diff --git a/ReadMe.txt b/ReadMe.txt
index d22ff29..44304b1 100644
--- a/ReadMe.txt
+++ b/ReadMe.txt
@@ -5,4 +5,6 @@
电机控制、按键、ADC在M4上实现
2023.6.27
在m4上使用定时器，实现pwm控制的时候没有找到光感输入脚
- 如果发现程序不能运行，检查RTE文件
\ No newline at end of file
+ 如果发现程序不能运行，检查RTE文件
+2023.7.14
+ 使用单线程方式执行命令
\ No newline at end of file
diff --git a/checker_m4.uvoptx b/checker_m4.uvoptx
index 1238780..ff5fa8e 100644
--- a/checker_m4.uvoptx
+++ b/checker_m4.uvoptx
@@ -103,7 +103,7 @@
1
0
0
- 0
+ 4
@@ -114,9 +114,14 @@
- BIN\UL2CM3.DLL
+ Segger\JL2CM3.dll
+
+ 0
+ JL2CM3
+ -U -O78 -S2 -ZTIFSpeedSel5000 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -FO7 -FD10020000 -FC1000 -FN0
+
0
UL2CM3
@@ -290,6 +295,18 @@
0
0
+
+ 1
+ 10
+ 1
+ 0
+ 0
+ 0
+ .\source\main\mymain.c
+ mymain.c
+ 0
+ 0
+
@@ -300,7 +317,7 @@
0
2
- 10
+ 11
2
0
0
@@ -320,7 +337,7 @@
0
3
- 11
+ 12
1
0
0
@@ -332,7 +349,7 @@
3
- 12
+ 13
2
0
0
@@ -344,7 +361,7 @@
3
- 13
+ 14
1
0
0
@@ -356,7 +373,7 @@
3
- 14
+ 15
1
0
0
@@ -368,7 +385,7 @@
3
- 15
+ 16
1
0
0
@@ -380,7 +397,7 @@
3
- 16
+ 17
1
0
0
@@ -392,7 +409,7 @@
3
- 17
+ 18
1
0
0
@@ -404,7 +421,7 @@
3
- 18
+ 19
1
0
0
@@ -416,7 +433,7 @@
3
- 19
+ 20
1
0
0
@@ -428,7 +445,7 @@
3
- 20
+ 21
1
0
0
@@ -440,7 +457,7 @@
3
- 21
+ 22
1
0
0
@@ -452,7 +469,7 @@
3
- 22
+ 23
1
0
0
@@ -464,7 +481,7 @@
3
- 23
+ 24
1
0
0
@@ -476,7 +493,7 @@
3
- 24
+ 25
1
0
0
@@ -488,7 +505,7 @@
3
- 25
+ 26
1
0
0
@@ -500,7 +517,7 @@
3
- 26
+ 27
1
0
0
@@ -512,7 +529,7 @@
3
- 27
+ 28
1
0
0
@@ -524,7 +541,7 @@
3
- 28
+ 29
1
0
0
@@ -536,7 +553,7 @@
3
- 29
+ 30
1
0
0
@@ -556,7 +573,7 @@
0
4
- 30
+ 31
1
0
0
@@ -568,7 +585,7 @@
4
- 31
+ 32
1
0
0
@@ -580,7 +597,7 @@
4
- 32
+ 33
1
0
0
@@ -592,7 +609,7 @@
4
- 33
+ 34
1
0
0
@@ -604,7 +621,7 @@
4
- 34
+ 35
1
0
0
@@ -616,7 +633,7 @@
4
- 35
+ 36
1
0
0
@@ -628,7 +645,7 @@
4
- 36
+ 37
1
0
0
@@ -640,7 +657,7 @@
4
- 37
+ 38
1
0
0
@@ -652,7 +669,7 @@
4
- 38
+ 39
1
0
0
@@ -664,7 +681,7 @@
4
- 39
+ 40
1
0
0
@@ -676,7 +693,7 @@
4
- 40
+ 41
1
0
0
@@ -688,7 +705,7 @@
4
- 41
+ 42
1
0
0
@@ -700,7 +717,7 @@
4
- 42
+ 43
1
0
0
@@ -712,7 +729,7 @@
4
- 43
+ 44
1
0
0
@@ -732,7 +749,7 @@
0
5
- 44
+ 45
1
0
0
@@ -744,7 +761,7 @@
5
- 45
+ 46
1
0
0
@@ -756,7 +773,7 @@
5
- 46
+ 47
1
0
0
@@ -768,7 +785,7 @@
5
- 47
+ 48
1
0
0
@@ -780,7 +797,7 @@
5
- 48
+ 49
1
0
0
@@ -792,7 +809,7 @@
5
- 49
+ 50
1
0
0
@@ -804,7 +821,7 @@
5
- 50
+ 51
1
0
0
@@ -816,7 +833,7 @@
5
- 51
+ 52
1
0
0
@@ -828,7 +845,7 @@
5
- 52
+ 53
1
0
0
@@ -840,7 +857,7 @@
5
- 53
+ 54
1
0
0
@@ -852,7 +869,7 @@
5
- 54
+ 55
1
0
0
@@ -864,7 +881,7 @@
5
- 55
+ 56
1
0
0
@@ -876,7 +893,7 @@
5
- 56
+ 57
1
0
0
@@ -888,7 +905,7 @@
5
- 57
+ 58
1
0
0
@@ -900,7 +917,7 @@
5
- 58
+ 59
1
0
0
@@ -912,7 +929,7 @@
5
- 59
+ 60
1
0
0
@@ -924,7 +941,7 @@
5
- 60
+ 61
1
0
0
@@ -936,7 +953,7 @@
5
- 61
+ 62
1
0
0
@@ -948,7 +965,7 @@
5
- 62
+ 63
1
0
0
@@ -968,7 +985,7 @@
0
6
- 63
+ 64
1
0
0
@@ -980,7 +997,7 @@
6
- 64
+ 65
1
0
0
@@ -992,7 +1009,7 @@
6
- 65
+ 66
1
0
0
@@ -1012,7 +1029,7 @@
0
7
- 66
+ 67
1
0
0
@@ -1032,7 +1049,7 @@
0
8
- 67
+ 68
1
0
0
@@ -1044,7 +1061,7 @@
8
- 68
+ 69
1
0
0
@@ -1056,7 +1073,7 @@
8
- 69
+ 70
1
0
0
@@ -1068,7 +1085,7 @@
8
- 70
+ 71
1
0
0
@@ -1080,7 +1097,7 @@
8
- 71
+ 72
1
0
0
@@ -1092,7 +1109,7 @@
8
- 72
+ 73
1
0
0
@@ -1104,7 +1121,7 @@
8
- 73
+ 74
1
0
0
@@ -1116,7 +1133,7 @@
8
- 74
+ 75
1
0
0
@@ -1128,7 +1145,7 @@
8
- 75
+ 76
1
0
0
@@ -1140,7 +1157,7 @@
8
- 76
+ 77
1
0
0
@@ -1152,7 +1169,7 @@
8
- 77
+ 78
1
0
0
@@ -1172,7 +1189,7 @@
0
9
- 78
+ 79
1
0
0
@@ -1184,7 +1201,7 @@
9
- 79
+ 80
1
0
0
@@ -1196,7 +1213,7 @@
9
- 80
+ 81
1
0
0
diff --git a/checker_m4.uvprojx b/checker_m4.uvprojx
index 5b2e568..fdd4b9d 100644
--- a/checker_m4.uvprojx
+++ b/checker_m4.uvprojx
@@ -134,11 +134,11 @@
0
1
1
- -1
+ 4096
1
BIN\UL2CM3.DLL
-
+ "" ()
@@ -427,6 +427,11 @@
1
.\source\main\system_stm32mp1xx.c
+
+ mymain.c
+ 1
+ .\source\main\mymain.c
+
@@ -441,6 +446,75 @@
rtthread
+
+
+ 0
+ 0
+ 0
+ 0
+ 0
+ 0
+ 2
+ 2
+ 2
+ 2
+ 11
+
+
+ 1
+
+
+
+ 2
+ 0
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+ 0
+ 2
+ 2
+ 2
+ 2
+ 2
+ 0
+ 0
+ 2
+ 2
+ 2
+ 2
+ 2
+
+
+
+
+
+
+
+
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+
+
+
+
+
+
+
+
+
cpuport.c
@@ -536,6 +610,57 @@
core_delay.c
1
.\source\rt_thread\core_delay.c
+
+
+ 2
+ 0
+ 0
+ 0
+ 0
+ 1
+ 2
+ 2
+ 2
+ 2
+ 11
+
+
+ 1
+
+
+
+ 2
+ 0
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+ 0
+ 2
+ 2
+ 2
+ 2
+ 2
+ 0
+ 0
+ 2
+ 2
+ 2
+ 2
+ 2
+
+
+
+
+
+
+
+
+
@@ -611,6 +736,57 @@
stm32mp1xx_hal_tim.c
1
.\source\stm32lib\STM32MP1xx_HAL_Driver\Src\stm32mp1xx_hal_tim.c
+
+
+ 2
+ 0
+ 0
+ 0
+ 0
+ 0
+ 2
+ 2
+ 2
+ 2
+ 11
+
+
+ 1
+
+
+
+ 2
+ 0
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+ 0
+ 2
+ 2
+ 2
+ 2
+ 2
+ 0
+ 0
+ 2
+ 2
+ 2
+ 2
+ 2
+
+
+
+
+
+
+
+
+
@@ -716,6 +892,75 @@
interface
+
+
+ 0
+ 0
+ 0
+ 0
+ 0
+ 0
+ 2
+ 2
+ 2
+ 2
+ 11
+
+
+ 1
+
+
+
+ 2
+ 0
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+ 0
+ 2
+ 2
+ 2
+ 2
+ 2
+ 0
+ 0
+ 2
+ 2
+ 2
+ 2
+ 2
+
+
+
+
+
+
+
+
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+
+
+
+
+
+
+
+
+
if_pwm.c
@@ -746,6 +991,75 @@
soft
+
+
+ 0
+ 0
+ 0
+ 0
+ 0
+ 0
+ 2
+ 2
+ 2
+ 2
+ 11
+
+
+ 1
+
+
+
+ 2
+ 0
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+ 0
+ 2
+ 2
+ 2
+ 2
+ 2
+ 0
+ 0
+ 2
+ 2
+ 2
+ 2
+ 2
+
+
+
+
+
+
+
+
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+
+
+
+
+
+
+
+
+
buff.c
@@ -806,6 +1120,75 @@
task
+
+
+ 0
+ 0
+ 0
+ 0
+ 0
+ 0
+ 2
+ 2
+ 2
+ 2
+ 11
+
+
+ 1
+
+
+
+ 2
+ 0
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+ 0
+ 2
+ 2
+ 2
+ 2
+ 2
+ 0
+ 0
+ 2
+ 2
+ 2
+ 2
+ 2
+
+
+
+
+
+
+
+
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+ 2
+
+
+
+
+
+
+
+
+
key.c
diff --git a/source/main/main.c b/source/main/main.c
index 1036317..ec458c7 100644
--- a/source/main/main.c
+++ b/source/main/main.c
@@ -26,6 +26,8 @@
/* USER CODE BEGIN Includes */
#include "debug.h"
#include "board.h"
+#include "mymain.h"
+#include "string.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -66,6 +68,17 @@ static void MX_IPCC_Init(void);
/* USER CODE BEGIN PFP */
void VIRT_UART0_RxCpltCallback(VIRT_UART_HandleTypeDef *huart);
void VIRT_UART1_RxCpltCallback(VIRT_UART_HandleTypeDef *huart);
+
+void send_str_to_a7(const char *str)
+{
+ static uint8_t send_buff[512];
+ int len=strlen(str);
+ send_buff[0]=0xff;
+ send_buff[1]=len;
+ memcpy(send_buff+2,str,len);
+ VIRT_UART_Transmit(&huart0, send_buff, len+2);
+}
+
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
@@ -79,12 +92,12 @@ void VIRT_UART1_RxCpltCallback(VIRT_UART_HandleTypeDef *huart);
int main(void)
{
/* USER CODE BEGIN 1 */
- debug_init();
+ //debug_init();
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
- DBG_LOG("mcu start.");
+ //DBG_LOG("mcu start.");
/* Reset of all peripherals, Initialize the Systick. */
HAL_Init();
@@ -141,10 +154,8 @@ int main(void)
Error_Handler();
}
- pwm_def *pwm=dev_get("pwm");
- pwm->init(pwm);
- DBG_LOG("pwm start.");
- pwm->start(pwm,1);
+ void *mymain=mymain_init();
+
/* USER CODE END 2 */
/* Infinite loop */
@@ -153,11 +164,13 @@ int main(void)
{
OPENAMP_check_for_message();
-
+ mymain_scan(mymain);
/* USER CODE END WHILE */
if (VirtUart0RxMsg) {
VirtUart0RxMsg = RESET;
+ // +2֡ͷͳλ
VIRT_UART_Transmit(&huart0, VirtUart0ChannelBuffRx, VirtUart0ChannelRxSize);
+ mymain_loop(mymain,(char *)VirtUart0ChannelBuffRx+2);
}
if (VirtUart1RxMsg) {
@@ -307,6 +320,7 @@ void VIRT_UART0_RxCpltCallback(VIRT_UART_HandleTypeDef *huart)
/* copy received msg in a variable to sent it back to master processor in main infinite loop*/
VirtUart0ChannelRxSize = huart->RxXferSize < MAX_BUFFER_SIZE? huart->RxXferSize : MAX_BUFFER_SIZE-1;
memcpy(VirtUart0ChannelBuffRx, huart->pRxBuffPtr, VirtUart0ChannelRxSize);
+ VirtUart0ChannelBuffRx[VirtUart0ChannelRxSize]=0;
VirtUart0RxMsg = SET;
}
@@ -318,6 +332,7 @@ void VIRT_UART1_RxCpltCallback(VIRT_UART_HandleTypeDef *huart)
/* copy received msg in a variable to sent it back to master processor in main infinite loop*/
VirtUart1ChannelRxSize = huart->RxXferSize < MAX_BUFFER_SIZE? huart->RxXferSize : MAX_BUFFER_SIZE-1;
memcpy(VirtUart1ChannelBuffRx, huart->pRxBuffPtr, VirtUart1ChannelRxSize);
+ VirtUart1ChannelBuffRx[VirtUart1ChannelRxSize]=0;
VirtUart1RxMsg = SET;
}
/* USER CODE END 4 */
diff --git a/source/main/mymain.c b/source/main/mymain.c
new file mode 100644
index 0000000..727a247
--- /dev/null
+++ b/source/main/mymain.c
@@ -0,0 +1,284 @@
+#include "mymain.h"
+#include "main.h"
+#include "board.h"
+#include "debug.h"
+#include "core_delay.h"
+#include "string.h"
+#include "stdio.h"
+
+
+typedef struct{
+ pwm_def *pwm;
+ int key_old;
+ int key;
+ int sen;
+ char str_buff[200];
+}mymain_def;
+
+static mymain_def g_m={0};
+
+void *mymain_init(void)
+{
+
+ delay_init();
+// m.pwm=dev_get("pwm");
+// m.pwm->init(m.pwm);
+ //DBG_LOG("pwm start.");
+// m.pwm->start(m.pwm,1);
+ GPIO_InitTypeDef init={0};
+ __HAL_RCC_GPIOF_CLK_ENABLE();
+ __HAL_RCC_GPIOE_CLK_ENABLE();
+ __HAL_RCC_GPIOH_CLK_ENABLE();
+ __HAL_RCC_GPIOG_CLK_ENABLE();
+ __HAL_RCC_GPIOI_CLK_ENABLE();
+
+
+ //
+ init.Mode = GPIO_MODE_OUTPUT_PP;
+ init.Pull = GPIO_PULLUP;
+ init.Pin = GPIO_PIN_7|GPIO_PIN_8|GPIO_PIN_9;
+ PERIPH_LOCK(GPIOF);
+ HAL_GPIO_Init(GPIOF, &init);
+ HAL_GPIO_WritePin(GPIOF,GPIO_PIN_7|GPIO_PIN_8|GPIO_PIN_9,GPIO_PIN_RESET);
+ PERIPH_UNLOCK(GPIOF);
+
+
+ // λ
+ init.Mode = GPIO_MODE_INPUT;
+ init.Pull = GPIO_NOPULL;
+ init.Pin = GPIO_PIN_6;
+ PERIPH_LOCK(GPIOI);
+ HAL_GPIO_Init(GPIOI, &init);
+ PERIPH_UNLOCK(GPIOI);
+
+ //
+ init.Mode = GPIO_MODE_INPUT;
+ init.Pull = GPIO_NOPULL;
+ init.Pin = GPIO_PIN_3;
+ PERIPH_LOCK(GPIOG);
+ HAL_GPIO_Init(GPIOG, &init);
+ PERIPH_UNLOCK(GPIOG);
+
+ //
+ init.Mode = GPIO_MODE_INPUT;
+ init.Pull = GPIO_NOPULL;
+ init.Pin = GPIO_PIN_1|GPIO_PIN_6;
+ PERIPH_LOCK(GPIOE);
+ HAL_GPIO_Init(GPIOE, &init);
+ PERIPH_UNLOCK(GPIOE);
+ init.Mode = GPIO_MODE_INPUT;
+ init.Pull = GPIO_NOPULL;
+ init.Pin = GPIO_PIN_8|GPIO_PIN_9;
+ PERIPH_LOCK(GPIOH);
+ HAL_GPIO_Init(GPIOH, &init);
+ PERIPH_UNLOCK(GPIOH);
+
+ return &g_m;
+}
+
+
+void send_str_to_a7(const char *str);
+
+
+// 1=PF9;2=PF8;3=PF7
+void out_set(int index,int power)
+{
+ mymain_def *m=&g_m;
+ PERIPH_LOCK(GPIOF);
+ HAL_GPIO_WritePin(GPIOF,1<<(10-index),power?GPIO_PIN_SET:GPIO_PIN_RESET);
+ PERIPH_UNLOCK(GPIOF);
+ sprintf(m->str_buff,"out_set:%d,%d",index,power);
+ send_str_to_a7(m->str_buff);
+}
+
+
+
+// һ
+void moter_plused(int us)
+{
+ // out3
+ //HAL_GPIO_TogglePin(GPIOF,1<<7);
+ // out1
+ HAL_GPIO_TogglePin(GPIOF,1<<9);
+ delay_us(us);
+}
+
+
+
+// PF7-PWM PF8-DST PI6_STOP
+// ͵ƽ£Ϊ
+void moter_run(int pwm,int count)
+{
+ int use_sen=0;
+ if(count>0){
+ HAL_GPIO_WritePin(GPIOF,1<<8,GPIO_PIN_RESET);
+ }else{
+ HAL_GPIO_WritePin(GPIOF,1<<8,GPIO_PIN_SET);
+ count=-count;
+ use_sen=1;
+ }
+ int max_=500;
+ int min_=35;
+ int temp=max_;
+ int add_count=0;
+ int step_sub=0;
+ for(int i=0;imin_) {step_sub+=temp; if(step_sub>=1000) {temp--; step_sub=0;}}
+ else add_count++;
+ }else{
+ if(add_count>0) add_count--;
+ else {step_sub+=temp; if(step_sub>=1000) {temp++; step_sub=0;}}
+ }
+ }else{
+ // pwm!=0ʱ
+ temp=1000000/pwm;
+ }
+ }
+ // out3
+ //HAL_GPIO_WritePin(GPIOF,1<<7,GPIO_PIN_SET);
+ // out1
+ HAL_GPIO_WritePin(GPIOF,1<<9,GPIO_PIN_SET);
+}
+
+
+
+
+
+
+
+static int str_ainttoi(const char *s)
+{
+ int ret=0;
+ int sig=1;
+ if(*s=='-'){
+ s++;
+ sig=-1;
+ }
+ while(*s)
+ {
+ if(*s>='0'&&*s<='9')
+ {
+ ret*=10;
+ ret+=*s-'0';
+ }
+ else return ret*sig;
+ s++;
+ }
+ return ret*sig;
+}
+
+
+
+
+
+
+
+void mymain_scan(void *mymain)
+{
+ mymain_def *m=mymain;
+ m->key=HAL_GPIO_ReadPin(GPIOG,1<<3);
+ m->sen=HAL_GPIO_ReadPin(GPIOI,1<<6);
+ if(m->key_old!=m->key){
+ if(m->key==RESET)
+ {
+ send_str_to_a7("key press");
+ }else
+ {
+ send_str_to_a7("key up");
+ }
+ m->key_old=m->key;
+ }
+}
+
+
+int read_sw(void *mymain)
+{
+ int ret=0;
+ ret|=HAL_GPIO_ReadPin(GPIOE,1<<6);
+ ret|=HAL_GPIO_ReadPin(GPIOH,1<<9)<<1;
+ ret|=HAL_GPIO_ReadPin(GPIOE,1<<1)<<2;
+ ret|=HAL_GPIO_ReadPin(GPIOH,1<<8)<<3;
+ return ret;
+}
+
+
+
+
+void mymain_loop(void *mymain,char *cmd_str)
+{
+ mymain_def *m=mymain;
+ if(strncmp(cmd_str,"moter ",6)==0)
+ {
+ // ½
+ int count=str_ainttoi(cmd_str+6);
+ if(count!=0){
+ send_str_to_a7(m->str_buff);
+ moter_run(0,count);
+ if(count>0){
+ send_str_to_a7("moter down");
+ }else{
+ send_str_to_a7("moter up");
+ }
+ }
+ }else if(strncmp(cmd_str,"moterinit",9)==0)
+ {
+ // ʼ
+ moter_run(2000,-25000);
+ send_str_to_a7("moterinited");
+ }
+ else if(strncmp(cmd_str,"motertest ",10)==0)
+ {
+ // ʼ
+ int count=str_ainttoi(cmd_str+10);
+ moter_run(2000,count);
+ send_str_to_a7("motertest end");
+ }
+ else if(strncmp(cmd_str,"readsw",6)==0)
+ {
+ int sw=read_sw(mymain);
+ sprintf(m->str_buff,"readsw %d",sw);
+ send_str_to_a7(m->str_buff);
+ }
+ else if(strncmp(cmd_str,"readkey",7)==0){
+ if(m->key)
+ send_str_to_a7("key up");
+ else
+ send_str_to_a7("key press");
+ }
+ else if(strncmp(cmd_str,"readsen",7)==0){
+ //
+ if(m->sen)
+ send_str_to_a7("sen high");
+ else
+ send_str_to_a7("sen low");
+ }
+ else if(strncmp(cmd_str,"out",3)==0){
+ if((cmd_str[3]>='1')&&(cmd_str[3]<='3')){
+ if(strncmp(cmd_str+5,"on",2)==0){
+ out_set(cmd_str[3]-'0',1);
+ }else if(strncmp(cmd_str+5,"off",3)==0){
+ out_set(cmd_str[3]-'0',0);
+ }
+ }
+ }
+}
+
+
+void mymain_loop__(void *mymain,char *cmd_str)
+{
+ while(1){
+ HAL_GPIO_TogglePin(GPIOF,1<<7);
+ HAL_GPIO_TogglePin(GPIOF,1<<8);
+ HAL_GPIO_TogglePin(GPIOF,1<<9);
+ HAL_Delay(2000);
+ }
+}
+
+
diff --git a/source/main/mymain.h b/source/main/mymain.h
new file mode 100644
index 0000000..81cb022
--- /dev/null
+++ b/source/main/mymain.h
@@ -0,0 +1,23 @@
+
+#ifndef mymain_h__
+#define mymain_h__
+
+
+
+
+void *mymain_init(void);
+
+
+
+void mymain_loop(void *mymain,char *cmd_str);
+
+
+
+
+
+
+
+
+#endif
+
+
diff --git a/source/main/stm32mp1xx_it.c b/source/main/stm32mp1xx_it.c
index 55be38e..7918eb1 100644
--- a/source/main/stm32mp1xx_it.c
+++ b/source/main/stm32mp1xx_it.c
@@ -182,16 +182,16 @@ void DebugMon_Handler(void)
/**
* @brief This function handles System tick timer.
*/
-//void SysTick_Handler(void)
-//{
-// /* USER CODE BEGIN SysTick_IRQn 0 */
+void SysTick_Handler(void)
+{
+ /* USER CODE BEGIN SysTick_IRQn 0 */
-// /* USER CODE END SysTick_IRQn 0 */
-// HAL_IncTick();
-// /* USER CODE BEGIN SysTick_IRQn 1 */
+ /* USER CODE END SysTick_IRQn 0 */
+ HAL_IncTick();
+ /* USER CODE BEGIN SysTick_IRQn 1 */
-// /* USER CODE END SysTick_IRQn 1 */
-//}
+ /* USER CODE END SysTick_IRQn 1 */
+}
/******************************************************************************/
/* STM32MP1xx Peripheral Interrupt Handlers */
diff --git a/source/task/commend.c b/source/task/commend.c
index d86715b..18ec807 100644
--- a/source/task/commend.c
+++ b/source/task/commend.c
@@ -84,7 +84,7 @@ int cmd_print(const char *fmt,...)
s->data[length]=0;
array_def *arr=arr_creat();
arr_appends(arr,s->data,length);
- emit cmd_reply_signal(s,0,arr_temp(arr));
+ //emit cmd_reply_signal(s,0,arr_temp(arr));
return length;
}
diff --git a/source/task/moter.c b/source/task/moter.c
index 69b7098..11eb468 100644
--- a/source/task/moter.c
+++ b/source/task/moter.c
@@ -74,7 +74,7 @@ static void moter_run(void *t)
}
s->stat=STOP;
DBG_LOG("moter stoped.");
- emit moter_end_signal(s);
+ //emit moter_end_signal(s);
if(s->fun_in_end){
s->fun_in_end(s->t);
s->fun_in_end=0;