使用单线程方式运行

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
+    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

checker_m4.uvoptx

@@ -103,7 +103,7 @@
         <bEvRecOn>1</bEvRecOn>
         <bSchkAxf>0</bSchkAxf>
         <bTchkAxf>0</bTchkAxf>
-        <nTsel>0</nTsel>
+        <nTsel>4</nTsel>
         <sDll></sDll>
         <sDllPa></sDllPa>
         <sDlgDll></sDlgDll>
@@ -114,9 +114,14 @@
         <tDlgDll></tDlgDll>
         <tDlgPa></tDlgPa>
         <tIfile></tIfile>
-        <pMon>BIN\UL2CM3.DLL</pMon>
+        <pMon>Segger\JL2CM3.dll</pMon>
       </DebugOpt>
       <TargetDriverDllRegistry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>JL2CM3</Key>
+          <Name>-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</Name>
+        </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
           <Key>UL2CM3</Key>
@@ -290,6 +295,18 @@
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
+    <File>
+      <GroupNumber>1</GroupNumber>
+      <FileNumber>10</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>.\source\main\mymain.c</PathWithFileName>
+      <FilenameWithoutPath>mymain.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
   </Group>
 
   <Group>
@@ -300,7 +317,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>2</GroupNumber>
-      <FileNumber>10</FileNumber>
+      <FileNumber>11</FileNumber>
       <FileType>2</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -320,7 +337,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>11</FileNumber>
+      <FileNumber>12</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -332,7 +349,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>12</FileNumber>
+      <FileNumber>13</FileNumber>
       <FileType>2</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -344,7 +361,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>13</FileNumber>
+      <FileNumber>14</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -356,7 +373,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>14</FileNumber>
+      <FileNumber>15</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -368,7 +385,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>15</FileNumber>
+      <FileNumber>16</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -380,7 +397,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>16</FileNumber>
+      <FileNumber>17</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -392,7 +409,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>17</FileNumber>
+      <FileNumber>18</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -404,7 +421,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>18</FileNumber>
+      <FileNumber>19</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -416,7 +433,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>19</FileNumber>
+      <FileNumber>20</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -428,7 +445,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>20</FileNumber>
+      <FileNumber>21</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -440,7 +457,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>21</FileNumber>
+      <FileNumber>22</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -452,7 +469,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>22</FileNumber>
+      <FileNumber>23</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -464,7 +481,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>23</FileNumber>
+      <FileNumber>24</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -476,7 +493,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>24</FileNumber>
+      <FileNumber>25</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -488,7 +505,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>25</FileNumber>
+      <FileNumber>26</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -500,7 +517,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>26</FileNumber>
+      <FileNumber>27</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -512,7 +529,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>27</FileNumber>
+      <FileNumber>28</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -524,7 +541,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>28</FileNumber>
+      <FileNumber>29</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -536,7 +553,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>29</FileNumber>
+      <FileNumber>30</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -556,7 +573,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>4</GroupNumber>
-      <FileNumber>30</FileNumber>
+      <FileNumber>31</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -568,7 +585,7 @@
     </File>
     <File>
       <GroupNumber>4</GroupNumber>
-      <FileNumber>31</FileNumber>
+      <FileNumber>32</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -580,7 +597,7 @@
     </File>
     <File>
       <GroupNumber>4</GroupNumber>
-      <FileNumber>32</FileNumber>
+      <FileNumber>33</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -592,7 +609,7 @@
     </File>
     <File>
       <GroupNumber>4</GroupNumber>
-      <FileNumber>33</FileNumber>
+      <FileNumber>34</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -604,7 +621,7 @@
     </File>
     <File>
       <GroupNumber>4</GroupNumber>
-      <FileNumber>34</FileNumber>
+      <FileNumber>35</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -616,7 +633,7 @@
     </File>
     <File>
       <GroupNumber>4</GroupNumber>
-      <FileNumber>35</FileNumber>
+      <FileNumber>36</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -628,7 +645,7 @@
     </File>
     <File>
       <GroupNumber>4</GroupNumber>
-      <FileNumber>36</FileNumber>
+      <FileNumber>37</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -640,7 +657,7 @@
     </File>
     <File>
       <GroupNumber>4</GroupNumber>
-      <FileNumber>37</FileNumber>
+      <FileNumber>38</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -652,7 +669,7 @@
     </File>
     <File>
       <GroupNumber>4</GroupNumber>
-      <FileNumber>38</FileNumber>
+      <FileNumber>39</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -664,7 +681,7 @@
     </File>
     <File>
       <GroupNumber>4</GroupNumber>
-      <FileNumber>39</FileNumber>
+      <FileNumber>40</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -676,7 +693,7 @@
     </File>
     <File>
       <GroupNumber>4</GroupNumber>
-      <FileNumber>40</FileNumber>
+      <FileNumber>41</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -688,7 +705,7 @@
     </File>
     <File>
       <GroupNumber>4</GroupNumber>
-      <FileNumber>41</FileNumber>
+      <FileNumber>42</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -700,7 +717,7 @@
     </File>
     <File>
       <GroupNumber>4</GroupNumber>
-      <FileNumber>42</FileNumber>
+      <FileNumber>43</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -712,7 +729,7 @@
     </File>
     <File>
       <GroupNumber>4</GroupNumber>
-      <FileNumber>43</FileNumber>
+      <FileNumber>44</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -732,7 +749,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>44</FileNumber>
+      <FileNumber>45</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -744,7 +761,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>45</FileNumber>
+      <FileNumber>46</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -756,7 +773,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>46</FileNumber>
+      <FileNumber>47</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -768,7 +785,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>47</FileNumber>
+      <FileNumber>48</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -780,7 +797,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>48</FileNumber>
+      <FileNumber>49</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -792,7 +809,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>49</FileNumber>
+      <FileNumber>50</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -804,7 +821,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>50</FileNumber>
+      <FileNumber>51</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -816,7 +833,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>51</FileNumber>
+      <FileNumber>52</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -828,7 +845,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>52</FileNumber>
+      <FileNumber>53</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -840,7 +857,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>53</FileNumber>
+      <FileNumber>54</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -852,7 +869,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>54</FileNumber>
+      <FileNumber>55</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -864,7 +881,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>55</FileNumber>
+      <FileNumber>56</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -876,7 +893,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>56</FileNumber>
+      <FileNumber>57</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -888,7 +905,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>57</FileNumber>
+      <FileNumber>58</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -900,7 +917,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>58</FileNumber>
+      <FileNumber>59</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -912,7 +929,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>59</FileNumber>
+      <FileNumber>60</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -924,7 +941,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>60</FileNumber>
+      <FileNumber>61</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -936,7 +953,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>61</FileNumber>
+      <FileNumber>62</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -948,7 +965,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>62</FileNumber>
+      <FileNumber>63</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -968,7 +985,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>63</FileNumber>
+      <FileNumber>64</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -980,7 +997,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>64</FileNumber>
+      <FileNumber>65</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -992,7 +1009,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>65</FileNumber>
+      <FileNumber>66</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1012,7 +1029,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>66</FileNumber>
+      <FileNumber>67</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1032,7 +1049,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>67</FileNumber>
+      <FileNumber>68</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1044,7 +1061,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>68</FileNumber>
+      <FileNumber>69</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1056,7 +1073,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>69</FileNumber>
+      <FileNumber>70</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1068,7 +1085,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>70</FileNumber>
+      <FileNumber>71</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1080,7 +1097,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>71</FileNumber>
+      <FileNumber>72</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1092,7 +1109,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>72</FileNumber>
+      <FileNumber>73</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1104,7 +1121,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>73</FileNumber>
+      <FileNumber>74</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1116,7 +1133,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>74</FileNumber>
+      <FileNumber>75</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1128,7 +1145,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>75</FileNumber>
+      <FileNumber>76</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1140,7 +1157,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>76</FileNumber>
+      <FileNumber>77</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1152,7 +1169,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>77</FileNumber>
+      <FileNumber>78</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1172,7 +1189,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>78</FileNumber>
+      <FileNumber>79</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1184,7 +1201,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>79</FileNumber>
+      <FileNumber>80</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1196,7 +1213,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>80</FileNumber>
+      <FileNumber>81</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>

checker_m4.uvprojx

@@ -134,11 +134,11 @@
             <RunIndependent>0</RunIndependent>
             <UpdateFlashBeforeDebugging>1</UpdateFlashBeforeDebugging>
             <Capability>1</Capability>
-            <DriverSelection>-1</DriverSelection>
+            <DriverSelection>4096</DriverSelection>
           </Flash1>
           <bUseTDR>1</bUseTDR>
           <Flash2>BIN\UL2CM3.DLL</Flash2>
-          <Flash3></Flash3>
+          <Flash3>"" ()</Flash3>
           <Flash4></Flash4>
           <pFcarmOut></pFcarmOut>
           <pFcarmGrp></pFcarmGrp>
@@ -427,6 +427,11 @@
               <FileType>1</FileType>
               <FilePath>.\source\main\system_stm32mp1xx.c</FilePath>
             </File>
+            <File>
+              <FileName>mymain.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>.\source\main\mymain.c</FilePath>
+            </File>
           </Files>
         </Group>
         <Group>
@@ -441,6 +446,75 @@
         </Group>
         <Group>
           <GroupName>rtthread</GroupName>
+          <GroupOption>
+            <CommonProperty>
+              <UseCPPCompiler>0</UseCPPCompiler>
+              <RVCTCodeConst>0</RVCTCodeConst>
+              <RVCTZI>0</RVCTZI>
+              <RVCTOtherData>0</RVCTOtherData>
+              <ModuleSelection>0</ModuleSelection>
+              <IncludeInBuild>0</IncludeInBuild>
+              <AlwaysBuild>2</AlwaysBuild>
+              <GenerateAssemblyFile>2</GenerateAssemblyFile>
+              <AssembleAssemblyFile>2</AssembleAssemblyFile>
+              <PublicsOnly>2</PublicsOnly>
+              <StopOnExitCode>11</StopOnExitCode>
+              <CustomArgument></CustomArgument>
+              <IncludeLibraryModules></IncludeLibraryModules>
+              <ComprImg>1</ComprImg>
+            </CommonProperty>
+            <GroupArmAds>
+              <Cads>
+                <interw>2</interw>
+                <Optim>0</Optim>
+                <oTime>2</oTime>
+                <SplitLS>2</SplitLS>
+                <OneElfS>2</OneElfS>
+                <Strict>2</Strict>
+                <EnumInt>2</EnumInt>
+                <PlainCh>2</PlainCh>
+                <Ropi>2</Ropi>
+                <Rwpi>2</Rwpi>
+                <wLevel>0</wLevel>
+                <uThumb>2</uThumb>
+                <uSurpInc>2</uSurpInc>
+                <uC99>2</uC99>
+                <uGnu>2</uGnu>
+                <useXO>2</useXO>
+                <v6Lang>0</v6Lang>
+                <v6LangP>0</v6LangP>
+                <vShortEn>2</vShortEn>
+                <vShortWch>2</vShortWch>
+                <v6Lto>2</v6Lto>
+                <v6WtE>2</v6WtE>
+                <v6Rtti>2</v6Rtti>
+                <VariousControls>
+                  <MiscControls></MiscControls>
+                  <Define></Define>
+                  <Undefine></Undefine>
+                  <IncludePath></IncludePath>
+                </VariousControls>
+              </Cads>
+              <Aads>
+                <interw>2</interw>
+                <Ropi>2</Ropi>
+                <Rwpi>2</Rwpi>
+                <thumb>2</thumb>
+                <SplitLS>2</SplitLS>
+                <SwStkChk>2</SwStkChk>
+                <NoWarn>2</NoWarn>
+                <uSurpInc>2</uSurpInc>
+                <useXO>2</useXO>
+                <uClangAs>2</uClangAs>
+                <VariousControls>
+                  <MiscControls></MiscControls>
+                  <Define></Define>
+                  <Undefine></Undefine>
+                  <IncludePath></IncludePath>
+                </VariousControls>
+              </Aads>
+            </GroupArmAds>
+          </GroupOption>
           <Files>
             <File>
               <FileName>cpuport.c</FileName>
@@ -536,6 +610,57 @@
               <FileName>core_delay.c</FileName>
               <FileType>1</FileType>
               <FilePath>.\source\rt_thread\core_delay.c</FilePath>
+              <FileOption>
+                <CommonProperty>
+                  <UseCPPCompiler>2</UseCPPCompiler>
+                  <RVCTCodeConst>0</RVCTCodeConst>
+                  <RVCTZI>0</RVCTZI>
+                  <RVCTOtherData>0</RVCTOtherData>
+                  <ModuleSelection>0</ModuleSelection>
+                  <IncludeInBuild>1</IncludeInBuild>
+                  <AlwaysBuild>2</AlwaysBuild>
+                  <GenerateAssemblyFile>2</GenerateAssemblyFile>
+                  <AssembleAssemblyFile>2</AssembleAssemblyFile>
+                  <PublicsOnly>2</PublicsOnly>
+                  <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
+                  <ComprImg>1</ComprImg>
+                </CommonProperty>
+                <FileArmAds>
+                  <Cads>
+                    <interw>2</interw>
+                    <Optim>0</Optim>
+                    <oTime>2</oTime>
+                    <SplitLS>2</SplitLS>
+                    <OneElfS>2</OneElfS>
+                    <Strict>2</Strict>
+                    <EnumInt>2</EnumInt>
+                    <PlainCh>2</PlainCh>
+                    <Ropi>2</Ropi>
+                    <Rwpi>2</Rwpi>
+                    <wLevel>0</wLevel>
+                    <uThumb>2</uThumb>
+                    <uSurpInc>2</uSurpInc>
+                    <uC99>2</uC99>
+                    <uGnu>2</uGnu>
+                    <useXO>2</useXO>
+                    <v6Lang>0</v6Lang>
+                    <v6LangP>0</v6LangP>
+                    <vShortEn>2</vShortEn>
+                    <vShortWch>2</vShortWch>
+                    <v6Lto>2</v6Lto>
+                    <v6WtE>2</v6WtE>
+                    <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
+                  </Cads>
+                </FileArmAds>
+              </FileOption>
             </File>
           </Files>
         </Group>
@@ -611,6 +736,57 @@
               <FileName>stm32mp1xx_hal_tim.c</FileName>
               <FileType>1</FileType>
               <FilePath>.\source\stm32lib\STM32MP1xx_HAL_Driver\Src\stm32mp1xx_hal_tim.c</FilePath>
+              <FileOption>
+                <CommonProperty>
+                  <UseCPPCompiler>2</UseCPPCompiler>
+                  <RVCTCodeConst>0</RVCTCodeConst>
+                  <RVCTZI>0</RVCTZI>
+                  <RVCTOtherData>0</RVCTOtherData>
+                  <ModuleSelection>0</ModuleSelection>
+                  <IncludeInBuild>0</IncludeInBuild>
+                  <AlwaysBuild>2</AlwaysBuild>
+                  <GenerateAssemblyFile>2</GenerateAssemblyFile>
+                  <AssembleAssemblyFile>2</AssembleAssemblyFile>
+                  <PublicsOnly>2</PublicsOnly>
+                  <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
+                  <ComprImg>1</ComprImg>
+                </CommonProperty>
+                <FileArmAds>
+                  <Cads>
+                    <interw>2</interw>
+                    <Optim>0</Optim>
+                    <oTime>2</oTime>
+                    <SplitLS>2</SplitLS>
+                    <OneElfS>2</OneElfS>
+                    <Strict>2</Strict>
+                    <EnumInt>2</EnumInt>
+                    <PlainCh>2</PlainCh>
+                    <Ropi>2</Ropi>
+                    <Rwpi>2</Rwpi>
+                    <wLevel>0</wLevel>
+                    <uThumb>2</uThumb>
+                    <uSurpInc>2</uSurpInc>
+                    <uC99>2</uC99>
+                    <uGnu>2</uGnu>
+                    <useXO>2</useXO>
+                    <v6Lang>0</v6Lang>
+                    <v6LangP>0</v6LangP>
+                    <vShortEn>2</vShortEn>
+                    <vShortWch>2</vShortWch>
+                    <v6Lto>2</v6Lto>
+                    <v6WtE>2</v6WtE>
+                    <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
+                  </Cads>
+                </FileArmAds>
+              </FileOption>
             </File>
           </Files>
         </Group>
@@ -716,6 +892,75 @@
         </Group>
         <Group>
           <GroupName>interface</GroupName>
+          <GroupOption>
+            <CommonProperty>
+              <UseCPPCompiler>0</UseCPPCompiler>
+              <RVCTCodeConst>0</RVCTCodeConst>
+              <RVCTZI>0</RVCTZI>
+              <RVCTOtherData>0</RVCTOtherData>
+              <ModuleSelection>0</ModuleSelection>
+              <IncludeInBuild>0</IncludeInBuild>
+              <AlwaysBuild>2</AlwaysBuild>
+              <GenerateAssemblyFile>2</GenerateAssemblyFile>
+              <AssembleAssemblyFile>2</AssembleAssemblyFile>
+              <PublicsOnly>2</PublicsOnly>
+              <StopOnExitCode>11</StopOnExitCode>
+              <CustomArgument></CustomArgument>
+              <IncludeLibraryModules></IncludeLibraryModules>
+              <ComprImg>1</ComprImg>
+            </CommonProperty>
+            <GroupArmAds>
+              <Cads>
+                <interw>2</interw>
+                <Optim>0</Optim>
+                <oTime>2</oTime>
+                <SplitLS>2</SplitLS>
+                <OneElfS>2</OneElfS>
+                <Strict>2</Strict>
+                <EnumInt>2</EnumInt>
+                <PlainCh>2</PlainCh>
+                <Ropi>2</Ropi>
+                <Rwpi>2</Rwpi>
+                <wLevel>0</wLevel>
+                <uThumb>2</uThumb>
+                <uSurpInc>2</uSurpInc>
+                <uC99>2</uC99>
+                <uGnu>2</uGnu>
+                <useXO>2</useXO>
+                <v6Lang>0</v6Lang>
+                <v6LangP>0</v6LangP>
+                <vShortEn>2</vShortEn>
+                <vShortWch>2</vShortWch>
+                <v6Lto>2</v6Lto>
+                <v6WtE>2</v6WtE>
+                <v6Rtti>2</v6Rtti>
+                <VariousControls>
+                  <MiscControls></MiscControls>
+                  <Define></Define>
+                  <Undefine></Undefine>
+                  <IncludePath></IncludePath>
+                </VariousControls>
+              </Cads>
+              <Aads>
+                <interw>2</interw>
+                <Ropi>2</Ropi>
+                <Rwpi>2</Rwpi>
+                <thumb>2</thumb>
+                <SplitLS>2</SplitLS>
+                <SwStkChk>2</SwStkChk>
+                <NoWarn>2</NoWarn>
+                <uSurpInc>2</uSurpInc>
+                <useXO>2</useXO>
+                <uClangAs>2</uClangAs>
+                <VariousControls>
+                  <MiscControls></MiscControls>
+                  <Define></Define>
+                  <Undefine></Undefine>
+                  <IncludePath></IncludePath>
+                </VariousControls>
+              </Aads>
+            </GroupArmAds>
+          </GroupOption>
           <Files>
             <File>
               <FileName>if_pwm.c</FileName>
@@ -746,6 +991,75 @@
         </Group>
         <Group>
           <GroupName>soft</GroupName>
+          <GroupOption>
+            <CommonProperty>
+              <UseCPPCompiler>0</UseCPPCompiler>
+              <RVCTCodeConst>0</RVCTCodeConst>
+              <RVCTZI>0</RVCTZI>
+              <RVCTOtherData>0</RVCTOtherData>
+              <ModuleSelection>0</ModuleSelection>
+              <IncludeInBuild>0</IncludeInBuild>
+              <AlwaysBuild>2</AlwaysBuild>
+              <GenerateAssemblyFile>2</GenerateAssemblyFile>
+              <AssembleAssemblyFile>2</AssembleAssemblyFile>
+              <PublicsOnly>2</PublicsOnly>
+              <StopOnExitCode>11</StopOnExitCode>
+              <CustomArgument></CustomArgument>
+              <IncludeLibraryModules></IncludeLibraryModules>
+              <ComprImg>1</ComprImg>
+            </CommonProperty>
+            <GroupArmAds>
+              <Cads>
+                <interw>2</interw>
+                <Optim>0</Optim>
+                <oTime>2</oTime>
+                <SplitLS>2</SplitLS>
+                <OneElfS>2</OneElfS>
+                <Strict>2</Strict>
+                <EnumInt>2</EnumInt>
+                <PlainCh>2</PlainCh>
+                <Ropi>2</Ropi>
+                <Rwpi>2</Rwpi>
+                <wLevel>0</wLevel>
+                <uThumb>2</uThumb>
+                <uSurpInc>2</uSurpInc>
+                <uC99>2</uC99>
+                <uGnu>2</uGnu>
+                <useXO>2</useXO>
+                <v6Lang>0</v6Lang>
+                <v6LangP>0</v6LangP>
+                <vShortEn>2</vShortEn>
+                <vShortWch>2</vShortWch>
+                <v6Lto>2</v6Lto>
+                <v6WtE>2</v6WtE>
+                <v6Rtti>2</v6Rtti>
+                <VariousControls>
+                  <MiscControls></MiscControls>
+                  <Define></Define>
+                  <Undefine></Undefine>
+                  <IncludePath></IncludePath>
+                </VariousControls>
+              </Cads>
+              <Aads>
+                <interw>2</interw>
+                <Ropi>2</Ropi>
+                <Rwpi>2</Rwpi>
+                <thumb>2</thumb>
+                <SplitLS>2</SplitLS>
+                <SwStkChk>2</SwStkChk>
+                <NoWarn>2</NoWarn>
+                <uSurpInc>2</uSurpInc>
+                <useXO>2</useXO>
+                <uClangAs>2</uClangAs>
+                <VariousControls>
+                  <MiscControls></MiscControls>
+                  <Define></Define>
+                  <Undefine></Undefine>
+                  <IncludePath></IncludePath>
+                </VariousControls>
+              </Aads>
+            </GroupArmAds>
+          </GroupOption>
           <Files>
             <File>
               <FileName>buff.c</FileName>
@@ -806,6 +1120,75 @@
         </Group>
         <Group>
           <GroupName>task</GroupName>
+          <GroupOption>
+            <CommonProperty>
+              <UseCPPCompiler>0</UseCPPCompiler>
+              <RVCTCodeConst>0</RVCTCodeConst>
+              <RVCTZI>0</RVCTZI>
+              <RVCTOtherData>0</RVCTOtherData>
+              <ModuleSelection>0</ModuleSelection>
+              <IncludeInBuild>0</IncludeInBuild>
+              <AlwaysBuild>2</AlwaysBuild>
+              <GenerateAssemblyFile>2</GenerateAssemblyFile>
+              <AssembleAssemblyFile>2</AssembleAssemblyFile>
+              <PublicsOnly>2</PublicsOnly>
+              <StopOnExitCode>11</StopOnExitCode>
+              <CustomArgument></CustomArgument>
+              <IncludeLibraryModules></IncludeLibraryModules>
+              <ComprImg>1</ComprImg>
+            </CommonProperty>
+            <GroupArmAds>
+              <Cads>
+                <interw>2</interw>
+                <Optim>0</Optim>
+                <oTime>2</oTime>
+                <SplitLS>2</SplitLS>
+                <OneElfS>2</OneElfS>
+                <Strict>2</Strict>
+                <EnumInt>2</EnumInt>
+                <PlainCh>2</PlainCh>
+                <Ropi>2</Ropi>
+                <Rwpi>2</Rwpi>
+                <wLevel>0</wLevel>
+                <uThumb>2</uThumb>
+                <uSurpInc>2</uSurpInc>
+                <uC99>2</uC99>
+                <uGnu>2</uGnu>
+                <useXO>2</useXO>
+                <v6Lang>0</v6Lang>
+                <v6LangP>0</v6LangP>
+                <vShortEn>2</vShortEn>
+                <vShortWch>2</vShortWch>
+                <v6Lto>2</v6Lto>
+                <v6WtE>2</v6WtE>
+                <v6Rtti>2</v6Rtti>
+                <VariousControls>
+                  <MiscControls></MiscControls>
+                  <Define></Define>
+                  <Undefine></Undefine>
+                  <IncludePath></IncludePath>
+                </VariousControls>
+              </Cads>
+              <Aads>
+                <interw>2</interw>
+                <Ropi>2</Ropi>
+                <Rwpi>2</Rwpi>
+                <thumb>2</thumb>
+                <SplitLS>2</SplitLS>
+                <SwStkChk>2</SwStkChk>
+                <NoWarn>2</NoWarn>
+                <uSurpInc>2</uSurpInc>
+                <useXO>2</useXO>
+                <uClangAs>2</uClangAs>
+                <VariousControls>
+                  <MiscControls></MiscControls>
+                  <Define></Define>
+                  <Undefine></Undefine>
+                  <IncludePath></IncludePath>
+                </VariousControls>
+              </Aads>
+            </GroupArmAds>
+          </GroupOption>
           <Files>
             <File>
               <FileName>key.c</FileName>

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");
+  void *mymain=mymain_init();
-  pwm->init(pwm);
+  
-  DBG_LOG("pwm start.");
-  pwm->start(pwm,1);
   /* 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;
+      // +2<><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡ͷ<D6A1>ͳ<EFBFBD><CDB3><EFBFBD>λ
       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 */

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();
+  
+  
+  // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+  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);
+
+  
+  // <20><>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+  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);
+  
+  // <20><><EFBFBD><EFBFBD>
+  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);
+  
+  // <20><><EFBFBD><EFBFBD>
+  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);
+
+
+// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>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);
+}
+
+
+
+// <20><><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+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
+// <20>͵<EFBFBD>ƽ<EFBFBD><C6BD><EFBFBD>£<EFBFBD><C2A3><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA>
+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;i<count;i++)
+  {
+    //<2F>ѵ<EFBFBD>λ<EFBFBD><CEBB><EFBFBD>˳<EFBFBD>
+    if((HAL_GPIO_ReadPin(GPIOI,1<<6)==RESET)&&(use_sen!=0)) return;
+    moter_plused(temp);
+    if(pwm==0){ 
+      // pwm==0ʱ <20>Զ<EFBFBD><D4B6>Ӽ<EFBFBD><D3BC><EFBFBD>
+      if(i<count/2){
+        if(temp>min_) {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 <20><><EFBFBD><EFBFBD>
+      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)
+  {
+    // <20><><EFBFBD><EFBFBD><EFBFBD>½<EFBFBD>
+    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)
+  {
+    // <20><>ʼ<EFBFBD><CABC>
+    moter_run(2000,-25000);
+    send_str_to_a7("moterinited");
+  }
+  else if(strncmp(cmd_str,"motertest ",10)==0)
+  {
+    // <20><>ʼ<EFBFBD><CABC>
+    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){
+    // <20><><EFBFBD><EFBFBD>
+    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);
+  }
+}
+
+

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
+
+

source/main/stm32mp1xx_it.c

@@ -182,16 +182,16 @@ void DebugMon_Handler(void)
 /**
 * @brief This function handles System tick timer.
 */
-//void SysTick_Handler(void)
+void SysTick_Handler(void)
-//{
+{
-//  /* USER CODE BEGIN SysTick_IRQn 0 */
+  /* USER CODE BEGIN SysTick_IRQn 0 */
 
-//  /* USER CODE END SysTick_IRQn 0 */
+  /* USER CODE END SysTick_IRQn 0 */
-//  HAL_IncTick();
+  HAL_IncTick();
-//  /* USER CODE BEGIN SysTick_IRQn 1 */
+  /* USER CODE BEGIN SysTick_IRQn 1 */
 
-//  /* USER CODE END SysTick_IRQn 1 */
+  /* USER CODE END SysTick_IRQn 1 */
-//}
+}
 
 /******************************************************************************/
 /* STM32MP1xx Peripheral Interrupt Handlers                                    */

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;
 }
 

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;