
+				pro_stage = MOTOR_STOP;
+				CLOSEMOTOR;
+				pulse_count = 0;
+			}
+			break;
+		case CLOESE_THE_LID: //	关盖阶段 左移压紧		
+			if(800 <= pulse_count){
+				// 停止左移 进入下一个步骤
+				pro_stage = FIND_THE_RIGHT_LIMIT_POSITION;
+				ProcessControl();
+			}
+			break;
+		case FIND_THE_RIGHT_LIMIT_POSITION: //  找右线位阶段 
+			if(rot_stage == RO_MOTOR_STOP){
+				rot_stage = FIND_READ_FROM_CHANGE;
+				rotating_rotation_times = 4800; // 1600 转90度 目的时为了找红色
+			}
+			if((rot_stage != FIND_READ_FROM_CHANGE)||(rotating_rotation_times !=0))
+			{
+				pulse_count = 1498;
+			}
+			if(right_limit == 1){
+					pro_stage = TESTING_SAMPLES; //进入下个阶段 向左移动
+					ProcessControl();
+					clean_limit();
+			}
+			if(pulse_count > INFRARED_STARTING_POINT && pulse_count < INFRARED_ENDING_POINT) // 进行AD采集
+				if_read7683 = 1;
+			else if_read7683 = 2;
+			break;
+		case TESTING_SAMPLES:  //	 检测阶段			
+			detection_steps();
+			///----采集dac数据 待完善
+			break;
+		case FIND_THE_LEFT_LIMIT_POSITION: //找左线位阶段
+			if(left_limit == 1){ //找零阶段结束
+					clean_limit();
+					pro_stage = MOTOR_STOP;
+					CLOSEMOTOR;
+					pulse_count =0;
+					////---- 是否需要关闭相应的灯光 
+				}
+			break;
+		case FAILD_FIND:
+			if(left_limit == 1){ //找零阶段结束
+				clean_limit();
+				pro_stage = MOTOR_STOP;
+				///--- 弹出错误预警
+			}
+			break;
+		case MOTOR_STOP:
+			break;
+	};
+}
+// 电机旋转
+void rotating_move(){
+	GPIO_SetBits(GPIOB,GPIO_Pin_15);
+	delay_us(100);
+	GPIO_ResetBits(GPIOB,GPIO_Pin_15);
+}
+// 小电机运动
+void motor_rotating(void){
+	switch(rot_stage){
+		case ROTATE:			
+			if(rotating_rotation_times <= 0){	
+			rot_stage = RO_MOTOR_STOP;
+			}			
+			rotating_move();
+			rotating_rotation_times--;
+			break;
+		case  RO_MOTOR_STOP:
+			break;
+		case GIVE_CHANGE:
+			if(rotatingbit == 0){ // 在0点上 需要进行移动
+				rotatingbit = 1;
+				rotating_rotation_times = 1600;
+			}
+			if(rotating_rotation_times > 0){				
+				rotating_rotation_times--;
+				rotating_move();
+			}
+			else{
+					rotating_move();
+					if(GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_15) == 0){
+					rot_stage = ROTATE;
+					rotating_rotation_times = 200;
+				}
+			}			
+			break;
+		case FIND_READ_FROM_CHANGE:
+			if(rotating_rotation_times > 0){				
+				rotating_move();
+				rotating_rotation_times--;
+			}
+		break;
+	}
+}
+
+#endif

HARDWARE/elemachinery/elemachinery.h

@@ -0,0 +1,27 @@
+#ifndef __ELEMACHINERY_H
+#define __ELEMACHINERY_H
+//#include "spi.h"
+#include <stdint.h>
+#include "sys.h"
+
+#define MOVE_THE_MOTOR_TO_THE_LEFT   GPIO_SetBits(GPIOD, GPIO_Pin_3); //电机向左移动
+#define MOVE_THE_MOTOR_TO_THE_RIGHT   GPIO_ResetBits(GPIOD, GPIO_Pin_3); // 电机向右移动
+
+#define INFRARED_STARTING_POINT  0x08D3
+#define INFRARED_ENDING_POINT 0x242E
+
+#define START_THE_BLACK_LIGHT  0x0EB0
+#define END_THE_BLACK_LIGHT 0x2273
+
+
+
+void change_spi(char *str);
+void tmc2240_write(uint8_t address, uint8_t data);
+void TMC2240_WriteReg(uint8_t addr, uint32_t data);
+void ProcessControl(void);
+void motor_motion(void);
+uint32_t TMC2240_ReadReg(uint8_t addr);
+void motor_rotating(void);
+void accelerate();
+void clean_limit(void);
+#endif

OBJ/USART.build_log.htm

@@ -3,62 +3,51 @@
 <pre>
 <h1>µVision Build Log</h1>
 <h2>Tool Versions:</h2>
-IDE-Version: μVision V5.38.0.0
+IDE-Version: ¦ÌVision V5.25.3.0
-Copyright (C) 2022 ARM Ltd and ARM Germany GmbH. All rights reserved.
+Copyright (C) 2018 ARM Ltd and ARM Germany GmbH. All rights reserved.
-License Information: baibaila3 baibaila3@163.com, keil, LIC=47GU5-GE5WI-JJF6S-L5PAY-BRK7N-23XAJ
+License Information: cgy cgy, cgy, LIC=CRMFW-QWL2E-RC0JZ-J6WMG-6WJZU-2F249
  
 Tool Versions:
-Toolchain:       MDK-ARM Plus  Version: 5.22
+Toolchain:       MDK-ARM Professional  Version: 5.15.0
 Toolchain Path:  C:\Keil_v5\ARM\ARMCC\Bin
-C Compiler:      Armcc.exe V5.06 update 4 (build 422)
+C Compiler:      Armcc.exe V5.05 update 2 (build 169)
-Assembler:       Armasm.exe V5.06 update 4 (build 422)
+Assembler:       Armasm.exe V5.05 update 2 (build 169)
-Linker/Locator:  ArmLink.exe V5.06 update 4 (build 422)
+Linker/Locator:  ArmLink.exe V5.05 update 2 (build 169)
-Library Manager: ArmAr.exe V5.06 update 4 (build 422)
+Library Manager: ArmAr.exe V5.05 update 2 (build 169)
-Hex Converter:   FromElf.exe V5.06 update 4 (build 422)
+Hex Converter:   FromElf.exe V5.05 update 2 (build 169)
-CPU DLL:         SARMCM3.DLL V5.22
+CPU DLL:         SARMCM3.DLL V5.15.0
-Dialog DLL:      DCM.DLL V1.13.9.0
+Dialog DLL:      DCM.DLL V1.13.2.0
-Target DLL:      STLink\ST-LINKIII-KEIL_SWO.dll V2.0.18.0
+Target DLL:      STLink\ST-LINKIII-KEIL_SWO.dll V2.0.15.0_KEIL
-Dialog DLL:      TCM.DLL V1.21.0.0
+Dialog DLL:      TCM.DLL V1.14.5.0
  
 <h2>Project:</h2>
-C:\Users\baiba\Downloads\c0d15-main\c0d15-main\标准例程-库函数版本\2，标准例程-库函数版本\实验4 串口实验\USER\USART.uvprojx
+D:\fighterteam\project\gu\make\code\sensor_2026\sensor_2026\USER\USART.uvprojx
-Project File Date:  02/08/2026
+Project File Date:  02/09/2026
 
 <h2>Output:</h2>
-*** Using Compiler 'V5.06 update 4 (build 422)', folder: 'C:\Keil_v5\ARM\ARMCC\Bin'
+*** Using Compiler 'V5.05 update 2 (build 169)', folder: 'C:\Keil_v5\ARM\ARMCC\Bin'
 Build target 'USART'
-assembling startup_stm32f40_41xxx.s...
+compiling stm32f4xx_adc.c...
-compiling stm32f4xx_usart.c...
+compiling stm32f4xx_spi.c...
-compiling delay.c...
+compiling stm32f4xx_tim.c...
-compiling misc.c...
-compiling stm32f4xx_rcc.c...
-compiling beep.c...
-compiling main.c...
-compiling system_stm32f4xx.c...
-compiling stm32f4xx_it.c...
-compiling sys.c...
-compiling led.c...
-compiling key.c...
-compiling stm32f4xx_syscfg.c...
-compiling stm32f4xx_gpio.c...
-compiling usart.c...
 linking...
-Program Size: Code=2932 RO-data=424 RW-data=28 ZI-data=1836  
+Program Size: Code=2844 RO-data=424 RW-data=32 ZI-data=1832  
 FromELF: creating hex file...
 "..\OBJ\USART.axf" - 0 Error(s), 0 Warning(s).
 
 <h2>Software Packages used:</h2>
 
 Package Vendor: Keil
-                http://www.keil.com/pack/Keil.STM32F4xx_DFP.2.11.0.pack
+                http://www.keil.com/pack/Keil.STM32F4xx_DFP.2.14.0.pack
-                Keil.STM32F4xx_DFP.2.11.0
+                Keil.STM32F4xx_DFP.2.14.0
                 STMicroelectronics STM32F4 Series Device Support, Drivers and Examples
 
 <h2>Collection of Component include folders:</h2>
-  C:/Keil_v5/ARM/PACK/Keil/STM32F4xx_DFP/2.11.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include
+  .\RTE\_USART
+  C:\Keil_v5\ARM\PACK\Keil\STM32F4xx_DFP\2.14.0\Drivers\CMSIS\Device\ST\STM32F4xx\Include
 
 <h2>Collection of Component Files used:</h2>
-Build Time Elapsed:  00:00:03
+Build Time Elapsed:  00:00:02
 </pre>
 </body>
 </html>

OBJ/USART.htm

@@ -3,7 +3,7 @@
 <title>Static Call Graph - [..\OBJ\USART.axf]</title></head>
 <body><HR>
 <H1>Static Call Graph for image ..\OBJ\USART.axf</H1><HR>
-<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5060422: Last Updated: Sun Feb 08 17:42:53 2026
+<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5050169: Last Updated: Mon Feb 09 11:13:49 2026
 <BR><P>
 <H3>Maximum Stack Usage =        128 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)</H3><H3>
 Call chain for Maximum Stack Depth:</H3>
@@ -99,8 +99,8 @@ Function Pointers
  <LI><a href="#[27]">TIM1_CC_IRQHandler</a> from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  <LI><a href="#[26]">TIM1_TRG_COM_TIM11_IRQHandler</a> from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  <LI><a href="#[25]">TIM1_UP_TIM10_IRQHandler</a> from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
- <LI><a href="#[28]">TIM2_IRQHandler</a> from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
+ <LI><a href="#[28]">TIM2_IRQHandler</a> from timer.o(i.TIM2_IRQHandler) referenced from startup_stm32f40_41xxx.o(RESET)
- <LI><a href="#[29]">TIM3_IRQHandler</a> from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
+ <LI><a href="#[29]">TIM3_IRQHandler</a> from timer.o(i.TIM3_IRQHandler) referenced from startup_stm32f40_41xxx.o(RESET)
  <LI><a href="#[2a]">TIM4_IRQHandler</a> from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  <LI><a href="#[3e]">TIM5_IRQHandler</a> from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  <LI><a href="#[42]">TIM6_DAC_IRQHandler</a> from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
@@ -109,12 +109,12 @@ Function Pointers
  <LI><a href="#[3a]">TIM8_CC_IRQHandler</a> from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  <LI><a href="#[39]">TIM8_TRG_COM_TIM14_IRQHandler</a> from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  <LI><a href="#[38]">TIM8_UP_TIM13_IRQHandler</a> from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
- <LI><a href="#[40]">UART4_IRQHandler</a> from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
+ <LI><a href="#[40]">UART4_IRQHandler</a> from usart.o(i.UART4_IRQHandler) referenced from startup_stm32f40_41xxx.o(RESET)
- <LI><a href="#[41]">UART5_IRQHandler</a> from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
+ <LI><a href="#[41]">UART5_IRQHandler</a> from usart.o(i.UART5_IRQHandler) referenced from startup_stm32f40_41xxx.o(RESET)
  <LI><a href="#[31]">USART1_IRQHandler</a> from usart.o(i.USART1_IRQHandler) referenced from startup_stm32f40_41xxx.o(RESET)
- <LI><a href="#[32]">USART2_IRQHandler</a> from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
+ <LI><a href="#[32]">USART2_IRQHandler</a> from usart.o(i.USART2_IRQHandler) referenced from startup_stm32f40_41xxx.o(RESET)
- <LI><a href="#[33]">USART3_IRQHandler</a> from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
+ <LI><a href="#[33]">USART3_IRQHandler</a> from usart.o(i.USART3_IRQHandler) referenced from startup_stm32f40_41xxx.o(RESET)
- <LI><a href="#[53]">USART6_IRQHandler</a> from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
+ <LI><a href="#[53]">USART6_IRQHandler</a> from usart.o(i.USART6_IRQHandler) referenced from startup_stm32f40_41xxx.o(RESET)
  <LI><a href="#[7]">UsageFault_Handler</a> from stm32f4xx_it.o(i.UsageFault_Handler) referenced from startup_stm32f40_41xxx.o(RESET)
  <LI><a href="#[c]">WWDG_IRQHandler</a> from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  <LI><a href="#[62]">__main</a> from __main.o(!!!main) referenced from startup_stm32f40_41xxx.o(.text)
@@ -126,8 +126,8 @@ Function Pointers
 Global Symbols
 </H3>
 <P><STRONG><a name="[62]"></a>__main</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, __main.o(!!!main))
-<BR><BR>[Calls]<UL><LI><a href="#[64]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_entry
+<BR><BR>[Calls]<UL><LI><a href="#[63]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__scatterload
-<LI><a href="#[63]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__scatterload
+<LI><a href="#[64]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_entry
 </UL>
 
 <P><STRONG><a name="[63]"></a>__scatterload</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __scatter.o(!!!scatter))
@@ -138,9 +138,9 @@ Global Symbols
 <BR><BR>[Calls]<UL><LI><a href="#[64]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_entry
 </UL>
 
-<P><STRONG><a name="[92]"></a>__scatterload_rt2_thumb_only</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __scatter.o(!!!scatter), UNUSED)
+<P><STRONG><a name="[93]"></a>__scatterload_rt2_thumb_only</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __scatter.o(!!!scatter), UNUSED)
 
-<P><STRONG><a name="[93]"></a>__scatterload_null</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __scatter.o(!!!scatter), UNUSED)
+<P><STRONG><a name="[94]"></a>__scatterload_null</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __scatter.o(!!!scatter), UNUSED)
 
 <P><STRONG><a name="[66]"></a>__scatterload_copy</STRONG> (Thumb, 26 bytes, Stack size unknown bytes, __scatter_copy.o(!!handler_copy), UNUSED)
 <BR><BR>[Calls]<UL><LI><a href="#[66]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__scatterload_copy
@@ -148,7 +148,7 @@ Global Symbols
 <BR>[Called By]<UL><LI><a href="#[66]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__scatterload_copy
 </UL>
 
-<P><STRONG><a name="[94]"></a>__scatterload_zeroinit</STRONG> (Thumb, 28 bytes, Stack size unknown bytes, __scatter_zi.o(!!handler_zi), UNUSED)
+<P><STRONG><a name="[95]"></a>__scatterload_zeroinit</STRONG> (Thumb, 28 bytes, Stack size unknown bytes, __scatter_zi.o(!!handler_zi), UNUSED)
 
 <P><STRONG><a name="[6c]"></a>__rt_lib_init</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit.o(.ARM.Collect$$libinit$$00000000))
 <BR><BR>[Called By]<UL><LI><a href="#[6b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_entry_li
@@ -158,67 +158,65 @@ Global Symbols
 <BR><BR>[Calls]<UL><LI><a href="#[68]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_fp_init
 </UL>
 
-<P><STRONG><a name="[95]"></a>__rt_lib_init_alloca_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000002E))
+<P><STRONG><a name="[96]"></a>__rt_lib_init_alloca_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000002E))
 
-<P><STRONG><a name="[96]"></a>__rt_lib_init_argv_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000002C))
+<P><STRONG><a name="[97]"></a>__rt_lib_init_argv_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000002C))
 
-<P><STRONG><a name="[97]"></a>__rt_lib_init_atexit_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000001B))
+<P><STRONG><a name="[98]"></a>__rt_lib_init_atexit_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000001B))
 
-<P><STRONG><a name="[98]"></a>__rt_lib_init_clock_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000021))
+<P><STRONG><a name="[99]"></a>__rt_lib_init_clock_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000021))
 
-<P><STRONG><a name="[99]"></a>__rt_lib_init_cpp_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000032))
+<P><STRONG><a name="[9a]"></a>__rt_lib_init_cpp_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000032))
 
-<P><STRONG><a name="[9a]"></a>__rt_lib_init_exceptions_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000030))
+<P><STRONG><a name="[9b]"></a>__rt_lib_init_exceptions_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000030))
 
-<P><STRONG><a name="[9b]"></a>__rt_lib_init_fp_trap_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000001F))
+<P><STRONG><a name="[9c]"></a>__rt_lib_init_fp_trap_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000001F))
 
-<P><STRONG><a name="[9c]"></a>__rt_lib_init_getenv_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000023))
+<P><STRONG><a name="[9d]"></a>__rt_lib_init_getenv_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000023))
 
-<P><STRONG><a name="[9d]"></a>__rt_lib_init_heap_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000000A))
+<P><STRONG><a name="[9e]"></a>__rt_lib_init_heap_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000000A))
 
-<P><STRONG><a name="[9e]"></a>__rt_lib_init_lc_collate_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000011))
+<P><STRONG><a name="[9f]"></a>__rt_lib_init_lc_collate_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000011))
 
-<P><STRONG><a name="[9f]"></a>__rt_lib_init_lc_ctype_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000013))
+<P><STRONG><a name="[a0]"></a>__rt_lib_init_lc_ctype_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000013))
 
-<P><STRONG><a name="[a0]"></a>__rt_lib_init_lc_monetary_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000015))
+<P><STRONG><a name="[a1]"></a>__rt_lib_init_lc_monetary_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000015))
 
-<P><STRONG><a name="[a1]"></a>__rt_lib_init_lc_numeric_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000017))
+<P><STRONG><a name="[a2]"></a>__rt_lib_init_lc_numeric_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000017))
 
-<P><STRONG><a name="[a2]"></a>__rt_lib_init_lc_time_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000019))
+<P><STRONG><a name="[a3]"></a>__rt_lib_init_lc_time_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000019))
 
-<P><STRONG><a name="[a3]"></a>__rt_lib_init_preinit_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000004))
+<P><STRONG><a name="[a4]"></a>__rt_lib_init_preinit_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000004))
 
-<P><STRONG><a name="[a4]"></a>__rt_lib_init_rand_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000000E))
+<P><STRONG><a name="[a5]"></a>__rt_lib_init_rand_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000000E))
 
-<P><STRONG><a name="[a5]"></a>__rt_lib_init_return</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000033))
+<P><STRONG><a name="[a6]"></a>__rt_lib_init_return</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000033))
 
-<P><STRONG><a name="[a6]"></a>__rt_lib_init_signal_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000001D))
+<P><STRONG><a name="[a7]"></a>__rt_lib_init_signal_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000001D))
 
-<P><STRONG><a name="[a7]"></a>__rt_lib_init_stdio_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000025))
+<P><STRONG><a name="[a8]"></a>__rt_lib_init_stdio_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000025))
 
-<P><STRONG><a name="[a8]"></a>__rt_lib_init_user_alloc_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000000C))
+<P><STRONG><a name="[a9]"></a>__rt_lib_init_user_alloc_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000000C))
 
 <P><STRONG><a name="[71]"></a>__rt_lib_shutdown</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown.o(.ARM.Collect$$libshutdown$$00000000))
 <BR><BR>[Called By]<UL><LI><a href="#[70]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_exit_ls
 </UL>
 
-<P><STRONG><a name="[a9]"></a>__rt_lib_shutdown_cpp_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$00000002))
+<P><STRONG><a name="[aa]"></a>__rt_lib_shutdown_fp_trap_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$00000006))
 
-<P><STRONG><a name="[aa]"></a>__rt_lib_shutdown_fp_trap_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$00000007))
+<P><STRONG><a name="[ab]"></a>__rt_lib_shutdown_heap_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$0000000E))
 
-<P><STRONG><a name="[ab]"></a>__rt_lib_shutdown_heap_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$0000000F))
+<P><STRONG><a name="[ac]"></a>__rt_lib_shutdown_return</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$0000000F))
 
-<P><STRONG><a name="[ac]"></a>__rt_lib_shutdown_return</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$00000010))
+<P><STRONG><a name="[ad]"></a>__rt_lib_shutdown_signal_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$00000009))
 
-<P><STRONG><a name="[ad]"></a>__rt_lib_shutdown_signal_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$0000000A))
+<P><STRONG><a name="[ae]"></a>__rt_lib_shutdown_stdio_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$00000003))
 
-<P><STRONG><a name="[ae]"></a>__rt_lib_shutdown_stdio_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$00000004))
+<P><STRONG><a name="[af]"></a>__rt_lib_shutdown_user_alloc_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$0000000B))
-
-<P><STRONG><a name="[af]"></a>__rt_lib_shutdown_user_alloc_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$0000000C))
 
 <P><STRONG><a name="[64]"></a>__rt_entry</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __rtentry.o(.ARM.Collect$$rtentry$$00000000))
-<BR><BR>[Called By]<UL><LI><a href="#[62]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__main
+<BR><BR>[Called By]<UL><LI><a href="#[65]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__scatterload_rt2
-<LI><a href="#[65]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__scatterload_rt2
+<LI><a href="#[62]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__main
 </UL>
 
 <P><STRONG><a name="[b0]"></a>__rt_entry_presh_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __rtentry2.o(.ARM.Collect$$rtentry$$00000002))
@@ -462,12 +460,6 @@ Global Symbols
 <P><STRONG><a name="[25]"></a>TIM1_UP_TIM10_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f40_41xxx.o(RESET)
 </UL>
-<P><STRONG><a name="[28]"></a>TIM2_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
-<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f40_41xxx.o(RESET)
-</UL>
-<P><STRONG><a name="[29]"></a>TIM3_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
-<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f40_41xxx.o(RESET)
-</UL>
 <P><STRONG><a name="[2a]"></a>TIM4_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f40_41xxx.o(RESET)
 </UL>
@@ -492,21 +484,6 @@ Global Symbols
 <P><STRONG><a name="[38]"></a>TIM8_UP_TIM13_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f40_41xxx.o(RESET)
 </UL>
-<P><STRONG><a name="[40]"></a>UART4_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
-<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f40_41xxx.o(RESET)
-</UL>
-<P><STRONG><a name="[41]"></a>UART5_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
-<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f40_41xxx.o(RESET)
-</UL>
-<P><STRONG><a name="[32]"></a>USART2_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
-<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f40_41xxx.o(RESET)
-</UL>
-<P><STRONG><a name="[33]"></a>USART3_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
-<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f40_41xxx.o(RESET)
-</UL>
-<P><STRONG><a name="[53]"></a>USART6_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
-<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f40_41xxx.o(RESET)
-</UL>
 <P><STRONG><a name="[c]"></a>WWDG_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f40_41xxx.o(RESET)
 </UL>
@@ -571,11 +548,8 @@ Global Symbols
 <BR>[Called By]<UL><LI><a href="#[76]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_printf_char_common
 </UL>
 
-<P><STRONG><a name="[6f]"></a>exit</STRONG> (Thumb, 18 bytes, Stack size 8 bytes, exit.o(.text))
+<P><STRONG><a name="[6f]"></a>exit</STRONG> (Thumb, 12 bytes, Stack size 0 bytes, exit.o(.text))
-<BR><BR>[Stack]<UL><LI>Max Depth = 8 + Unknown Stack Size
+<BR><BR>[Calls]<UL><LI><a href="#[7b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_exit
-<LI>Call Chain = exit
-</UL>
-<BR>[Calls]<UL><LI><a href="#[7b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_exit
 </UL>
 <BR>[Called By]<UL><LI><a href="#[6d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_entry_main
 </UL>
@@ -597,18 +571,23 @@ Global Symbols
 <P><STRONG><a name="[7e]"></a>GPIO_Init</STRONG> (Thumb, 144 bytes, Stack size 20 bytes, stm32f4xx_gpio.o(i.GPIO_Init))
 <BR><BR>[Stack]<UL><LI>Max Depth = 20<LI>Call Chain = GPIO_Init
 </UL>
-<BR>[Called By]<UL><LI><a href="#[8a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uart_init
+<BR>[Called By]<UL><LI><a href="#[8b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uart1_init
 <LI><a href="#[7c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;LED_Init
 </UL>
 
-<P><STRONG><a name="[8e]"></a>GPIO_PinAFConfig</STRONG> (Thumb, 70 bytes, Stack size 20 bytes, stm32f4xx_gpio.o(i.GPIO_PinAFConfig))
+<P><STRONG><a name="[8f]"></a>GPIO_PinAFConfig</STRONG> (Thumb, 70 bytes, Stack size 20 bytes, stm32f4xx_gpio.o(i.GPIO_PinAFConfig))
 <BR><BR>[Stack]<UL><LI>Max Depth = 20<LI>Call Chain = GPIO_PinAFConfig
 </UL>
-<BR>[Called By]<UL><LI><a href="#[8a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uart_init
+<BR>[Called By]<UL><LI><a href="#[8b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uart1_init
+</UL>
+
+<P><STRONG><a name="[83]"></a>GPIO_ResetBits</STRONG> (Thumb, 4 bytes, Stack size 0 bytes, stm32f4xx_gpio.o(i.GPIO_ResetBits))
+<BR><BR>[Called By]<UL><LI><a href="#[28]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM2_IRQHandler
 </UL>
 
 <P><STRONG><a name="[7f]"></a>GPIO_SetBits</STRONG> (Thumb, 4 bytes, Stack size 0 bytes, stm32f4xx_gpio.o(i.GPIO_SetBits))
-<BR><BR>[Called By]<UL><LI><a href="#[7c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;LED_Init
+<BR><BR>[Called By]<UL><LI><a href="#[28]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM2_IRQHandler
+<LI><a href="#[7c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;LED_Init
 </UL>
 
 <P><STRONG><a name="[4]"></a>HardFault_Handler</STRONG> (Thumb, 4 bytes, Stack size 0 bytes, stm32f4xx_it.o(i.HardFault_Handler))
@@ -630,13 +609,13 @@ Global Symbols
 <P><STRONG><a name="[3]"></a>NMI_Handler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_it.o(i.NMI_Handler))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f40_41xxx.o(RESET)
 </UL>
-<P><STRONG><a name="[91]"></a>NVIC_Init</STRONG> (Thumb, 106 bytes, Stack size 16 bytes, misc.o(i.NVIC_Init))
+<P><STRONG><a name="[92]"></a>NVIC_Init</STRONG> (Thumb, 106 bytes, Stack size 16 bytes, misc.o(i.NVIC_Init))
 <BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = NVIC_Init
 </UL>
-<BR>[Called By]<UL><LI><a href="#[8a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uart_init
+<BR>[Called By]<UL><LI><a href="#[8b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uart1_init
 </UL>
 
-<P><STRONG><a name="[89]"></a>NVIC_PriorityGroupConfig</STRONG> (Thumb, 10 bytes, Stack size 0 bytes, misc.o(i.NVIC_PriorityGroupConfig))
+<P><STRONG><a name="[8a]"></a>NVIC_PriorityGroupConfig</STRONG> (Thumb, 10 bytes, Stack size 0 bytes, misc.o(i.NVIC_PriorityGroupConfig))
 <BR><BR>[Called By]<UL><LI><a href="#[6e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>
 
@@ -644,25 +623,25 @@ Global Symbols
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f40_41xxx.o(RESET)
 </UL>
 <P><STRONG><a name="[7d]"></a>RCC_AHB1PeriphClockCmd</STRONG> (Thumb, 26 bytes, Stack size 0 bytes, stm32f4xx_rcc.o(i.RCC_AHB1PeriphClockCmd))
-<BR><BR>[Called By]<UL><LI><a href="#[8a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uart_init
+<BR><BR>[Called By]<UL><LI><a href="#[8b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uart1_init
 <LI><a href="#[7c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;LED_Init
 </UL>
 
-<P><STRONG><a name="[8d]"></a>RCC_APB2PeriphClockCmd</STRONG> (Thumb, 26 bytes, Stack size 0 bytes, stm32f4xx_rcc.o(i.RCC_APB2PeriphClockCmd))
+<P><STRONG><a name="[8e]"></a>RCC_APB2PeriphClockCmd</STRONG> (Thumb, 26 bytes, Stack size 0 bytes, stm32f4xx_rcc.o(i.RCC_APB2PeriphClockCmd))
-<BR><BR>[Called By]<UL><LI><a href="#[8a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uart_init
+<BR><BR>[Called By]<UL><LI><a href="#[8b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uart1_init
 </UL>
 
-<P><STRONG><a name="[84]"></a>RCC_GetClocksFreq</STRONG> (Thumb, 214 bytes, Stack size 20 bytes, stm32f4xx_rcc.o(i.RCC_GetClocksFreq))
+<P><STRONG><a name="[85]"></a>RCC_GetClocksFreq</STRONG> (Thumb, 214 bytes, Stack size 20 bytes, stm32f4xx_rcc.o(i.RCC_GetClocksFreq))
 <BR><BR>[Stack]<UL><LI>Max Depth = 20<LI>Call Chain = RCC_GetClocksFreq
 </UL>
-<BR>[Called By]<UL><LI><a href="#[83]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;USART_Init
+<BR>[Called By]<UL><LI><a href="#[84]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;USART_Init
 </UL>
 
 <P><STRONG><a name="[8]"></a>SVC_Handler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_it.o(i.SVC_Handler))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f40_41xxx.o(RESET)
 </UL>
-<P><STRONG><a name="[86]"></a>SysTick_CLKSourceConfig</STRONG> (Thumb, 40 bytes, Stack size 0 bytes, misc.o(i.SysTick_CLKSourceConfig))
+<P><STRONG><a name="[87]"></a>SysTick_CLKSourceConfig</STRONG> (Thumb, 40 bytes, Stack size 0 bytes, misc.o(i.SysTick_CLKSourceConfig))
-<BR><BR>[Called By]<UL><LI><a href="#[85]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;delay_init
+<BR><BR>[Called By]<UL><LI><a href="#[86]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;delay_init
 </UL>
 
 <P><STRONG><a name="[b]"></a>SysTick_Handler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_it.o(i.SysTick_Handler))
@@ -675,47 +654,70 @@ Global Symbols
 </UL>
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f40_41xxx.o(.text)
 </UL>
-<P><STRONG><a name="[31]"></a>USART1_IRQHandler</STRONG> (Thumb, 122 bytes, Stack size 8 bytes, usart.o(i.USART1_IRQHandler))
+<P><STRONG><a name="[28]"></a>TIM2_IRQHandler</STRONG> (Thumb, 80 bytes, Stack size 8 bytes, timer.o(i.TIM2_IRQHandler))
-<BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = USART1_IRQHandler &rArr; USART_GetITStatus
+<BR><BR>[Stack]<UL><LI>Max Depth = 20<LI>Call Chain = TIM2_IRQHandler &rArr; TIM_GetITStatus
 </UL>
-<BR>[Calls]<UL><LI><a href="#[82]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;USART_ReceiveData
+<BR>[Calls]<UL><LI><a href="#[81]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_GetITStatus
-<LI><a href="#[81]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;USART_GetITStatus
+<LI><a href="#[82]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_ClearITPendingBit
+<LI><a href="#[83]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;GPIO_ResetBits
+<LI><a href="#[7f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;GPIO_SetBits
 </UL>
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f40_41xxx.o(RESET)
 </UL>
-<P><STRONG><a name="[8f]"></a>USART_Cmd</STRONG> (Thumb, 24 bytes, Stack size 0 bytes, stm32f4xx_usart.o(i.USART_Cmd))
+<P><STRONG><a name="[29]"></a>TIM3_IRQHandler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, timer.o(i.TIM3_IRQHandler))
-<BR><BR>[Called By]<UL><LI><a href="#[8a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uart_init
+<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f40_41xxx.o(RESET)
+</UL>
+<P><STRONG><a name="[82]"></a>TIM_ClearITPendingBit</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_ClearITPendingBit))
+<BR><BR>[Called By]<UL><LI><a href="#[28]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM2_IRQHandler
 </UL>
 
-<P><STRONG><a name="[8c]"></a>USART_GetFlagStatus</STRONG> (Thumb, 26 bytes, Stack size 0 bytes, stm32f4xx_usart.o(i.USART_GetFlagStatus))
+<P><STRONG><a name="[81]"></a>TIM_GetITStatus</STRONG> (Thumb, 34 bytes, Stack size 12 bytes, stm32f4xx_tim.o(i.TIM_GetITStatus))
+<BR><BR>[Stack]<UL><LI>Max Depth = 12<LI>Call Chain = TIM_GetITStatus
+</UL>
+<BR>[Called By]<UL><LI><a href="#[28]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM2_IRQHandler
+</UL>
+
+<P><STRONG><a name="[40]"></a>UART4_IRQHandler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, usart.o(i.UART4_IRQHandler))
+<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f40_41xxx.o(RESET)
+</UL>
+<P><STRONG><a name="[41]"></a>UART5_IRQHandler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, usart.o(i.UART5_IRQHandler))
+<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f40_41xxx.o(RESET)
+</UL>
+<P><STRONG><a name="[31]"></a>USART1_IRQHandler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, usart.o(i.USART1_IRQHandler))
+<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f40_41xxx.o(RESET)
+</UL>
+<P><STRONG><a name="[32]"></a>USART2_IRQHandler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, usart.o(i.USART2_IRQHandler))
+<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f40_41xxx.o(RESET)
+</UL>
+<P><STRONG><a name="[33]"></a>USART3_IRQHandler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, usart.o(i.USART3_IRQHandler))
+<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f40_41xxx.o(RESET)
+</UL>
+<P><STRONG><a name="[53]"></a>USART6_IRQHandler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, usart.o(i.USART6_IRQHandler))
+<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f40_41xxx.o(RESET)
+</UL>
+<P><STRONG><a name="[90]"></a>USART_Cmd</STRONG> (Thumb, 24 bytes, Stack size 0 bytes, stm32f4xx_usart.o(i.USART_Cmd))
+<BR><BR>[Called By]<UL><LI><a href="#[8b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uart1_init
+</UL>
+
+<P><STRONG><a name="[8d]"></a>USART_GetFlagStatus</STRONG> (Thumb, 26 bytes, Stack size 0 bytes, stm32f4xx_usart.o(i.USART_GetFlagStatus))
 <BR><BR>[Called By]<UL><LI><a href="#[6e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>
 
-<P><STRONG><a name="[81]"></a>USART_GetITStatus</STRONG> (Thumb, 84 bytes, Stack size 16 bytes, stm32f4xx_usart.o(i.USART_GetITStatus))
+<P><STRONG><a name="[91]"></a>USART_ITConfig</STRONG> (Thumb, 74 bytes, Stack size 20 bytes, stm32f4xx_usart.o(i.USART_ITConfig))
-<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = USART_GetITStatus
-</UL>
-<BR>[Called By]<UL><LI><a href="#[31]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;USART1_IRQHandler
-</UL>
-
-<P><STRONG><a name="[90]"></a>USART_ITConfig</STRONG> (Thumb, 74 bytes, Stack size 20 bytes, stm32f4xx_usart.o(i.USART_ITConfig))
 <BR><BR>[Stack]<UL><LI>Max Depth = 20<LI>Call Chain = USART_ITConfig
 </UL>
-<BR>[Called By]<UL><LI><a href="#[8a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uart_init
+<BR>[Called By]<UL><LI><a href="#[8b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uart1_init
 </UL>
 
-<P><STRONG><a name="[83]"></a>USART_Init</STRONG> (Thumb, 204 bytes, Stack size 48 bytes, stm32f4xx_usart.o(i.USART_Init))
+<P><STRONG><a name="[84]"></a>USART_Init</STRONG> (Thumb, 204 bytes, Stack size 48 bytes, stm32f4xx_usart.o(i.USART_Init))
 <BR><BR>[Stack]<UL><LI>Max Depth = 68<LI>Call Chain = USART_Init &rArr; RCC_GetClocksFreq
 </UL>
-<BR>[Calls]<UL><LI><a href="#[84]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;RCC_GetClocksFreq
+<BR>[Calls]<UL><LI><a href="#[85]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;RCC_GetClocksFreq
 </UL>
-<BR>[Called By]<UL><LI><a href="#[8a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uart_init
+<BR>[Called By]<UL><LI><a href="#[8b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uart1_init
 </UL>
 
-<P><STRONG><a name="[82]"></a>USART_ReceiveData</STRONG> (Thumb, 10 bytes, Stack size 0 bytes, stm32f4xx_usart.o(i.USART_ReceiveData))
+<P><STRONG><a name="[8c]"></a>USART_SendData</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, stm32f4xx_usart.o(i.USART_SendData))
-<BR><BR>[Called By]<UL><LI><a href="#[31]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;USART1_IRQHandler
-</UL>
-
-<P><STRONG><a name="[8b]"></a>USART_SendData</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, stm32f4xx_usart.o(i.USART_SendData))
 <BR><BR>[Called By]<UL><LI><a href="#[6e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>
 
@@ -726,24 +728,24 @@ Global Symbols
 <BR><BR>[Called By]<UL><LI><a href="#[72]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_exit_exit
 </UL>
 
-<P><STRONG><a name="[85]"></a>delay_init</STRONG> (Thumb, 52 bytes, Stack size 8 bytes, delay.o(i.delay_init))
+<P><STRONG><a name="[86]"></a>delay_init</STRONG> (Thumb, 52 bytes, Stack size 8 bytes, delay.o(i.delay_init))
 <BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = delay_init
 </UL>
-<BR>[Calls]<UL><LI><a href="#[86]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SysTick_CLKSourceConfig
+<BR>[Calls]<UL><LI><a href="#[87]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SysTick_CLKSourceConfig
 </UL>
 <BR>[Called By]<UL><LI><a href="#[6e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>
 
-<P><STRONG><a name="[87]"></a>delay_ms</STRONG> (Thumb, 56 bytes, Stack size 16 bytes, delay.o(i.delay_ms))
+<P><STRONG><a name="[88]"></a>delay_ms</STRONG> (Thumb, 56 bytes, Stack size 16 bytes, delay.o(i.delay_ms))
 <BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = delay_ms
 </UL>
-<BR>[Calls]<UL><LI><a href="#[88]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;delay_xms
+<BR>[Calls]<UL><LI><a href="#[89]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;delay_xms
 </UL>
 <BR>[Called By]<UL><LI><a href="#[6e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>
 
-<P><STRONG><a name="[88]"></a>delay_xms</STRONG> (Thumb, 72 bytes, Stack size 0 bytes, delay.o(i.delay_xms))
+<P><STRONG><a name="[89]"></a>delay_xms</STRONG> (Thumb, 72 bytes, Stack size 0 bytes, delay.o(i.delay_xms))
-<BR><BR>[Called By]<UL><LI><a href="#[87]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;delay_ms
+<BR><BR>[Called By]<UL><LI><a href="#[88]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;delay_ms
 </UL>
 
 <P><STRONG><a name="[60]"></a>fputc</STRONG> (Thumb, 22 bytes, Stack size 0 bytes, usart.o(i.fputc))
@@ -752,29 +754,29 @@ Global Symbols
 <P><STRONG><a name="[6e]"></a>main</STRONG> (Thumb, 184 bytes, Stack size 0 bytes, main.o(i.main))
 <BR><BR>[Stack]<UL><LI>Max Depth = 128<LI>Call Chain = main &rArr; __2printf &rArr; _printf_char_file &rArr; _printf_char_common &rArr; __printf
 </UL>
-<BR>[Calls]<UL><LI><a href="#[8a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uart_init
+<BR>[Calls]<UL><LI><a href="#[8b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uart1_init
-<LI><a href="#[87]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;delay_ms
+<LI><a href="#[88]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;delay_ms
-<LI><a href="#[85]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;delay_init
+<LI><a href="#[86]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;delay_init
-<LI><a href="#[8b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;USART_SendData
+<LI><a href="#[8c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;USART_SendData
-<LI><a href="#[8c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;USART_GetFlagStatus
+<LI><a href="#[8d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;USART_GetFlagStatus
-<LI><a href="#[89]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;NVIC_PriorityGroupConfig
+<LI><a href="#[8a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;NVIC_PriorityGroupConfig
 <LI><a href="#[7c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;LED_Init
 <LI><a href="#[74]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__2printf
 </UL>
 <BR>[Called By]<UL><LI><a href="#[6d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_entry_main
 </UL>
 
-<P><STRONG><a name="[8a]"></a>uart_init</STRONG> (Thumb, 164 bytes, Stack size 40 bytes, usart.o(i.uart_init))
+<P><STRONG><a name="[8b]"></a>uart1_init</STRONG> (Thumb, 164 bytes, Stack size 40 bytes, usart.o(i.uart1_init))
-<BR><BR>[Stack]<UL><LI>Max Depth = 108<LI>Call Chain = uart_init &rArr; USART_Init &rArr; RCC_GetClocksFreq
+<BR><BR>[Stack]<UL><LI>Max Depth = 108<LI>Call Chain = uart1_init &rArr; USART_Init &rArr; RCC_GetClocksFreq
 </UL>
-<BR>[Calls]<UL><LI><a href="#[83]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;USART_Init
+<BR>[Calls]<UL><LI><a href="#[92]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;NVIC_Init
-<LI><a href="#[90]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;USART_ITConfig
+<LI><a href="#[8f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;GPIO_PinAFConfig
-<LI><a href="#[8f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;USART_Cmd
+<LI><a href="#[8e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;RCC_APB2PeriphClockCmd
-<LI><a href="#[8d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;RCC_APB2PeriphClockCmd
-<LI><a href="#[91]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;NVIC_Init
-<LI><a href="#[8e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;GPIO_PinAFConfig
 <LI><a href="#[7d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;RCC_AHB1PeriphClockCmd
 <LI><a href="#[7e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;GPIO_Init
+<LI><a href="#[84]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;USART_Init
+<LI><a href="#[91]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;USART_ITConfig
+<LI><a href="#[90]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;USART_Cmd
 </UL>
 <BR>[Called By]<UL><LI><a href="#[6e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>

OBJ/USART.lnp

@@ -1,10 +1,14 @@
---cpu=Cortex-M4.fp.sp
+--cpu=Cortex-M4.fp
 "..\obj\main.o"
 "..\obj\stm32f4xx_it.o"
 "..\obj\system_stm32f4xx.o"
 "..\obj\led.o"
 "..\obj\beep.o"
 "..\obj\key.o"
+"..\obj\adc.o"
+"..\obj\elemachinery.o"
+"..\obj\timer.o"
+"..\obj\spi.o"
 "..\obj\delay.o"
 "..\obj\sys.o"
 "..\obj\usart.o"
@@ -14,6 +18,9 @@
 "..\obj\stm32f4xx_rcc.o"
 "..\obj\stm32f4xx_syscfg.o"
 "..\obj\stm32f4xx_usart.o"
+"..\obj\stm32f4xx_adc.o"
+"..\obj\stm32f4xx_tim.o"
+"..\obj\stm32f4xx_spi.o"
 --strict --scatter "..\OBJ\USART.sct"
 --summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols
 --info sizes --info totals --info unused --info veneers

OBJ/USART.sct

@@ -7,7 +7,6 @@ LR_IROM1 0x08000000 0x00080000  {    ; load region size_region
    *.o (RESET, +First)
    *(InRoot$$Sections)
    .ANY (+RO)
-   .ANY (+XO)
   }
   RW_IRAM1 0x20000000 0x00020000  {  ; RW data
    .ANY (+RW +ZI)

OBJ/startup_stm32f40_41xxx.lst

@@ -867,12 +867,12 @@ ARM Macro Assembler    Page 14
               00000400 
               00000200 
               00000000 
-Command Line: --debug --xref --diag_suppress=9931 --cpu=Cortex-M4.fp.sp --apcs=
+Command Line: --debug --xref --diag_suppress=9931 --cpu=Cortex-M4.fp --apcs=int
-interwork --depend=..\obj\startup_stm32f40_41xxx.d -o..\obj\startup_stm32f40_41
+erwork --depend=..\obj\startup_stm32f40_41xxx.d -o..\obj\startup_stm32f40_41xxx
-xxx.o -IC:\Keil_v5\ARM\PACK\Keil\STM32F4xx_DFP\2.11.0\Drivers\CMSIS\Device\ST\S
+.o -I.\RTE\_USART -IC:\Keil_v5\ARM\PACK\Keil\STM32F4xx_DFP\2.14.0\Drivers\CMSIS
-TM32F4xx\Include --predefine="__UVISION_VERSION SETA 538" --predefine="STM32F40
+\Device\ST\STM32F4xx\Include -IC:\Keil_v5\ARM\CMSIS\Include --predefine="__UVIS
-7xx SETA 1" --list=..\obj\startup_stm32f40_41xxx.lst ..\CORE\startup_stm32f40_4
+ION_VERSION SETA 525" --predefine="STM32F407xx SETA 1" --list=..\obj\startup_st
-1xxx.s
+m32f40_41xxx.lst ..\CORE\startup_stm32f40_41xxx.s
 
 
 

SYSTEM/usart/usart.c

@@ -57,7 +57,6 @@ int fputc(int ch, FILE *f)
 }
 #endif
  
-#if EN_USART1_RX   //如果使能了接收
 //串口1中断服务程序
 //注意,读取USARTx->SR能避免莫名其妙的错误   	
 u8 USART_RX_BUF[USART_REC_LEN];     //接收缓冲,最大USART_REC_LEN个字节.
@@ -69,7 +68,7 @@ u16 USART_RX_STA=0;       //
 
 //初始化IO 串口1 
 //bound:波特率
-void uart_init(u32 bound){
+void uart1_init(u32 bound){
    //GPIO端口设置
   GPIO_InitTypeDef GPIO_InitStructure;
 	USART_InitTypeDef USART_InitStructure;
@@ -103,7 +102,7 @@ void uart_init(u32 bound){
 	
 	//USART_ClearFlag(USART1, USART_FLAG_TC);
 	
-#if EN_USART1_RX	
+
 	USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);//开启相关中断
 
 	//Usart1 NVIC 配置
@@ -113,46 +112,279 @@ void uart_init(u32 bound){
 	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;			//IRQ通道使能
 	NVIC_Init(&NVIC_InitStructure);	//根据指定的参数初始化VIC寄存器、
 	
-#endif
-	
 }
 
 
 void USART1_IRQHandler(void)                	//串口1中断服务程序
 {
 	u8 Res;
-#if SYSTEM_SUPPORT_OS 		//如果SYSTEM_SUPPORT_OS为真，则需要支持OS.
-	OSIntEnter();    
-#endif
-	if(USART_GetITStatus(USART1, USART_IT_RXNE) != RESET)  //接收中断(接收到的数据必须是0x0d 0x0a结尾)
-	{
-		Res =USART_ReceiveData(USART1);//(USART1->DR);	//读取接收到的数据
-		
-		if((USART_RX_STA&0x8000)==0)//接收未完成
-		{
-			if(USART_RX_STA&0x4000)//接收到了0x0d
-			{
-				if(Res!=0x0a)USART_RX_STA=0;//接收错误,重新开始
-				else USART_RX_STA|=0x8000;	//接收完成了 
-			}
-			else //还没收到0X0D
-			{	
-				if(Res==0x0d)USART_RX_STA|=0x4000;
-				else
-				{
-					USART_RX_BUF[USART_RX_STA&0X3FFF]=Res ;
-					USART_RX_STA++;
-					if(USART_RX_STA>(USART_REC_LEN-1))USART_RX_STA=0;//接收数据错误,重新开始接收	  
-				}		 
-			}
-		}   		 
-  } 
-#if SYSTEM_SUPPORT_OS 	//如果SYSTEM_SUPPORT_OS为真，则需要支持OS.
-	OSIntExit();  											 
-#endif
 } 
-#endif	
+
-
+ 
+
+void uart2_init(u32 bound){
+   //GPIO端口设置
+  GPIO_InitTypeDef GPIO_InitStructure;
+	USART_InitTypeDef USART_InitStructure;
+	NVIC_InitTypeDef NVIC_InitStructure;
+	
+	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA,ENABLE); //使能GPIOA时钟
+	RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1,ENABLE);//使能USART1时钟
+ 
+	//串口1对应引脚复用映射
+	GPIO_PinAFConfig(GPIOA,GPIO_PinSource9,GPIO_AF_USART1); //GPIOA9复用为USART1
+	GPIO_PinAFConfig(GPIOA,GPIO_PinSource10,GPIO_AF_USART1); //GPIOA10复用为USART1
+	
+	//USART1端口配置
+  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9 | GPIO_Pin_10; //GPIOA9与GPIOA10
+	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//复用功能
+	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;	//速度50MHz
+	GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //推挽复用输出
+	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; //上拉
+	GPIO_Init(GPIOA,&GPIO_InitStructure); //初始化PA9，PA10
+
+   //USART1 初始化设置
+	USART_InitStructure.USART_BaudRate = bound;//波特率设置
+	USART_InitStructure.USART_WordLength = USART_WordLength_8b;//字长为8位数据格式
+	USART_InitStructure.USART_StopBits = USART_StopBits_1;//一个停止位
+	USART_InitStructure.USART_Parity = USART_Parity_No;//无奇偶校验位
+	USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;//无硬件数据流控制
+	USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;	//收发模式
+  USART_Init(USART2, &USART_InitStructure); //初始化串口1
+	
+  USART_Cmd(USART2, ENABLE);  //使能串口1 
+	
+	//USART_ClearFlag(USART1, USART_FLAG_TC);
+	
+
+	USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);//开启相关中断
+
+	//Usart1 NVIC 配置
+  NVIC_InitStructure.NVIC_IRQChannel = USART2_IRQn;//串口1中断通道
+	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=3;//抢占优先级3
+	NVIC_InitStructure.NVIC_IRQChannelSubPriority =3;		//子优先级3
+	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;			//IRQ通道使能
+	NVIC_Init(&NVIC_InitStructure);	//根据指定的参数初始化VIC寄存器、
+	
+}
+
+
+void USART2_IRQHandler(void)                	//串口1中断服务程序
+{
+	u8 Res;
+} 
+
+ 
+void uart3_init(u32 bound){
+   //GPIO端口设置
+  GPIO_InitTypeDef GPIO_InitStructure;
+	USART_InitTypeDef USART_InitStructure;
+	NVIC_InitTypeDef NVIC_InitStructure;
+	
+	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA,ENABLE); //使能GPIOA时钟
+	RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1,ENABLE);//使能USART1时钟
+ 
+	//串口1对应引脚复用映射
+	GPIO_PinAFConfig(GPIOA,GPIO_PinSource9,GPIO_AF_USART1); //GPIOA9复用为USART1
+	GPIO_PinAFConfig(GPIOA,GPIO_PinSource10,GPIO_AF_USART1); //GPIOA10复用为USART1
+	
+	//USART1端口配置
+  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9 | GPIO_Pin_10; //GPIOA9与GPIOA10
+	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//复用功能
+	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;	//速度50MHz
+	GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //推挽复用输出
+	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; //上拉
+	GPIO_Init(GPIOA,&GPIO_InitStructure); //初始化PA9，PA10
+
+   //USART1 初始化设置
+	USART_InitStructure.USART_BaudRate = bound;//波特率设置
+	USART_InitStructure.USART_WordLength = USART_WordLength_8b;//字长为8位数据格式
+	USART_InitStructure.USART_StopBits = USART_StopBits_1;//一个停止位
+	USART_InitStructure.USART_Parity = USART_Parity_No;//无奇偶校验位
+	USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;//无硬件数据流控制
+	USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;	//收发模式
+  USART_Init(USART3, &USART_InitStructure); //初始化串口1
+	
+  USART_Cmd(USART3, ENABLE);  //使能串口1 
+	
+	//USART_ClearFlag(USART1, USART_FLAG_TC);
+	
+
+	USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);//开启相关中断
+
+	//Usart1 NVIC 配置
+  NVIC_InitStructure.NVIC_IRQChannel = USART3_IRQn;//串口1中断通道
+	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=3;//抢占优先级3
+	NVIC_InitStructure.NVIC_IRQChannelSubPriority =3;		//子优先级3
+	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;			//IRQ通道使能
+	NVIC_Init(&NVIC_InitStructure);	//根据指定的参数初始化VIC寄存器、
+	
+}
+
+
+void USART3_IRQHandler(void)                	//串口1中断服务程序
+{
+	u8 Res;
+} 
+
+ 
+void uart4_init(u32 bound){
+   //GPIO端口设置
+  GPIO_InitTypeDef GPIO_InitStructure;
+	USART_InitTypeDef USART_InitStructure;
+	NVIC_InitTypeDef NVIC_InitStructure;
+	
+	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA,ENABLE); //使能GPIOA时钟
+	RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1,ENABLE);//使能USART1时钟
+ 
+	//串口1对应引脚复用映射
+	GPIO_PinAFConfig(GPIOA,GPIO_PinSource9,GPIO_AF_USART1); //GPIOA9复用为USART1
+	GPIO_PinAFConfig(GPIOA,GPIO_PinSource10,GPIO_AF_USART1); //GPIOA10复用为USART1
+	
+	//USART1端口配置
+  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9 | GPIO_Pin_10; //GPIOA9与GPIOA10
+	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//复用功能
+	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;	//速度50MHz
+	GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //推挽复用输出
+	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; //上拉
+	GPIO_Init(GPIOA,&GPIO_InitStructure); //初始化PA9，PA10
+
+   //USART1 初始化设置
+	USART_InitStructure.USART_BaudRate = bound;//波特率设置
+	USART_InitStructure.USART_WordLength = USART_WordLength_8b;//字长为8位数据格式
+	USART_InitStructure.USART_StopBits = USART_StopBits_1;//一个停止位
+	USART_InitStructure.USART_Parity = USART_Parity_No;//无奇偶校验位
+	USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;//无硬件数据流控制
+	USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;	//收发模式
+  USART_Init(USART1, &USART_InitStructure); //初始化串口1
+	
+  USART_Cmd(USART1, ENABLE);  //使能串口1 
+	
+	//USART_ClearFlag(USART1, USART_FLAG_TC);
+	
+
+	USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);//开启相关中断
+
+	//Usart1 NVIC 配置
+  NVIC_InitStructure.NVIC_IRQChannel = UART4_IRQn;//串口1中断通道
+	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=3;//抢占优先级3
+	NVIC_InitStructure.NVIC_IRQChannelSubPriority =3;		//子优先级3
+	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;			//IRQ通道使能
+	NVIC_Init(&NVIC_InitStructure);	//根据指定的参数初始化VIC寄存器、
+	
+}
+
+
+void UART4_IRQHandler(void)                	//串口1中断服务程序
+{
+	u8 Res;
+} 
+
+ 
+void uart5_init(u32 bound){
+   //GPIO端口设置
+  GPIO_InitTypeDef GPIO_InitStructure;
+	USART_InitTypeDef USART_InitStructure;
+	NVIC_InitTypeDef NVIC_InitStructure;
+	
+	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA,ENABLE); //使能GPIOA时钟
+	RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1,ENABLE);//使能USART1时钟
+ 
+	//串口1对应引脚复用映射
+	GPIO_PinAFConfig(GPIOA,GPIO_PinSource9,GPIO_AF_USART1); //GPIOA9复用为USART1
+	GPIO_PinAFConfig(GPIOA,GPIO_PinSource10,GPIO_AF_USART1); //GPIOA10复用为USART1
+	
+	//USART1端口配置
+  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9 | GPIO_Pin_10; //GPIOA9与GPIOA10
+	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//复用功能
+	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;	//速度50MHz
+	GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //推挽复用输出
+	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; //上拉
+	GPIO_Init(GPIOA,&GPIO_InitStructure); //初始化PA9，PA10
+
+   //USART1 初始化设置
+	USART_InitStructure.USART_BaudRate = bound;//波特率设置
+	USART_InitStructure.USART_WordLength = USART_WordLength_8b;//字长为8位数据格式
+	USART_InitStructure.USART_StopBits = USART_StopBits_1;//一个停止位
+	USART_InitStructure.USART_Parity = USART_Parity_No;//无奇偶校验位
+	USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;//无硬件数据流控制
+	USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;	//收发模式
+  USART_Init(USART1, &USART_InitStructure); //初始化串口1
+	
+  USART_Cmd(USART1, ENABLE);  //使能串口1 
+	
+	//USART_ClearFlag(USART1, USART_FLAG_TC);
+	
+
+	USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);//开启相关中断
+
+	//Usart1 NVIC 配置
+  NVIC_InitStructure.NVIC_IRQChannel = UART5_IRQn;//串口1中断通道
+	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=3;//抢占优先级3
+	NVIC_InitStructure.NVIC_IRQChannelSubPriority =3;		//子优先级3
+	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;			//IRQ通道使能
+	NVIC_Init(&NVIC_InitStructure);	//根据指定的参数初始化VIC寄存器、
+	
+}
+
+
+void UART5_IRQHandler(void)                	//串口1中断服务程序
+{
+	u8 Res;
+} 
+
+ 
+void uart6_init(u32 bound){
+   //GPIO端口设置
+  GPIO_InitTypeDef GPIO_InitStructure;
+	USART_InitTypeDef USART_InitStructure;
+	NVIC_InitTypeDef NVIC_InitStructure;
+	
+	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA,ENABLE); //使能GPIOA时钟
+	RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1,ENABLE);//使能USART1时钟
+ 
+	//串口1对应引脚复用映射
+	GPIO_PinAFConfig(GPIOA,GPIO_PinSource9,GPIO_AF_USART1); //GPIOA9复用为USART1
+	GPIO_PinAFConfig(GPIOA,GPIO_PinSource10,GPIO_AF_USART1); //GPIOA10复用为USART1
+	
+	//USART1端口配置
+  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9 | GPIO_Pin_10; //GPIOA9与GPIOA10
+	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//复用功能
+	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;	//速度50MHz
+	GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //推挽复用输出
+	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; //上拉
+	GPIO_Init(GPIOA,&GPIO_InitStructure); //初始化PA9，PA10
+
+   //USART1 初始化设置
+	USART_InitStructure.USART_BaudRate = bound;//波特率设置
+	USART_InitStructure.USART_WordLength = USART_WordLength_8b;//字长为8位数据格式
+	USART_InitStructure.USART_StopBits = USART_StopBits_1;//一个停止位
+	USART_InitStructure.USART_Parity = USART_Parity_No;//无奇偶校验位
+	USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;//无硬件数据流控制
+	USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;	//收发模式
+  USART_Init(USART1, &USART_InitStructure); //初始化串口1
+	
+  USART_Cmd(USART1, ENABLE);  //使能串口1 
+	
+	//USART_ClearFlag(USART1, USART_FLAG_TC);
+	
+
+	USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);//开启相关中断
+
+	//Usart1 NVIC 配置
+  NVIC_InitStructure.NVIC_IRQChannel = USART6_IRQn;//串口1中断通道
+	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=3;//抢占优先级3
+	NVIC_InitStructure.NVIC_IRQChannelSubPriority =3;		//子优先级3
+	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;			//IRQ通道使能
+	NVIC_Init(&NVIC_InitStructure);	//根据指定的参数初始化VIC寄存器、
+	
+}
+
+
+void USART6_IRQHandler(void)                	//串口1中断服务程序
+{
+	u8 Res;
+} 
 
  
 

SYSTEM/usart/usart.h

@@ -32,7 +32,7 @@
 extern u8  USART_RX_BUF[USART_REC_LEN]; //接收缓冲,最大USART_REC_LEN个字节.末字节为换行符 
 extern u16 USART_RX_STA;         		//接收状态标记	
 //如果想串口中断接收，请不要注释以下宏定义
-void uart_init(u32 bound);
+void uart1_init(u32 bound);
 #endif
 
 

USER/USART.uvoptx

@@ -103,7 +103,7 @@
         <bEvRecOn>1</bEvRecOn>
         <bSchkAxf>0</bSchkAxf>
         <bTchkAxf>0</bTchkAxf>
-        <nTsel>5</nTsel>
+        <nTsel>11</nTsel>
         <sDll></sDll>
         <sDllPa></sDllPa>
         <sDlgDll></sDlgDll>
@@ -173,7 +173,6 @@
       <pMultCmdsp></pMultCmdsp>
       <DebugDescription>
         <Enable>1</Enable>
-        <EnableFlashSeq>0</EnableFlashSeq>
         <EnableLog>0</EnableLog>
         <Protocol>2</Protocol>
         <DbgClock>10000000</DbgClock>
@@ -227,7 +226,7 @@
 
   <Group>
     <GroupName>HARDWARE</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -267,6 +266,54 @@
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>7</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\HARDWARE\ADC\adc.c</PathWithFileName>
+      <FilenameWithoutPath>adc.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>8</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\HARDWARE\elemachinery\elemachinery.c</PathWithFileName>
+      <FilenameWithoutPath>elemachinery.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>9</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\HARDWARE\TIMER\timer.c</PathWithFileName>
+      <FilenameWithoutPath>timer.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>10</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\HARDWARE\SPI\spi.c</PathWithFileName>
+      <FilenameWithoutPath>spi.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
   </Group>
 
   <Group>
@@ -277,7 +324,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>7</FileNumber>
+      <FileNumber>11</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -289,9 +336,9 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>8</FileNumber>
+      <FileNumber>12</FileNumber>
       <FileType>1</FileType>
-      <tvExp>0</tvExp>
+      <tvExp>1</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>..\SYSTEM\sys\sys.c</PathWithFileName>
@@ -301,7 +348,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>9</FileNumber>
+      <FileNumber>13</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -321,7 +368,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>4</GroupNumber>
-      <FileNumber>10</FileNumber>
+      <FileNumber>14</FileNumber>
       <FileType>2</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -335,13 +382,13 @@
 
   <Group>
     <GroupName>FWLIB</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>11</FileNumber>
+      <FileNumber>15</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -353,7 +400,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>12</FileNumber>
+      <FileNumber>16</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -365,7 +412,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>13</FileNumber>
+      <FileNumber>17</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -377,7 +424,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>14</FileNumber>
+      <FileNumber>18</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -389,7 +436,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>15</FileNumber>
+      <FileNumber>19</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -399,6 +446,42 @@
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
+    <File>
+      <GroupNumber>5</GroupNumber>
+      <FileNumber>20</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\FWLIB\src\stm32f4xx_adc.c</PathWithFileName>
+      <FilenameWithoutPath>stm32f4xx_adc.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>5</GroupNumber>
+      <FileNumber>21</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\FWLIB\src\stm32f4xx_tim.c</PathWithFileName>
+      <FilenameWithoutPath>stm32f4xx_tim.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>5</GroupNumber>
+      <FileNumber>22</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\FWLIB\src\stm32f4xx_spi.c</PathWithFileName>
+      <FilenameWithoutPath>stm32f4xx_spi.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
   </Group>
 
   <Group>
@@ -409,7 +492,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>16</FileNumber>
+      <FileNumber>23</FileNumber>
       <FileType>5</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>

USER/USART.uvprojx

@@ -10,14 +10,14 @@
       <TargetName>USART</TargetName>
       <ToolsetNumber>0x4</ToolsetNumber>
       <ToolsetName>ARM-ADS</ToolsetName>
-      <pCCUsed>5060422::V5.06 update 4 (build 422)::ARMCC</pCCUsed>
+      <pCCUsed>5050169::V5.05 update 2 (build 169)::ARMCC</pCCUsed>
       <uAC6>0</uAC6>
       <TargetOption>
         <TargetCommonOption>
           <Device>STM32F407ZETx</Device>
           <Vendor>STMicroelectronics</Vendor>
-          <PackID>Keil.STM32F4xx_DFP.2.11.0</PackID>
+          <PackID>Keil.STM32F4xx_DFP.2.14.0</PackID>
-          <PackURL>http://www.keil.com/pack</PackURL>
+          <PackURL>http://www.keil.com/pack/</PackURL>
           <Cpu>IRAM(0x20000000,0x20000) IRAM2(0x10000000,0x10000) IROM(0x08000000,0x80000) CPUTYPE("Cortex-M4") FPU2 CLOCK(12000000) ELITTLE</Cpu>
           <FlashUtilSpec></FlashUtilSpec>
           <StartupFile></StartupFile>
@@ -184,9 +184,6 @@
             <hadXRAM>0</hadXRAM>
             <uocXRam>0</uocXRam>
             <RvdsVP>2</RvdsVP>
-            <RvdsMve>0</RvdsMve>
-            <RvdsCdeCp>0</RvdsCdeCp>
-            <nBranchProt>0</nBranchProt>
             <hadIRAM2>1</hadIRAM2>
             <hadIROM2>0</hadIROM2>
             <StupSel>8</StupSel>
@@ -323,7 +320,7 @@
             <PlainCh>0</PlainCh>
             <Ropi>0</Ropi>
             <Rwpi>0</Rwpi>
-            <wLevel>0</wLevel>
+            <wLevel>1</wLevel>
             <uThumb>0</uThumb>
             <uSurpInc>0</uSurpInc>
             <uC99>0</uC99>
@@ -340,7 +337,7 @@
               <MiscControls></MiscControls>
               <Define>STM32F40_41xxx,USE_STDPERIPH_DRIVER</Define>
               <Undefine></Undefine>
-              <IncludePath>..\CORE;..\SYSTEM\delay;..\SYSTEM\sys;..\SYSTEM\usart;..\FWLIB\STM32F4xx_StdPeriph_Driver\inc;..\USER;..\HARDWARE\LED;..\HARDWARE\BEEP;..\HARDWARE\KEY;..\FWLIB\inc</IncludePath>
+              <IncludePath>..\CORE;..\SYSTEM\delay;..\SYSTEM\sys;..\SYSTEM\usart;..\FWLIB\STM32F4xx_StdPeriph_Driver\inc;..\USER;..\HARDWARE\LED;..\HARDWARE\BEEP;..\HARDWARE\KEY;..\FWLIB\inc;..\HARDWARE</IncludePath>
             </VariousControls>
           </Cads>
           <Aads>
@@ -353,7 +350,7 @@
             <NoWarn>0</NoWarn>
             <uSurpInc>0</uSurpInc>
             <useXO>0</useXO>
-            <ClangAsOpt>4</ClangAsOpt>
+            <uClangAs>0</uClangAs>
             <VariousControls>
               <MiscControls></MiscControls>
               <Define></Define>
@@ -419,6 +416,26 @@
               <FileType>1</FileType>
               <FilePath>..\HARDWARE\KEY\key.c</FilePath>
             </File>
+            <File>
+              <FileName>adc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\HARDWARE\ADC\adc.c</FilePath>
+            </File>
+            <File>
+              <FileName>elemachinery.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\HARDWARE\elemachinery\elemachinery.c</FilePath>
+            </File>
+            <File>
+              <FileName>timer.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\HARDWARE\TIMER\timer.c</FilePath>
+            </File>
+            <File>
+              <FileName>spi.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\HARDWARE\SPI\spi.c</FilePath>
+            </File>
           </Files>
         </Group>
         <Group>
@@ -479,6 +496,21 @@
               <FileType>1</FileType>
               <FilePath>..\FWLIB\src\stm32f4xx_usart.c</FilePath>
             </File>
+            <File>
+              <FileName>stm32f4xx_adc.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\FWLIB\src\stm32f4xx_adc.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32f4xx_tim.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\FWLIB\src\stm32f4xx_tim.c</FilePath>
+            </File>
+            <File>
+              <FileName>stm32f4xx_spi.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\FWLIB\src\stm32f4xx_spi.c</FilePath>
+            </File>
           </Files>
         </Group>
         <Group>
@@ -501,13 +533,4 @@
     <files/>
   </RTE>
 
-  <LayerInfo>
-    <Layers>
-      <Layer>
-        <LayName>USART</LayName>
-        <LayPrjMark>1</LayPrjMark>
-      </Layer>
-    </Layers>
-  </LayerInfo>
-
 </Project>

USER/main.c

@@ -22,7 +22,7 @@ int main(void)
 	u16 times=0;  
 	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//设置系统中断优先级分组2
 	delay_init(168);		//延时初始化 
-	uart_init(115200);	//串口初始化波特率为115200
+	uart1_init(115200);	//串口初始化波特率为115200
 	LED_Init();		  		//初始化与LED连接的硬件接口  
 	while(1)
 	{