pref: 增加自检闪灯动作

保证移动距离完整，防止下发某一方向速度指令时，导致其他方向无法正常退出距离控制模式的问题

.eide/bc2c.arm.options.gcc.json

@@ -0,0 +1,29 @@
+{
+    "version": 5,
+    "beforeBuildTasks": [],
+    "afterBuildTasks": [],
+    "global": {
+        "$float-abi-type": "softfp",
+        "output-debug-info": "enable",
+        "misc-control": "--specs=nosys.specs --specs=nano.specs"
+    },
+    "c/cpp-compiler": {
+        "language-c": "c11",
+        "language-cpp": "c++11",
+        "optimization": "level-debug",
+        "warnings": "all-warnings",
+        "one-elf-section-per-function": true,
+        "one-elf-section-per-data": true,
+        "C_FLAGS": "",
+        "CXX_FLAGS": ""
+    },
+    "asm-compiler": {
+        "ASM_FLAGS": ""
+    },
+    "linker": {
+        "output-format": "elf",
+        "remove-unused-input-sections": true,
+        "LD_FLAGS": "",
+        "LIB_FLAGS": "-lm"
+    }
+}

.eide/bc2c.files.options.yml

@@ -0,0 +1,31 @@
+##########################################################################################
+#                        Append Compiler Options For Source Files
+#
+# syntax:
+#   <your matcher expr>: <your compiler command>
+#
+# examples:
+#   'main.cpp':           --cpp11 -Og ...
+#   'src/*.c':            -gnu -O2 ...
+#   'src/lib/**/*.cpp':   --cpp11 -Os ...
+#   '!Application/*.c':   -O0
+#   '**/*.c':             -O2 -gnu ...
+#
+# For more syntax, please refer to: https://www.npmjs.com/package/micromatch
+#
+##########################################################################################
+
+version: '1.0'
+
+#
+# for source files with filesystem paths
+#
+files:
+#   './test/**/*.c': --c99
+
+#
+# for source files with virtual paths
+#
+virtualPathFiles:
+#   'virtual_folder/**/*.c': --c99
+

.eide/eide.json

@@ -1,11 +1,9 @@
 {
-  "name": "BC1C",
+  "name": "BC2C",
   "type": "ARM",
   "dependenceList": [],
   "srcDirs": [
-    ".eide/deps",
     "3rd-part",
-    "middlewares",
     "app",
     "libraries/drivers",
     "project",
@@ -23,7 +21,7 @@
     "uid": "4b98bd91695978f42b405679968f1016"
   },
   "targets": {
-    "BC1C": {
+    "BC2C": {
       "excludeList": [
         "project/MDK_V5",
         "libraries/cmsis/cm4/device_support/startup/iar",
@@ -33,7 +31,7 @@
       "compileConfig": {
         "cpuType": "Cortex-M4",
         "floatingPointHardware": "single",
-        "scatterFilePath": "${workspaceFolder}\\libraries\\cmsis\\cm4\\device_support\\startup\\gcc\\linker\\AT32F403AxC_FLASH.ld",
+        "scatterFilePath": "${workspaceFolder}\\libraries\\cmsis\\cm4\\device_support\\startup\\gcc\\linker\\AT32F403AxG_FLASH.ld",
         "useCustomScatterFile": true,
         "storageLayout": {
           "RAM": [],
@@ -69,14 +67,12 @@
           "libraries/cmsis/cm4/device_support",
           "project/inc",
           ".cmsis/include",
-          ".eide/deps",
           "3rd-part/dwt_delay",
           "3rd-part/lwprintf",
           "app",
           "3rd-part/lwrb"
         ],
         "libList": [],
-        "sourceDirList": [],
         "defineList": [
           "AT32F403ARCT7",
           "USE_STDPERIPH_DRIVER",
@@ -85,5 +81,5 @@
       }
     }
   },
-  "version": "3.3"
+  "version": "3.4"
 }

.vscode/settings.json

@@ -1,3 +1,3 @@
 {
-    "sonarlint.pathToCompileCommands": "${workspaceFolder}\\build\\BC1C\\compile_commands.json"
+    "sonarlint.pathToCompileCommands": "${workspaceFolder}\\build\\BC2C\\compile_commands.json"
 }

BC2C.ATWP

@@ -2,8 +2,8 @@
 <Root>
     <MCUInfo>
         <MCUSerials>AT32F403A</MCUSerials>
-        <MCUName>AT32F403ARCT7</MCUName>
+        <MCUName>AT32F403ACGT7</MCUName>
-        <MCUPackage>LQFP64</MCUPackage>
+        <MCUPackage>LQFP48</MCUPackage>
     </MCUInfo>
     <CAN1>
         <Mode>
@@ -11,9 +11,9 @@
         </Mode>
         <Parameters>
             <ParametersSub name="BaudRate" value="500"/>
-            <ParametersSub name="Sample_Point" value="90.0"/>
+            <ParametersSub name="Sample_Point" value="87.5"/>
-            <ParametersSub name="BaudRate_Division" value="24"/>
+            <ParametersSub name="BaudRate_Division" value="30"/>
-            <ParametersSub name="BTS1" value="CAN_BTS1_8TQ"/>
+            <ParametersSub name="BTS1" value="CAN_BTS1_6TQ"/>
             <ParametersSub name="BTS2" value="CAN_BTS2_1TQ"/>
             <ParametersSub name="RSAW" value="CAN_RSAW_1TQ"/>
         </Parameters>
@@ -24,9 +24,9 @@
         </Mode>
         <Parameters>
             <ParametersSub name="BaudRate" value="500"/>
-            <ParametersSub name="Sample_Point" value="90.0"/>
+            <ParametersSub name="Sample_Point" value="87.5"/>
-            <ParametersSub name="BaudRate_Division" value="24"/>
+            <ParametersSub name="BaudRate_Division" value="30"/>
-            <ParametersSub name="BTS1" value="CAN_BTS1_8TQ"/>
+            <ParametersSub name="BTS1" value="CAN_BTS1_6TQ"/>
             <ParametersSub name="BTS2" value="CAN_BTS2_1TQ"/>
             <ParametersSub name="RSAW" value="CAN_RSAW_1TQ"/>
         </Parameters>
@@ -55,24 +55,6 @@
             <ModeSub name="Debug interface" value="SWD"/>
         </Mode>
     </DEBUG>
-    <I2C1>
-        <Mode>
-            <ModeSub name="I2C" value="I2C"/>
-        </Mode>
-        <Parameters>
-            <ParametersSub name="DualAddressMode" value="DISABLE"/>
-            <ParametersSub name="GeneralCallMode" value="FALSE"/>
-        </Parameters>
-    </I2C1>
-    <I2C2>
-        <Mode>
-            <ModeSub name="I2C" value="I2C"/>
-        </Mode>
-        <Parameters>
-            <ParametersSub name="DualAddressMode" value="DISABLE"/>
-            <ParametersSub name="GeneralCallMode" value="FALSE"/>
-        </Parameters>
-    </I2C2>
     <TMR6>
         <Mode>
             <ModeSub name="Activated" value="TRUE"/>
@@ -84,10 +66,6 @@
     </TMR6>
     <TMR8>
         <Mode>
-            <ModeSub name="Channel1 mode" value="Output_CH1"/>
-            <ModeSub name="Channel2 mode" value="Output_CH2"/>
-            <ModeSub name="Channel3 mode" value="Output_CH3"/>
-            <ModeSub name="Channel4 mode" value="Output_CH4"/>
             <ModeSub name="Activated" value="TRUE"/>
         </Mode>
         <Parameters>
@@ -95,24 +73,6 @@
             <ParametersSub name="Period" value="2399"/>
         </Parameters>
     </TMR8>
-    <TMR11>
-        <Mode>
-            <ModeSub name="Channel1 mode" value="Output_CH1"/>
-            <ModeSub name="Activated" value="TRUE"/>
-        </Mode>
-        <Parameters>
-            <ParametersSub name="DividerValue" value="99"/>
-            <ParametersSub name="Period" value="2399"/>
-            <ParametersSub name="OCMode_1" value="TMR_OUTPUT_CONTROL_PWM_MODE_A"/>
-        </Parameters>
-    </TMR11>
-    <TMR12>
-        <Mode>
-            <ModeSub name="Channel1 mode" value="Output_CH1"/>
-            <ModeSub name="Channel2 mode" value="Output_CH2"/>
-            <ModeSub name="Activated" value="TRUE"/>
-        </Mode>
-    </TMR12>
     <USART1>
         <Mode>
             <ModeSub name="Mode" value="Asynchronous"/>
@@ -130,18 +90,12 @@
     </USART3>
     <NVIC>
         <SysTick_Handler>0;0;0</SysTick_Handler>
-        <PVM_IRQHandler>0;0;0</PVM_IRQHandler>
         <FLASH_IRQHandler>0;0;0</FLASH_IRQHandler>
         <CRM_IRQHandler>0;0;0</CRM_IRQHandler>
         <USBFS_H_CAN1_TX_IRQHandler>0;0;0</USBFS_H_CAN1_TX_IRQHandler>
         <USBFS_L_CAN1_RX0_IRQHandler>1;0;0</USBFS_L_CAN1_RX0_IRQHandler>
         <CAN1_RX1_IRQHandler>0;0;0</CAN1_RX1_IRQHandler>
         <CAN1_SE_IRQHandler>0;0;0</CAN1_SE_IRQHandler>
-        <TMR1_TRG_HALL_TMR11_IRQHandler>0;0;0</TMR1_TRG_HALL_TMR11_IRQHandler>
-        <I2C1_EVT_IRQHandler>0;0;0</I2C1_EVT_IRQHandler>
-        <I2C1_ERR_IRQHandler>0;0;0</I2C1_ERR_IRQHandler>
-        <I2C2_EVT_IRQHandler>0;0;0</I2C2_EVT_IRQHandler>
-        <I2C2_ERR_IRQHandler>0;0;0</I2C2_ERR_IRQHandler>
         <USART1_IRQHandler>1;1;0</USART1_IRQHandler>
         <USART2_IRQHandler>1;1;0</USART2_IRQHandler>
         <USART3_IRQHandler>1;1;0</USART3_IRQHandler>
@@ -157,11 +111,11 @@
     </NVIC>
     <ClockConfiguration>
         <rtcsel>0</rtcsel>
-        <hext>8.000000</hext>
+        <hext>16.000000</hext>
         <hextdiv>2</hextdiv>
-        <pllhextdiv>0</pllhextdiv>
+        <pllhextdiv>1</pllhextdiv>
-        <pllrcs>1</pllrcs>
+        <pllrcs>0</pllrcs>
-        <pllmult>60</pllmult>
+        <pllmult>30</pllmult>
         <sclkselect>1</sclkselect>
         <ahbdiv>1</ahbdiv>
         <apb1div>2</apb1div>
@@ -176,44 +130,23 @@
     <PINInfo>
         <PinSub pinname="PD0/HEXT_IN" signalname="CRM_HEXT_IN" signaltype="2"/>
         <PinSub pinname="PD1/HEXT_OUT" signalname="CRM_HEXT_OUT" signaltype="2"/>
-        <PinSub pinname="PC0" signalname="GPIO_Output" signaltype="3"/>
-        <PinSub pinname="PC1" signalname="GPIO_Output" signaltype="3"/>
-        <PinSub pinname="PC2" signalname="GPIO_Output" signaltype="3"/>
-        <PinSub pinname="PC3" signalname="GPIO_Output" signaltype="3"/>
         <PinSub pinname="PA2" signalname="USART2_TX" signaltype="2"/>
         <PinSub pinname="PA3" signalname="USART2_RX" signaltype="2"/>
-        <PinSub pinname="PA4" signalname="GPIO_Input" signaltype="3"/>
+        <PinSub pinname="PB10" signalname="USART3_TX" signaltype="2"/>
-        <PinSub pinname="PA5" signalname="GPIO_Input" signaltype="3"/>
+        <PinSub pinname="PB11" signalname="USART3_RX" signaltype="2"/>
-        <PinSub pinname="PA6" signalname="GPIO_Input" signaltype="3"/>
-        <PinSub pinname="PA7" signalname="GPIO_Input" signaltype="3"/>
-        <PinSub pinname="PB10" signalname="I2C2_SCL" signaltype="2"/>
-        <PinSub pinname="PB11" signalname="I2C2_SDA" signaltype="2"/>
         <PinSub pinname="PB12" signalname="CAN2_RX" signaltype="2"/>
         <PinSub pinname="PB13" signalname="CAN2_TX" signaltype="2"/>
-        <PinSub pinname="PB14" signalname="TMR12_CH1" signaltype="2"/>
-        <PinSub pinname="PB15" signalname="TMR12_CH2" signaltype="2"/>
-        <PinSub pinname="PC6" signalname="TMR8_CH1" signaltype="2"/>
-        <PinSub pinname="PC7" signalname="TMR8_CH2" signaltype="2"/>
-        <PinSub pinname="PC8" signalname="TMR8_CH3" signaltype="2"/>
-        <PinSub pinname="PC9" signalname="TMR8_CH4" signaltype="2"/>
         <PinSub pinname="PA9" signalname="USART1_TX" signaltype="2"/>
         <PinSub pinname="PA10" signalname="USART1_RX" signaltype="2"/>
         <PinSub pinname="PA11" signalname="CAN1_RX" signaltype="2"/>
         <PinSub pinname="PA12" signalname="CAN1_TX" signaltype="2"/>
         <PinSub pinname="PA13" signalname="DEBUG_JTMS_SWDIO" signaltype="2"/>
         <PinSub pinname="PA14" signalname="DEBUG_JTCK_SWCLK" signaltype="2"/>
-        <PinSub pinname="PC10" signalname="USART3_TX" signaltype="2"/>
+        <PinSub pinname="PB6" signalname="GPIO_Output" signaltype="3"/>
-        <PinSub pinname="PC11" signalname="USART3_RX" signaltype="2"/>
+        <PinSub pinname="PB7" signalname="GPIO_Output" signaltype="3"/>
-        <PinSub pinname="PD2" signalname="GPIO_Input" signaltype="3"/>
-        <PinSub pinname="PB3" signalname="GPIO_Input" signaltype="3"/>
-        <PinSub pinname="PB4" signalname="GPIO_Input" signaltype="3"/>
-        <PinSub pinname="PB5" signalname="GPIO_Input" signaltype="3"/>
-        <PinSub pinname="PB6" signalname="I2C1_SCL" signaltype="2"/>
-        <PinSub pinname="PB7" signalname="I2C1_SDA" signaltype="2"/>
-        <PinSub pinname="PB9" signalname="TMR11_CH1" signaltype="3"/>
     </PINInfo>
     <ProjectInfomation>
-        <ProjectName>BC1C</ProjectName>
+        <ProjectName>BC2C</ProjectName>
         <ProjectLocation>C:/Users/ForgotDoge/Desktop/BC2024/firmware</ProjectLocation>
         <ToolchainIDE>MDK_V5</ToolchainIDE>
         <KeepUserCode>true</KeepUserCode>

BC2C.code-workspace

@@ -31,7 +31,7 @@
             "titleBar.activeBackground": "#693002",
             "titleBar.activeForeground": "#FFF9F4"
         },
-        "cortex-debug.variableUseNaturalFormat": true
+        "cortex-debug.variableUseNaturalFormat": false
     },
     "extensions": {
     }

app/by_messy.c

@@ -3,6 +3,7 @@
 #include "lwprintf.h"
 #include "by_frame.h"
 #include "by_motion.h"
+#include "by_can.h"
 
 void by_messy_init(void)
 {
@@ -12,6 +13,9 @@ void by_messy_init(void)
 void by_messy_loop(void)
 {
   uint8_t cmd                      = 0;
+  uint8_t buff_t_u8[8]             = {0};
+  uint16_t buff_t_u16[4]           = {0};
+  float buff_t_f[2]                = {0};
   uint32_t buff[BY_FRAME_DATA_NUM] = {0};
 
   if (!by_frame_parse(&cmd, buff)) {
@@ -21,50 +25,146 @@ void by_messy_loop(void)
     switch (cmd) {
       case 0x31: // 设置速度 x
         memcpy(&motion_speed_struct.v_x, buff, sizeof(motion_speed_struct.v_x));
-        by_motion_set_mode(0);
+        by_motion_set_mode_x(0);
         break;
 
       case 0x32: // 设置速度 y
         memcpy(&motion_speed_struct.v_y, buff, sizeof(motion_speed_struct.v_y));
-        by_motion_set_mode(0);
+        by_motion_set_mode_y(0);
         break;
 
       case 0x33: // 设置速度 omega
         memcpy(&motion_speed_struct.v_w, buff, sizeof(motion_speed_struct.v_w));
-        by_motion_set_mode(0);
+        by_motion_set_mode_w(0);
         break;
 
       case 0x34:                  // 设置移动距离 x
         by_frame_send(cmd, buff); // 正确接收后直接返回原文
         memcpy(&motion_speed_struct.v_x, buff, sizeof(motion_speed_struct.v_x));
-        by_motion_set_mode(1);
+        by_motion_set_mode_x(1);
         motion_time_struct.t_x += buff[1];
         break;
 
       case 0x35:                  // 设置移动距离 y
         by_frame_send(cmd, buff); // 正确接收后直接返回原文
         memcpy(&motion_speed_struct.v_y, buff, sizeof(motion_speed_struct.v_y));
-        by_motion_set_mode(1);
+        by_motion_set_mode_y(1);
         motion_time_struct.t_y += buff[1];
         break;
 
       case 0x36:                  // 设置旋转角度 omega
         by_frame_send(cmd, buff); // 正确接收后直接返回原文
         memcpy(&motion_speed_struct.v_w, buff, sizeof(motion_speed_struct.v_w));
-        by_motion_set_mode(1);
+        by_motion_set_mode_w(1);
         motion_time_struct.t_w += buff[1];
         break;
 
       case 0x41:                  // 设置转台 x 轴复位
         by_frame_send(cmd, buff); // 正确接收后直接返回原文
+        buff_t_u8[0] = 0;
+        buff_t_u8[1] = 1; // 复位模式下速度设置无效
+        buff_t_f[0]  = 0.0;
+        memcpy(&buff_t_u8[2], &buff_t_f[0], sizeof(buff_t_f[0]));
+        by_can_send_stdd(0x008, buff_t_u8, 1, 100);
         break;
 
       case 0x42:                  // 设置转台 z 轴复位
         by_frame_send(cmd, buff); // 正确接收后直接返回原文
+        buff_t_u8[0] = 0;
+        buff_t_u8[1] = 5; // 设置复位速度 5
+        by_can_send_stdd(0x008, buff_t_u8, 1, 100);
         break;
 
       case 0x43:                  // 设置转台末端执行器复位
         by_frame_send(cmd, buff); // 正确接收后直接返回原文
+        buff_t_u8[0] = 0;
+        by_can_send_stdd(0x009, buff_t_u8, 1, 100);
+        break;
+
+      case 0x44: // 设置 x 轴位置 (增量)
+        by_frame_send(cmd, buff);
+        buff_t_u8[0] = 1;                               // 增量模式
+        buff_t_u8[1] = (uint8_t)(buff[0] & 0xFF);       // 拷贝设置速度
+        memcpy(&buff_t_u8[2], &buff[1], sizeof(float)); // 拷贝设置距离
+        by_can_send_stdd(0x006, buff_t_u8, 8, 100);
+        break;
+
+      case 0x46: // 设置 z 轴位置 (增量)
+        by_frame_send(cmd, buff);
+        buff_t_u8[0] = 1;                               // 增量模式
+        buff_t_u8[1] = (uint8_t)(buff[0] & 0xFF);       // 拷贝设置速度
+        memcpy(&buff_t_u8[2], &buff[1], sizeof(float)); // 拷贝设置距离
+        by_can_send_stdd(0x008, buff_t_u8, 8, 100);
+        break;
+
+      case 0x47: // 设置 x 轴位置 (绝对)
+        by_frame_send(cmd, buff);
+        buff_t_u8[0] = 0;                               // 位置模式
+        buff_t_u8[1] = (uint8_t)(buff[0] & 0xFF);       // 拷贝设置速度
+        memcpy(&buff_t_u8[2], &buff[1], sizeof(float)); // 拷贝设置距离
+        by_can_send_stdd(0x006, buff_t_u8, 8, 100);
+        break;
+
+      case 0x49: // 设置 z 轴位置 (绝对)
+        by_frame_send(cmd, buff);
+        buff_t_u8[0] = 0;                               // 增量模式
+        buff_t_u8[1] = (uint8_t)(buff[0] & 0xFF);       // 拷贝设置速度
+        memcpy(&buff_t_u8[2], &buff[1], sizeof(float)); // 拷贝设置距离
+        by_can_send_stdd(0x008, buff_t_u8, 8, 100);
+        break;
+
+      case 0x50: // 设置夹爪摇臂角度
+        by_frame_send(cmd, buff);
+        memcpy(buff_t_f, buff, sizeof(float));
+        buff_t_u16[0] = (int16_t)(buff_t_f[0]);
+        by_can_send_stdd(0x009, (uint8_t *)&buff_t_u16, 2, 100);
+        break;
+
+      case 0x51: // 设置夹爪角度
+        by_frame_send(cmd, buff);
+        memcpy(buff_t_f, buff, sizeof(float));
+        buff_t_u16[0] = (int16_t)(buff_t_f[0]);
+        by_can_send_stdd(0x00A, (uint8_t *)&buff_t_u16, 2, 100);
+        break;
+
+      case 0x52: // 设置摄像头角度
+        by_frame_send(cmd, buff);
+        memcpy(buff_t_f, buff, sizeof(float));
+        buff_t_u16[0] = (int16_t)(buff_t_f[0]);
+        by_can_send_stdd(0x00B, (uint8_t *)&buff_t_u16, 2, 100);
+        break;
+
+      case 0x53: // 设置顶端抓取机构角度
+        by_frame_send(cmd, buff);
+        memcpy(buff_t_f, buff, sizeof(float));
+        buff_t_u16[0] = (int16_t)(buff_t_f[0]);
+        by_can_send_stdd(0x00C, (uint8_t *)&buff_t_u16, 2, 100);
+        break;
+
+      case 0x54: // 设置托盘角度
+        by_frame_send(cmd, buff);
+        memcpy(buff_t_f, buff, sizeof(float));
+        buff_t_u16[0] = (int16_t)(buff_t_f[0]);
+        by_can_send_stdd(0x00D, (uint8_t *)&buff_t_u16, 2, 100);
+        break;
+
+      case 0x55: // 设置转轴速度
+        by_frame_send(cmd, buff);
+        memcpy(buff_t_f, buff, sizeof(float));
+        buff_t_u16[0] = (int16_t)(buff_t_f[0]);
+        by_can_send_stdd(0x00E, (uint8_t *)&buff_t_u16, 2, 100);
+        break;
+
+      case 0x61: // 设置闪灯
+        by_frame_send(cmd, buff);
+        memcpy(buff_t_u8, buff, sizeof(buff[1]));
+        gpio_bits_write(GPIOB, GPIO_PINS_6, buff_t_u8[0] ? TRUE : FALSE); // 灯条
+        break;
+
+      case 0x62: // 设置蜂鸣器
+        by_frame_send(cmd, buff);
+        memcpy(buff_t_u8, buff, sizeof(buff[1]));
+        gpio_bits_write(GPIOB, GPIO_PINS_7, buff_t_u8[0] ? TRUE : FALSE); // 灯条
         break;
 
       default:

app/by_motion.c

@@ -5,8 +5,8 @@
 #include "by_debug.h"
 #include "by_can.h"
 
-#define D_X   (0.18f) // 底盘 Y 轴上两轮中心的间距
+#define D_X   (0.25f) // 底盘 Y 轴上两轮中心的间距
-#define D_Y   (0.25f) // 底盘 X 轴上两轮中心的间距
+#define D_Y   (0.28f) // 底盘 X 轴上两轮中心的间距
 #define RX_RY ((D_X + D_Y) / 2.f)
 
 /**********************************************
@@ -19,6 +19,12 @@
 /*** 控制模式 ***/
 uint8_t control_mode = 0; // 0-速度模式 1-位置模式
 
+struct by_motion_mode_struct {
+  uint8_t x;
+  uint8_t y;
+  uint8_t w;
+} by_motion_mode = {0,0,0};
+
 /*** 位置控制 ***/
 uint8_t control_timer      = 0; // 位置控制定时器状态
 uint32_t control_timer_cnt = 0; // 位置控制计数
@@ -55,8 +61,8 @@ void by_motion_update_speed(void)
   v_wheel[3] = speed->v_x - speed->v_y - RX_RY * speed->v_w;
 
   // 根据安装方式调整轮子方向
-  v_wheel[1] *= -1;
+  v_wheel[1] *= -1.0f;
-  v_wheel[2] *= -1;
+  v_wheel[2] *= -1.0f;
 
   for (uint8_t i = 0; i < 4; i++) {
     motion_speed_data[i] = (int16_t)v_wheel[i];
@@ -74,20 +80,38 @@ void by_motion_update_speed(void)
  */
 void by_motion_loop(void)
 {
-  if (control_mode == 0) { // 速度控制模式
+  if (by_motion_mode.x == 0) {
-    memset(&motion_time_struct, 0, sizeof(motion_time_struct));
+    motion_time_struct.t_x = 0;
-  } else { // 位置控制模式
+  } else if (by_motion_mode.x == 1 && motion_time_struct.t_x == 0) {
-    if (0 == motion_time_struct.t_x) {
+    motion_speed_struct.v_x = 0;
-      motion_speed_struct.v_x = 0;
-    }
-    if (0 == motion_time_struct.t_y) {
-      motion_speed_struct.v_y = 0;
-    }
-    if (0 == motion_time_struct.t_w) {
-      motion_speed_struct.v_w = 0;
-    }
   }
 
+  if (by_motion_mode.y == 0) {
+    motion_time_struct.t_y = 0;
+  } else if (by_motion_mode.y == 1 && motion_time_struct.t_y == 0) {
+    motion_speed_struct.v_y = 0;
+  }
+
+  if (by_motion_mode.w == 0) {
+    motion_time_struct.t_w = 0;
+  } else if (by_motion_mode.w == 1 && motion_time_struct.t_w == 0) {
+    motion_speed_struct.v_w = 0;
+  }
+
+  // if (control_mode == 0) { // 速度控制模式
+  //   memset(&motion_time_struct, 0, sizeof(motion_time_struct));
+  // } else { // 位置控制模式
+  //   if (0 == motion_time_struct.t_x) {
+  //     motion_speed_struct.v_x = 0;
+  //   }
+  //   if (0 == motion_time_struct.t_y) {
+  //     motion_speed_struct.v_y = 0;
+  //   }
+  //   if (0 == motion_time_struct.t_w) {
+  //     motion_speed_struct.v_w = 0;
+  //   }
+  // }
+
   if ((motion_speed_struct.v_x != motion_speed_struct_last.v_x) || (motion_speed_struct.v_y != motion_speed_struct_last.v_y) || (motion_speed_struct.v_w != motion_speed_struct_last.v_w)) {
     by_motion_update_speed();
     memcpy(&motion_speed_struct_last, &motion_speed_struct, sizeof(motion_speed_type));
@@ -100,29 +124,62 @@ void by_motion_loop(void)
  */
 void by_motion_timer_handle(void)
 {
-  if (control_mode == 0) {
+  // if (control_mode == 0) {
+  //   motion_time_struct.t_x = 0;
+  //   motion_time_struct.t_y = 0;
+  //   motion_time_struct.t_w = 0;
+  // } else {
+  //   if (motion_time_struct.t_x > 0) {
+  //     motion_time_struct.t_x--;
+  //   }
+  //   if (motion_time_struct.t_y > 0) {
+  //     motion_time_struct.t_y--;
+  //   }
+  //   if (motion_time_struct.t_w > 0) {
+  //     motion_time_struct.t_w--;
+  //   }
+  // }
+
+  if (by_motion_mode.x == 0) {
     motion_time_struct.t_x = 0;
+  } else if(motion_time_struct.t_x > 0) {
+    motion_time_struct.t_x--;
+  }
+
+  if(by_motion_mode.y == 0) {
     motion_time_struct.t_y = 0;
+  } else if(motion_time_struct.t_y > 0) {
+    motion_time_struct.t_y--;
+  }
+
+  if(by_motion_mode.w == 0) {
     motion_time_struct.t_w = 0;
-  } else {
+  } else if(motion_time_struct.t_w > 0) {
-    if (motion_time_struct.t_x > 0) {
+    motion_time_struct.t_w--;
-      motion_time_struct.t_x--;
-    }
-    if (motion_time_struct.t_y > 0) {
-      motion_time_struct.t_y--;
-    }
-    if (motion_time_struct.t_w > 0) {
-      motion_time_struct.t_w--;
-    }
   }
 }
 
-/**
+// /**
- * @brief 设置电机控制模式
+//  * @brief 设置电机控制模式
- *
+//  *
- * @param mode 0-速度模式 1-位置模式
+//  * @param mode 0-速度模式 1-位置模式
- */
+//  */
-void by_motion_set_mode(uint8_t mode)
+// void by_motion_set_mode(uint8_t mode)
+// {
+//   control_mode = mode;
+// }
+
+void by_motion_set_mode_x(uint8_t mode)
 {
-  control_mode = mode;
+  by_motion_mode.x = mode;
+}
+
+void by_motion_set_mode_y(uint8_t mode)
+{
+  by_motion_mode.y = mode;
+}
+
+void by_motion_set_mode_w(uint8_t mode)
+{
+  by_motion_mode.w = mode;
 }

app/by_motion.h

@@ -20,7 +20,10 @@ extern void by_motion_update_speed(void);
 extern void by_motion_loop(void);
 extern void by_motion_set_mode(uint8_t mode);
 extern void by_motion_timer_handle(void);
-extern void by_motion_set_mode(uint8_t mode);
+// extern void by_motion_set_mode(uint8_t mode);
+extern void by_motion_set_mode_x(uint8_t mode);
+extern void by_motion_set_mode_y(uint8_t mode);
+extern void by_motion_set_mode_w(uint8_t mode);
 
 extern motion_speed_type motion_speed_struct;
 extern motion_time_type motion_time_struct;

project/MDK_V5/BC2C.uvoptx

@@ -17,7 +17,7 @@
         <dwHighDateTime>0</dwHighDateTime>
     </DaveTm>
     <Target>
-        <TargetName>BC1C</TargetName>
+        <TargetName>BC2C</TargetName>
         <ToolsetNumber>0x4</ToolsetNumber>
         <ToolsetName>ARM-ADS</ToolsetName>
         <TargetOption>

project/MDK_V5/BC2C.uvprojx

@@ -4,22 +4,22 @@
     <Header>### uVision Project, (C) Keil Software</Header>
     <Targets>
         <Target>
-            <TargetName>BC1C</TargetName>
+            <TargetName>BC2C</TargetName>
             <ToolsetNumber>0x4</ToolsetNumber>
             <ToolsetName>ARM-ADS</ToolsetName>
             <pCCUsed>5060960::V5.06 update 7 (build 960)::.\ARMCC</pCCUsed>
             <uAC6>0</uAC6>
             <TargetOption>
                 <TargetCommonOption>
-                    <Device>-AT32F403ARCT7</Device>
+                    <Device>-AT32F403ACGT7</Device>
                     <Vendor>ArteryTek</Vendor>
                     <PackID>ArteryTek.AT32F403A_407_DFP.2.1.5</PackID>
-                    <Cpu>IRAM(0x20000000,0x6000000) IROM(0x08000000,0x10000000) CPUTYPE("Cortex-M4") FPU2 CLOCK(12000000) ELITTLE</Cpu>
+                    <Cpu>IRAM(0x20000000,0x6000000) IROM(0x08000000,0x40000000) CPUTYPE("Cortex-M4") FPU2 CLOCK(12000000) ELITTLE</Cpu>
                     <FlashUtilSpec/>
                     <StartupFile/>
-                    <FlashDriverDll>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0AT32F403A_256 -FS08000000 -FL0400000 -FP0($$Device:-AT32F403ARCT7$Flash\AT32F403A_256.FLM))</FlashDriverDll>
+                    <FlashDriverDll>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0AT32F403A_1024 -FS08000000 -FL1000000 -FP0($$Device:-AT32F403ACGT7$Flash\AT32F403A_1024.FLM))</FlashDriverDll>
                     <DeviceId>0</DeviceId>
-                    <RegisterFile>$$Device:-AT32F403ARCT7$Device\Include\at32f403a_407.h</RegisterFile>
+                    <RegisterFile>$$Device:-AT32F403ACGT7$Device\Include\at32f403a_407.h</RegisterFile>
                     <MemoryEnv/>
                     <Cmp/>
                     <Asm/>
@@ -29,7 +29,7 @@
                     <SLE66CMisc/>
                     <SLE66AMisc/>
                     <SLE66LinkerMisc/>
-                    <SFDFile>$$Device:-AT32F403ARCT7$SVD\AT32F403Axx_v2.svd</SFDFile>
+                    <SFDFile>$$Device:-AT32F403ACGT7$SVD\AT32F403Axx_v2.svd</SFDFile>
                     <bCustSvd>0</bCustSvd>
                     <UseEnv>0</UseEnv>
                     <BinPath/>
@@ -45,7 +45,7 @@
                         <InvalidFlash>1</InvalidFlash>
                     </TargetStatus>
                     <OutputDirectory>.\objects\</OutputDirectory>
-                    <OutputName>BC1C</OutputName>
+                    <OutputName>BC2C</OutputName>
                     <CreateExecutable>1</CreateExecutable>
                     <CreateLib>0</CreateLib>
                     <CreateHexFile>1</CreateHexFile>
@@ -247,7 +247,7 @@
                             <IROM>
                                 <Type>1</Type>
                                 <StartAddress>0x8000000</StartAddress>
-                                <Size>0x40000</Size>
+                                <Size>0x100000</Size>
                             </IROM>
                             <XRAM>
                                 <Type>0</Type>
@@ -272,7 +272,7 @@
                             <OCR_RVCT4>
                                 <Type>1</Type>
                                 <StartAddress>0x8000000</StartAddress>
-                                <Size>0x40000</Size>
+                                <Size>0x100000</Size>
                             </OCR_RVCT4>
                             <OCR_RVCT5>
                                 <Type>1</Type>
@@ -333,7 +333,7 @@
                         <v6Rtti>0</v6Rtti>
                         <VariousControls>
                             <MiscControls/>
-                            <Define>AT32F403ARCT7,USE_STDPERIPH_DRIVER,AT_START_F403A_V1</Define>
+                            <Define>AT32F403ACGT7,USE_STDPERIPH_DRIVER,AT_START_F403A_V1</Define>
                             <Undefine/>
                             <IncludePath>..\..\libraries\drivers\inc;..\..\libraries\cmsis\cm4\core_support;..\..\libraries\cmsis\cm4\device_support;..\inc</IncludePath>
                         </VariousControls>
@@ -399,11 +399,6 @@
                 <Group>
                     <GroupName>firmware</GroupName>
                     <Files>
-                        <File>
-                            <FileName>at32f403a_407_adc.c</FileName>
-                            <FileType>1</FileType>
-                            <FilePath>..\..\libraries\drivers\src\at32f403a_407_adc.c</FilePath>
-                        </File>
                         <File>
                             <FileName>at32f403a_407_can.c</FileName>
                             <FileType>1</FileType>
@@ -419,11 +414,6 @@
                             <FileType>1</FileType>
                             <FilePath>..\..\libraries\drivers\src\at32f403a_407_debug.c</FilePath>
                         </File>
-                        <File>
-                            <FileName>at32f403a_407_exint.c</FileName>
-                            <FileType>1</FileType>
-                            <FilePath>..\..\libraries\drivers\src\at32f403a_407_exint.c</FilePath>
-                        </File>
                         <File>
                             <FileName>at32f403a_407_flash.c</FileName>
                             <FileType>1</FileType>
@@ -434,11 +424,6 @@
                             <FileType>1</FileType>
                             <FilePath>..\..\libraries\drivers\src\at32f403a_407_gpio.c</FilePath>
                         </File>
-                        <File>
-                            <FileName>at32f403a_407_i2c.c</FileName>
-                            <FileType>1</FileType>
-                            <FilePath>..\..\libraries\drivers\src\at32f403a_407_i2c.c</FilePath>
-                        </File>
                         <File>
                             <FileName>at32f403a_407_misc.c</FileName>
                             <FileType>1</FileType>
@@ -449,21 +434,11 @@
                             <FileType>1</FileType>
                             <FilePath>..\..\libraries\drivers\src\at32f403a_407_pwc.c</FilePath>
                         </File>
-                        <File>
-                            <FileName>at32f403a_407_tmr.c</FileName>
-                            <FileType>1</FileType>
-                            <FilePath>..\..\libraries\drivers\src\at32f403a_407_tmr.c</FilePath>
-                        </File>
                         <File>
                             <FileName>at32f403a_407_usart.c</FileName>
                             <FileType>1</FileType>
                             <FilePath>..\..\libraries\drivers\src\at32f403a_407_usart.c</FilePath>
                         </File>
-                        <File>
-                            <FileName>at32f403a_407_crc.c</FileName>
-                            <FileType>1</FileType>
-                            <FilePath>..\..\libraries\drivers\src\at32f403a_407_crc.c</FilePath>
-                        </File>
                     </Files>
                 </Group>
                 <Group>
@@ -492,7 +467,7 @@
     <LayerInfo>
         <Layers>
             <Layer>
-                <LayName>BC1C</LayName>
+                <LayName>BC2C</LayName>
                 <LayTarg>0</LayTarg>
                 <LayPrjMark>1</LayPrjMark>
             </Layer>

project/inc/at32f403a_407_conf.h

@@ -39,7 +39,7 @@ extern "C" {
   *
   */
 #if !defined  HEXT_VALUE
-#define HEXT_VALUE               ((uint32_t)8000000) /*!< value of the high speed exernal crystal in hz */
+#define HEXT_VALUE               ((uint32_t)16000000) /*!< value of the high speed exernal crystal in hz */
 #endif
 
 /**
@@ -64,7 +64,7 @@ extern "C" {
 /*#define EXINT_MODULE_ENABLED--------------------*/
 #define FLASH_MODULE_ENABLED
 #define GPIO_MODULE_ENABLED
-#define I2C_MODULE_ENABLED
+/*#define I2C_MODULE_ENABLED----------------------*/
 #define MISC_MODULE_ENABLED
 #define PWC_MODULE_ENABLED
 /*#define RTC_MODULE_ENABLED----------------------*/

project/inc/at32f403a_407_wk_config.h

@@ -71,12 +71,6 @@ extern "C" {
   /* init gpio function. */
   void wk_gpio_config(void);
 
-  /* init i2c1 function. */
-  void wk_i2c1_init(void);
-
-  /* init i2c2 function. */
-  void wk_i2c2_init(void);
-
   /* init can1 function. */
   void wk_can1_init(void);
 
@@ -98,12 +92,6 @@ extern "C" {
   /* init tmr8 function. */
   void wk_tmr8_init(void);
 
-  /* init tmr11 function. */
-  void wk_tmr11_init(void);
-
-  /* init tmr12 function. */
-  void wk_tmr12_init(void);
-
   /* init crc function. */
   void wk_crc_init(void);
 

project/src/at32f403a_407_int.c

@@ -1,27 +1,27 @@
 /* add user code begin Header */
 /**
- **************************************************************************
+  **************************************************************************
- * @file     at32f403a_407_int.c
+  * @file     at32f403a_407_int.c
- * @brief    main interrupt service routines.
+  * @brief    main interrupt service routines.
- **************************************************************************
+  **************************************************************************
- *                       Copyright notice & Disclaimer
+  *                       Copyright notice & Disclaimer
- *
+  *
- * The software Board Support Package (BSP) that is made available to
+  * The software Board Support Package (BSP) that is made available to
- * download from Artery official website is the copyrighted work of Artery.
+  * download from Artery official website is the copyrighted work of Artery.
- * Artery authorizes customers to use, copy, and distribute the BSP
+  * Artery authorizes customers to use, copy, and distribute the BSP
- * software and its related documentation for the purpose of design and
+  * software and its related documentation for the purpose of design and
- * development in conjunction with Artery microcontrollers. Use of the
+  * development in conjunction with Artery microcontrollers. Use of the
- * software is governed by this copyright notice and the following disclaimer.
+  * software is governed by this copyright notice and the following disclaimer.
- *
+  *
- * THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES,
+  * THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES,
- * GUARANTEES OR REPRESENTATIONS OF ANY KIND. ARTERY EXPRESSLY DISCLAIMS,
+  * GUARANTEES OR REPRESENTATIONS OF ANY KIND. ARTERY EXPRESSLY DISCLAIMS,
- * TO THE FULLEST EXTENT PERMITTED BY LAW, ALL EXPRESS, IMPLIED OR
+  * TO THE FULLEST EXTENT PERMITTED BY LAW, ALL EXPRESS, IMPLIED OR
- * STATUTORY OR OTHER WARRANTIES, GUARANTEES OR REPRESENTATIONS,
+  * STATUTORY OR OTHER WARRANTIES, GUARANTEES OR REPRESENTATIONS,
- * INCLUDING BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY,
+  * INCLUDING BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE, OR NON-INFRINGEMENT.
+  * FITNESS FOR A PARTICULAR PURPOSE, OR NON-INFRINGEMENT.
- *
+  *
- **************************************************************************
+  **************************************************************************
- */
+  */
 /* add user code end Header */
 
 /* includes ------------------------------------------------------------------*/
@@ -70,10 +70,10 @@
 /* add user code end external variables */
 
 /**
- * @brief  this function handles nmi exception.
+  * @brief  this function handles nmi exception.
- * @param  none
+  * @param  none
- * @retval none
+  * @retval none
- */
+  */
 void NMI_Handler(void)
 {
   /* add user code begin NonMaskableInt_IRQ 0 */
@@ -86,17 +86,18 @@ void NMI_Handler(void)
 }
 
 /**
- * @brief  this function handles hard fault exception.
+  * @brief  this function handles hard fault exception.
- * @param  none
+  * @param  none
- * @retval none
+  * @retval none
- */
+  */
 void HardFault_Handler(void)
 {
   /* add user code begin HardFault_IRQ 0 */
 
   /* add user code end HardFault_IRQ 0 */
   /* go to infinite loop when hard fault exception occurs */
-  while (1) {
+  while (1)
+  {
     /* add user code begin W1_HardFault_IRQ 0 */
 
     /* add user code end W1_HardFault_IRQ 0 */
@@ -104,17 +105,18 @@ void HardFault_Handler(void)
 }
 
 /**
- * @brief  this function handles memory manage exception.
+  * @brief  this function handles memory manage exception.
- * @param  none
+  * @param  none
- * @retval none
+  * @retval none
- */
+  */
 void MemManage_Handler(void)
 {
   /* add user code begin MemoryManagement_IRQ 0 */
 
   /* add user code end MemoryManagement_IRQ 0 */
   /* go to infinite loop when memory manage exception occurs */
-  while (1) {
+  while (1)
+  {
     /* add user code begin W1_MemoryManagement_IRQ 0 */
 
     /* add user code end W1_MemoryManagement_IRQ 0 */
@@ -122,17 +124,18 @@ void MemManage_Handler(void)
 }
 
 /**
- * @brief  this function handles bus fault exception.
+  * @brief  this function handles bus fault exception.
- * @param  none
+  * @param  none
- * @retval none
+  * @retval none
- */
+  */
 void BusFault_Handler(void)
 {
   /* add user code begin BusFault_IRQ 0 */
 
   /* add user code end BusFault_IRQ 0 */
   /* go to infinite loop when bus fault exception occurs */
-  while (1) {
+  while (1)
+  {
     /* add user code begin W1_BusFault_IRQ 0 */
 
     /* add user code end W1_BusFault_IRQ 0 */
@@ -140,17 +143,18 @@ void BusFault_Handler(void)
 }
 
 /**
- * @brief  this function handles usage fault exception.
+  * @brief  this function handles usage fault exception.
- * @param  none
+  * @param  none
- * @retval none
+  * @retval none
- */
+  */
 void UsageFault_Handler(void)
 {
   /* add user code begin UsageFault_IRQ 0 */
 
   /* add user code end UsageFault_IRQ 0 */
   /* go to infinite loop when usage fault exception occurs */
-  while (1) {
+  while (1)
+  {
     /* add user code begin W1_UsageFault_IRQ 0 */
 
     /* add user code end W1_UsageFault_IRQ 0 */
@@ -158,10 +162,10 @@ void UsageFault_Handler(void)
 }
 
 /**
- * @brief  this function handles svcall exception.
+  * @brief  this function handles svcall exception.
- * @param  none
+  * @param  none
- * @retval none
+  * @retval none
- */
+  */
 void SVC_Handler(void)
 {
   /* add user code begin SVCall_IRQ 0 */
@@ -173,10 +177,10 @@ void SVC_Handler(void)
 }
 
 /**
- * @brief  this function handles debug monitor exception.
+  * @brief  this function handles debug monitor exception.
- * @param  none
+  * @param  none
- * @retval none
+  * @retval none
- */
+  */
 void DebugMon_Handler(void)
 {
   /* add user code begin DebugMonitor_IRQ 0 */
@@ -188,10 +192,10 @@ void DebugMon_Handler(void)
 }
 
 /**
- * @brief  this function handles pendsv_handler exception.
+  * @brief  this function handles pendsv_handler exception.
- * @param  none
+  * @param  none
- * @retval none
+  * @retval none
- */
+  */
 void PendSV_Handler(void)
 {
   /* add user code begin PendSV_IRQ 0 */
@@ -203,10 +207,10 @@ void PendSV_Handler(void)
 }
 
 /**
- * @brief  this function handles USB Low  Priority or CAN1 RX0 handler.
+  * @brief  this function handles USB Low  Priority or CAN1 RX0 handler.
- * @param  none
+  * @param  none
- * @retval none
+  * @retval none
- */
+  */
 void USBFS_L_CAN1_RX0_IRQHandler(void)
 {
   /* add user code begin USBFS_L_CAN1_RX0_IRQ 0 */
@@ -223,10 +227,10 @@ void USBFS_L_CAN1_RX0_IRQHandler(void)
 }
 
 /**
- * @brief  this function handles USART1 handler.
+  * @brief  this function handles USART1 handler.
- * @param  none
+  * @param  none
- * @retval none
+  * @retval none
- */
+  */
 void USART1_IRQHandler(void)
 {
   /* add user code begin USART1_IRQ 0 */
@@ -241,10 +245,10 @@ void USART1_IRQHandler(void)
 }
 
 /**
- * @brief  this function handles USART2 handler.
+  * @brief  this function handles USART2 handler.
- * @param  none
+  * @param  none
- * @retval none
+  * @retval none
- */
+  */
 void USART2_IRQHandler(void)
 {
   /* add user code begin USART2_IRQ 0 */
@@ -262,10 +266,10 @@ void USART2_IRQHandler(void)
 }
 
 /**
- * @brief  this function handles USART3 handler.
+  * @brief  this function handles USART3 handler.
- * @param  none
+  * @param  none
- * @retval none
+  * @retval none
- */
+  */
 void USART3_IRQHandler(void)
 {
   /* add user code begin USART3_IRQ 0 */
@@ -281,10 +285,10 @@ void USART3_IRQHandler(void)
 }
 
 /**
- * @brief  this function handles TMR6 handler.
+  * @brief  this function handles TMR6 handler.
- * @param  none
+  * @param  none
- * @retval none
+  * @retval none
- */
+  */
 void TMR6_GLOBAL_IRQHandler(void)
 {
   /* add user code begin TMR6_GLOBAL_IRQ 0 */
@@ -299,10 +303,10 @@ void TMR6_GLOBAL_IRQHandler(void)
 }
 
 /**
- * @brief  this function handles CAN2 RX0 handler.
+  * @brief  this function handles CAN2 RX0 handler.
- * @param  none
+  * @param  none
- * @retval none
+  * @retval none
- */
+  */
 void CAN2_RX0_IRQHandler(void)
 {
   /* add user code begin CAN2_RX0_IRQ 0 */

project/src/at32f403a_407_wk_config.c

@@ -1,27 +1,27 @@
 /* add user code begin Header */
 /**
- **************************************************************************
+  **************************************************************************
- * @file     at32f403a_407_wk_config.c
+  * @file     at32f403a_407_wk_config.c
- * @brief    work bench config program
+  * @brief    work bench config program
- **************************************************************************
+  **************************************************************************
- *                       Copyright notice & Disclaimer
+  *                       Copyright notice & Disclaimer
- *
+  *
- * The software Board Support Package (BSP) that is made available to
+  * The software Board Support Package (BSP) that is made available to
- * download from Artery official website is the copyrighted work of Artery.
+  * download from Artery official website is the copyrighted work of Artery.
- * Artery authorizes customers to use, copy, and distribute the BSP
+  * Artery authorizes customers to use, copy, and distribute the BSP
- * software and its related documentation for the purpose of design and
+  * software and its related documentation for the purpose of design and
- * development in conjunction with Artery microcontrollers. Use of the
+  * development in conjunction with Artery microcontrollers. Use of the
- * software is governed by this copyright notice and the following disclaimer.
+  * software is governed by this copyright notice and the following disclaimer.
- *
+  *
- * THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES,
+  * THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES,
- * GUARANTEES OR REPRESENTATIONS OF ANY KIND. ARTERY EXPRESSLY DISCLAIMS,
+  * GUARANTEES OR REPRESENTATIONS OF ANY KIND. ARTERY EXPRESSLY DISCLAIMS,
- * TO THE FULLEST EXTENT PERMITTED BY LAW, ALL EXPRESS, IMPLIED OR
+  * TO THE FULLEST EXTENT PERMITTED BY LAW, ALL EXPRESS, IMPLIED OR
- * STATUTORY OR OTHER WARRANTIES, GUARANTEES OR REPRESENTATIONS,
+  * STATUTORY OR OTHER WARRANTIES, GUARANTEES OR REPRESENTATIONS,
- * INCLUDING BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY,
+  * INCLUDING BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE, OR NON-INFRINGEMENT.
+  * FITNESS FOR A PARTICULAR PURPOSE, OR NON-INFRINGEMENT.
- *
+  *
- **************************************************************************
+  **************************************************************************
- */
+  */
 /* add user code end Header */
 
 #include "at32f403a_407_wk_config.h"
@@ -64,8 +64,8 @@
 /**
   * @brief  system clock config program
   * @note   the system clock is configured as follow:
-  *         system clock (sclk)   = hick / 12 * pll_mult
+  *         system clock (sclk)   = hext / 2 * pll_mult
-  *         system clock source   = HICK_VALUE
+  *         system clock source   = HEXT_VALUE
   *         - hext                = HEXT_VALUE
   *         - sclk                = 240000000
   *         - ahbdiv              = 1
@@ -74,7 +74,7 @@
   *         - apb1clk             = 120000000
   *         - apb2div             = 2
   *         - apb2clk             = 120000000
-  *         - pll_mult            = 60
+  *         - pll_mult            = 30
   *         - pll_range           = GT72MHZ (greater than 72 mhz)
   * @param  none
   * @retval none
@@ -109,7 +109,10 @@ void wk_system_clock_config(void)
   }
 
   /* config pll clock resource */
-  crm_pll_config(CRM_PLL_SOURCE_HICK, CRM_PLL_MULT_60, CRM_PLL_OUTPUT_RANGE_GT72MHZ);
+  crm_pll_config(CRM_PLL_SOURCE_HEXT_DIV, CRM_PLL_MULT_30, CRM_PLL_OUTPUT_RANGE_GT72MHZ);
+
+  /* config hext division */
+  crm_hext_clock_div_set(CRM_HEXT_DIV_2);
 
   /* enable pll */
   crm_clock_source_enable(CRM_CLOCK_SOURCE_PLL, TRUE);
@@ -165,9 +168,6 @@ void wk_periph_clock_config(void)
   /* enable gpiob periph clock */
   crm_periph_clock_enable(CRM_GPIOB_PERIPH_CLOCK, TRUE);
 
-  /* enable gpioc periph clock */
-  crm_periph_clock_enable(CRM_GPIOC_PERIPH_CLOCK, TRUE);
-
   /* enable gpiod periph clock */
   crm_periph_clock_enable(CRM_GPIOD_PERIPH_CLOCK, TRUE);
 
@@ -177,27 +177,15 @@ void wk_periph_clock_config(void)
   /* enable usart1 periph clock */
   crm_periph_clock_enable(CRM_USART1_PERIPH_CLOCK, TRUE);
 
-  /* enable tmr11 periph clock */
-  crm_periph_clock_enable(CRM_TMR11_PERIPH_CLOCK, TRUE);
-
   /* enable tmr6 periph clock */
   crm_periph_clock_enable(CRM_TMR6_PERIPH_CLOCK, TRUE);
 
-  /* enable tmr12 periph clock */
-  crm_periph_clock_enable(CRM_TMR12_PERIPH_CLOCK, TRUE);
-
   /* enable usart2 periph clock */
   crm_periph_clock_enable(CRM_USART2_PERIPH_CLOCK, TRUE);
 
   /* enable usart3 periph clock */
   crm_periph_clock_enable(CRM_USART3_PERIPH_CLOCK, TRUE);
 
-  /* enable i2c1 periph clock */
-  crm_periph_clock_enable(CRM_I2C1_PERIPH_CLOCK, TRUE);
-
-  /* enable i2c2 periph clock */
-  crm_periph_clock_enable(CRM_I2C2_PERIPH_CLOCK, TRUE);
-
   /* enable can1 periph clock */
   crm_periph_clock_enable(CRM_CAN1_PERIPH_CLOCK, TRUE);
 
@@ -251,133 +239,21 @@ void wk_gpio_config(void)
 
   /* add user code end gpio_config 1 */
 
-  /* gpio input config */
-  gpio_init_struct.gpio_mode = GPIO_MODE_INPUT;
-  gpio_init_struct.gpio_pins = GPIO_PINS_4 | GPIO_PINS_5 | GPIO_PINS_6 | GPIO_PINS_7;
-  gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
-  gpio_init(GPIOA, &gpio_init_struct);
-
-  gpio_init_struct.gpio_mode = GPIO_MODE_INPUT;
-  gpio_init_struct.gpio_pins = GPIO_PINS_2;
-  gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
-  gpio_init(GPIOD, &gpio_init_struct);
-
-  gpio_init_struct.gpio_mode = GPIO_MODE_INPUT;
-  gpio_init_struct.gpio_pins = GPIO_PINS_3 | GPIO_PINS_4 | GPIO_PINS_5;
-  gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
-  gpio_init(GPIOB, &gpio_init_struct);
-
   /* gpio output config */
-  gpio_bits_reset(GPIOC, GPIO_PINS_0 | GPIO_PINS_1 | GPIO_PINS_2 | GPIO_PINS_3);
+  gpio_bits_reset(GPIOB, GPIO_PINS_6 | GPIO_PINS_7);
 
   gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_MODERATE;
   gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL;
   gpio_init_struct.gpio_mode = GPIO_MODE_OUTPUT;
-  gpio_init_struct.gpio_pins = GPIO_PINS_0 | GPIO_PINS_1 | GPIO_PINS_2 | GPIO_PINS_3;
+  gpio_init_struct.gpio_pins = GPIO_PINS_6 | GPIO_PINS_7;
   gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
-  gpio_init(GPIOC, &gpio_init_struct);
+  gpio_init(GPIOB, &gpio_init_struct);
 
   /* add user code begin gpio_config 2 */
 
   /* add user code end gpio_config 2 */
 }
 
-/**
-  * @brief  init i2c1 function.
-  * @param  none
-  * @retval none
-  */
-void wk_i2c1_init(void)
-{
-  /* add user code begin i2c1_init 0 */
-
-  /* add user code end i2c1_init 0 */
-
-  gpio_init_type gpio_init_struct;
-
-  gpio_default_para_init(&gpio_init_struct);
-
-  /* add user code begin i2c1_init 1 */
-
-  /* add user code end i2c1_init 1 */
-
-  /* configure the SCL pin */
-  gpio_init_struct.gpio_out_type = GPIO_OUTPUT_OPEN_DRAIN;
-  gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
-  gpio_init_struct.gpio_mode = GPIO_MODE_MUX;
-  gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_MODERATE;
-  gpio_init_struct.gpio_pins = GPIO_PINS_6;
-  gpio_init(GPIOB, &gpio_init_struct);
-
-  /* configure the SDA pin */
-  gpio_init_struct.gpio_out_type = GPIO_OUTPUT_OPEN_DRAIN;
-  gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
-  gpio_init_struct.gpio_mode = GPIO_MODE_MUX;
-  gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_MODERATE;
-  gpio_init_struct.gpio_pins = GPIO_PINS_7;
-  gpio_init(GPIOB, &gpio_init_struct);
-
-  i2c_init(I2C1, I2C_FSMODE_DUTY_2_1, 100000);
-  i2c_own_address1_set(I2C1, I2C_ADDRESS_MODE_7BIT, 0x0);
-  i2c_ack_enable(I2C1, TRUE);
-  i2c_clock_stretch_enable(I2C1, TRUE);
-  i2c_general_call_enable(I2C1, FALSE);
-
-  i2c_enable(I2C1, TRUE);
-
-  /* add user code begin i2c1_init 2 */
-
-  /* add user code end i2c1_init 2 */
-}
-
-/**
-  * @brief  init i2c2 function.
-  * @param  none
-  * @retval none
-  */
-void wk_i2c2_init(void)
-{
-  /* add user code begin i2c2_init 0 */
-
-  /* add user code end i2c2_init 0 */
-
-  gpio_init_type gpio_init_struct;
-
-  gpio_default_para_init(&gpio_init_struct);
-
-  /* add user code begin i2c2_init 1 */
-
-  /* add user code end i2c2_init 1 */
-  
-  /* configure the SCL pin */
-  gpio_init_struct.gpio_out_type = GPIO_OUTPUT_OPEN_DRAIN;
-  gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
-  gpio_init_struct.gpio_mode = GPIO_MODE_MUX;
-  gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_MODERATE;
-  gpio_init_struct.gpio_pins = GPIO_PINS_10;
-  gpio_init(GPIOB, &gpio_init_struct);
-
-  /* configure the SDA pin */
-  gpio_init_struct.gpio_out_type = GPIO_OUTPUT_OPEN_DRAIN;
-  gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
-  gpio_init_struct.gpio_mode = GPIO_MODE_MUX;
-  gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_MODERATE;
-  gpio_init_struct.gpio_pins = GPIO_PINS_11;
-  gpio_init(GPIOB, &gpio_init_struct);
-
-  i2c_init(I2C2, I2C_FSMODE_DUTY_2_1, 100000);
-  i2c_own_address1_set(I2C2, I2C_ADDRESS_MODE_7BIT, 0x0);
-  i2c_ack_enable(I2C2, TRUE);
-  i2c_clock_stretch_enable(I2C2, TRUE);
-  i2c_general_call_enable(I2C2, FALSE);
-
-  i2c_enable(I2C2, TRUE);
-
-  /* add user code begin i2c2_init 2 */
-
-  /* add user code end i2c2_init 2 */
-}
-
 /**
   * @brief  init usart1 function
   * @param  none
@@ -516,7 +392,7 @@ void wk_usart3_init(void)
   gpio_init_struct.gpio_mode = GPIO_MODE_MUX;
   gpio_init_struct.gpio_pins = GPIO_PINS_10;
   gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
-  gpio_init(GPIOC, &gpio_init_struct);
+  gpio_init(GPIOB, &gpio_init_struct);
 
   /* configure the RX pin */
   gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_MODERATE;
@@ -524,9 +400,7 @@ void wk_usart3_init(void)
   gpio_init_struct.gpio_mode = GPIO_MODE_INPUT;
   gpio_init_struct.gpio_pins = GPIO_PINS_11;
   gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
-  gpio_init(GPIOC, &gpio_init_struct);
+  gpio_init(GPIOB, &gpio_init_struct);
-
-  gpio_pin_remap_config(USART3_GMUX_0001, TRUE);
 
   /* configure param */
   usart_init(USART3, 115200, USART_DATA_8BITS, USART_STOP_1_BIT);
@@ -600,48 +474,11 @@ void wk_tmr8_init(void)
 
   /* add user code end tmr8_init 0 */
 
-  gpio_init_type gpio_init_struct;
-  tmr_output_config_type tmr_output_struct;
-  tmr_brkdt_config_type tmr_brkdt_struct;
-
-  gpio_default_para_init(&gpio_init_struct);
 
   /* add user code begin tmr8_init 1 */
 
   /* add user code end tmr8_init 1 */
 
-  /* configure the CH1 pin */
-  gpio_init_struct.gpio_pins = GPIO_PINS_6;
-  gpio_init_struct.gpio_mode = GPIO_MODE_MUX;
-  gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL;
-  gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
-  gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_MODERATE;
-  gpio_init(GPIOC, &gpio_init_struct);
-
-  /* configure the CH2 pin */
-  gpio_init_struct.gpio_pins = GPIO_PINS_7;
-  gpio_init_struct.gpio_mode = GPIO_MODE_MUX;
-  gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL;
-  gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
-  gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_MODERATE;
-  gpio_init(GPIOC, &gpio_init_struct);
-
-  /* configure the CH3 pin */
-  gpio_init_struct.gpio_pins = GPIO_PINS_8;
-  gpio_init_struct.gpio_mode = GPIO_MODE_MUX;
-  gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL;
-  gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
-  gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_MODERATE;
-  gpio_init(GPIOC, &gpio_init_struct);
-
-  /* configure the CH4 pin */
-  gpio_init_struct.gpio_pins = GPIO_PINS_9;
-  gpio_init_struct.gpio_mode = GPIO_MODE_MUX;
-  gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL;
-  gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
-  gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_MODERATE;
-  gpio_init(GPIOC, &gpio_init_struct);
-
   /* configure counter settings */
   tmr_base_init(TMR8, 2399, 1999);
   tmr_cnt_dir_set(TMR8, TMR_COUNT_UP);
@@ -653,67 +490,6 @@ void wk_tmr8_init(void)
   tmr_sub_sync_mode_set(TMR8, FALSE);
   tmr_primary_mode_select(TMR8, TMR_PRIMARY_SEL_RESET);
 
-  /* configure channel 1 output settings */
-  tmr_output_struct.oc_mode = TMR_OUTPUT_CONTROL_OFF;
-  tmr_output_struct.oc_output_state = TRUE;
-  tmr_output_struct.occ_output_state = FALSE;
-  tmr_output_struct.oc_polarity = TMR_OUTPUT_ACTIVE_HIGH;
-  tmr_output_struct.occ_polarity = TMR_OUTPUT_ACTIVE_HIGH;
-  tmr_output_struct.oc_idle_state = FALSE;
-  tmr_output_struct.occ_idle_state = FALSE;
-  tmr_output_channel_config(TMR8, TMR_SELECT_CHANNEL_1, &tmr_output_struct);
-  tmr_channel_value_set(TMR8, TMR_SELECT_CHANNEL_1, 0);
-  tmr_output_channel_buffer_enable(TMR8, TMR_SELECT_CHANNEL_1, FALSE);
-
-  /* configure channel 2 output settings */
-  tmr_output_struct.oc_mode = TMR_OUTPUT_CONTROL_OFF;
-  tmr_output_struct.oc_output_state = TRUE;
-  tmr_output_struct.occ_output_state = FALSE;
-  tmr_output_struct.oc_polarity = TMR_OUTPUT_ACTIVE_HIGH;
-  tmr_output_struct.occ_polarity = TMR_OUTPUT_ACTIVE_HIGH;
-  tmr_output_struct.oc_idle_state = FALSE;
-  tmr_output_struct.occ_idle_state = FALSE;
-  tmr_output_channel_config(TMR8, TMR_SELECT_CHANNEL_2, &tmr_output_struct);
-  tmr_channel_value_set(TMR8, TMR_SELECT_CHANNEL_2, 0);
-  tmr_output_channel_buffer_enable(TMR8, TMR_SELECT_CHANNEL_2, FALSE);
-
-  /* configure channel 3 output settings */
-  tmr_output_struct.oc_mode = TMR_OUTPUT_CONTROL_OFF;
-  tmr_output_struct.oc_output_state = TRUE;
-  tmr_output_struct.occ_output_state = FALSE;
-  tmr_output_struct.oc_polarity = TMR_OUTPUT_ACTIVE_HIGH;
-  tmr_output_struct.occ_polarity = TMR_OUTPUT_ACTIVE_HIGH;
-  tmr_output_struct.oc_idle_state = FALSE;
-  tmr_output_struct.occ_idle_state = FALSE;
-  tmr_output_channel_config(TMR8, TMR_SELECT_CHANNEL_3, &tmr_output_struct);
-  tmr_channel_value_set(TMR8, TMR_SELECT_CHANNEL_3, 0);
-  tmr_output_channel_buffer_enable(TMR8, TMR_SELECT_CHANNEL_3, FALSE);
-
-  /* configure channel 4 output settings */
-  tmr_output_struct.oc_mode = TMR_OUTPUT_CONTROL_OFF;
-  tmr_output_struct.oc_output_state = TRUE;
-  tmr_output_struct.occ_output_state = FALSE;
-  tmr_output_struct.oc_polarity = TMR_OUTPUT_ACTIVE_HIGH;
-  tmr_output_struct.occ_polarity = TMR_OUTPUT_ACTIVE_HIGH;
-  tmr_output_struct.oc_idle_state = FALSE;
-  tmr_output_struct.occ_idle_state = FALSE;
-  tmr_output_channel_config(TMR8, TMR_SELECT_CHANNEL_4, &tmr_output_struct);
-  tmr_channel_value_set(TMR8, TMR_SELECT_CHANNEL_4, 0);
-  tmr_output_channel_buffer_enable(TMR8, TMR_SELECT_CHANNEL_4, FALSE);
-
-  /* configure break and dead-time settings */
-  tmr_brkdt_struct.brk_enable = FALSE;
-  tmr_brkdt_struct.auto_output_enable = FALSE;
-  tmr_brkdt_struct.brk_polarity = TMR_BRK_INPUT_ACTIVE_LOW;
-  tmr_brkdt_struct.fcsoen_state = FALSE;
-  tmr_brkdt_struct.fcsodis_state = FALSE;
-  tmr_brkdt_struct.wp_level = TMR_WP_OFF;
-  tmr_brkdt_struct.deadtime = 0;
-  tmr_brkdt_config(TMR8, &tmr_brkdt_struct);
-
-
-  tmr_output_enable(TMR8, TRUE);
-
   tmr_counter_enable(TMR8, TRUE);
 
   /* add user code begin tmr8_init 2 */
@@ -721,132 +497,6 @@ void wk_tmr8_init(void)
   /* add user code end tmr8_init 2 */
 }
 
-/**
-  * @brief  init tmr11 function.
-  * @param  none
-  * @retval none
-  */
-void wk_tmr11_init(void)
-{
-  /* add user code begin tmr11_init 0 */
-
-  /* add user code end tmr11_init 0 */
-
-  gpio_init_type gpio_init_struct;
-  tmr_output_config_type tmr_output_struct;
-  gpio_default_para_init(&gpio_init_struct);
-
-  /* add user code begin tmr11_init 1 */
-
-  /* add user code end tmr11_init 1 */
-
-  /* configure the CH1 pin */
-  gpio_init_struct.gpio_pins = GPIO_PINS_9;
-  gpio_init_struct.gpio_mode = GPIO_MODE_MUX;
-  gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL;
-  gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
-  gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_MODERATE;
-  gpio_init(GPIOB, &gpio_init_struct);
-
-  /* configure counter settings */
-  tmr_base_init(TMR11, 2399, 99);
-  tmr_cnt_dir_set(TMR11, TMR_COUNT_UP);
-  tmr_clock_source_div_set(TMR11, TMR_CLOCK_DIV1);
-  tmr_period_buffer_enable(TMR11, FALSE);
-
-  /* configure channel 1 output settings */
-  tmr_output_struct.oc_mode = TMR_OUTPUT_CONTROL_PWM_MODE_A;
-  tmr_output_struct.oc_output_state = TRUE;
-  tmr_output_struct.occ_output_state = FALSE;
-  tmr_output_struct.oc_polarity = TMR_OUTPUT_ACTIVE_HIGH;
-  tmr_output_struct.occ_polarity = TMR_OUTPUT_ACTIVE_HIGH;
-  tmr_output_struct.oc_idle_state = FALSE;
-  tmr_output_struct.occ_idle_state = FALSE;
-  tmr_output_channel_config(TMR11, TMR_SELECT_CHANNEL_1, &tmr_output_struct);
-  tmr_channel_value_set(TMR11, TMR_SELECT_CHANNEL_1, 0);
-  tmr_output_channel_buffer_enable(TMR11, TMR_SELECT_CHANNEL_1, FALSE);
-
-  tmr_output_channel_immediately_set(TMR11, TMR_SELECT_CHANNEL_1, FALSE);
-
-  tmr_counter_enable(TMR11, TRUE);
-
-  /* add user code begin tmr11_init 2 */
-
-  /* add user code end tmr11_init 2 */
-}
-
-/**
-  * @brief  init tmr12 function.
-  * @param  none
-  * @retval none
-  */
-void wk_tmr12_init(void)
-{
-  /* add user code begin tmr12_init 0 */
-
-  /* add user code end tmr12_init 0 */
-
-  gpio_init_type gpio_init_struct;
-  tmr_output_config_type tmr_output_struct;
-  gpio_default_para_init(&gpio_init_struct);
-
-  /* add user code begin tmr12_init 1 */
-
-  /* add user code end tmr12_init 1 */
-
-  /* configure the CH1 pin */
-  gpio_init_struct.gpio_pins = GPIO_PINS_14;
-  gpio_init_struct.gpio_mode = GPIO_MODE_MUX;
-  gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL;
-  gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
-  gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_MODERATE;
-  gpio_init(GPIOB, &gpio_init_struct);
-
-  /* configure the CH2 pin */
-  gpio_init_struct.gpio_pins = GPIO_PINS_15;
-  gpio_init_struct.gpio_mode = GPIO_MODE_MUX;
-  gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL;
-  gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
-  gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_MODERATE;
-  gpio_init(GPIOB, &gpio_init_struct);
-
-  /* configure counter settings */
-  tmr_base_init(TMR12, 65535, 0);
-  tmr_cnt_dir_set(TMR12, TMR_COUNT_UP);
-  tmr_clock_source_div_set(TMR12, TMR_CLOCK_DIV1);
-  tmr_period_buffer_enable(TMR12, FALSE);
-
-  /* configure channel 1 output settings */
-  tmr_output_struct.oc_mode = TMR_OUTPUT_CONTROL_OFF;
-  tmr_output_struct.oc_output_state = TRUE;
-  tmr_output_struct.occ_output_state = FALSE;
-  tmr_output_struct.oc_polarity = TMR_OUTPUT_ACTIVE_HIGH;
-  tmr_output_struct.occ_polarity = TMR_OUTPUT_ACTIVE_HIGH;
-  tmr_output_struct.oc_idle_state = FALSE;
-  tmr_output_struct.occ_idle_state = FALSE;
-  tmr_output_channel_config(TMR12, TMR_SELECT_CHANNEL_1, &tmr_output_struct);
-  tmr_channel_value_set(TMR12, TMR_SELECT_CHANNEL_1, 0);
-  tmr_output_channel_buffer_enable(TMR12, TMR_SELECT_CHANNEL_1, FALSE);
-
-  /* configure channel 2 output settings */
-  tmr_output_struct.oc_mode = TMR_OUTPUT_CONTROL_OFF;
-  tmr_output_struct.oc_output_state = TRUE;
-  tmr_output_struct.occ_output_state = FALSE;
-  tmr_output_struct.oc_polarity = TMR_OUTPUT_ACTIVE_HIGH;
-  tmr_output_struct.occ_polarity = TMR_OUTPUT_ACTIVE_HIGH;
-  tmr_output_struct.oc_idle_state = FALSE;
-  tmr_output_struct.occ_idle_state = FALSE;
-  tmr_output_channel_config(TMR12, TMR_SELECT_CHANNEL_2, &tmr_output_struct);
-  tmr_channel_value_set(TMR12, TMR_SELECT_CHANNEL_2, 0);
-  tmr_output_channel_buffer_enable(TMR12, TMR_SELECT_CHANNEL_2, FALSE);
-
-  tmr_counter_enable(TMR12, TRUE);
-
-  /* add user code begin tmr12_init 2 */
-
-  /* add user code end tmr12_init 2 */
-}
-
 /**
   * @brief  init can1 function.
   * @param  none
@@ -900,9 +550,9 @@ void wk_can1_init(void)
 
   /*can_baudrate_setting-------------------------------------------------------------*/ 
   /*set baudrate = pclk/(baudrate_div *(1 + bts1_size + bts2_size))------------------*/ 
-  can_baudrate_struct.baudrate_div = 24;                       /*value: 1~0xFFF*/
+  can_baudrate_struct.baudrate_div = 30;                       /*value: 1~0xFFF*/
   can_baudrate_struct.rsaw_size = CAN_RSAW_1TQ;                /*value: 1~4*/
-  can_baudrate_struct.bts1_size = CAN_BTS1_8TQ;                /*value: 1~16*/
+  can_baudrate_struct.bts1_size = CAN_BTS1_6TQ;                /*value: 1~16*/
   can_baudrate_struct.bts2_size = CAN_BTS2_1TQ;                /*value: 1~8*/
   can_baudrate_set(CAN1, &can_baudrate_struct);
 
@@ -989,9 +639,9 @@ void wk_can2_init(void)
 
   /*can_baudrate_setting-------------------------------------------------------------*/ 
   /*set baudrate = pclk/(baudrate_div *(1 + bts1_size + bts2_size))------------------*/ 
-  can_baudrate_struct.baudrate_div = 24;                       /*value: 1~0xFFF*/
+  can_baudrate_struct.baudrate_div = 30;                       /*value: 1~0xFFF*/
   can_baudrate_struct.rsaw_size = CAN_RSAW_1TQ;                /*value: 1~4*/
-  can_baudrate_struct.bts1_size = CAN_BTS1_8TQ;                /*value: 1~16*/
+  can_baudrate_struct.bts1_size = CAN_BTS1_6TQ;                /*value: 1~16*/
   can_baudrate_struct.bts2_size = CAN_BTS2_1TQ;                /*value: 1~8*/
   can_baudrate_set(CAN2, &can_baudrate_struct);
 

project/src/main.c

@@ -100,24 +100,12 @@ int main(void)
   /* init usart3 function. */
   wk_usart3_init();
 
-  /* init i2c1 function. */
-  wk_i2c1_init();
-
-  /* init i2c2 function. */
-  wk_i2c2_init();
-
   /* init tmr6 function. */
   wk_tmr6_init();
 
   /* init tmr8 function. */
   wk_tmr8_init();
 
-  /* init tmr11 function. */
-  wk_tmr11_init();
-
-  /* init tmr12 function. */
-  wk_tmr12_init();
-
   /* init can1 function. */
   wk_can1_init();
 
@@ -148,6 +136,16 @@ int main(void)
   by_messy_init();
   LOGD("frame init done");
 
+  /* self test */
+  gpio_bits_write(GPIOB, GPIO_PINS_6, FALSE); // 灯条
+  gpio_bits_write(GPIOB, GPIO_PINS_7, FALSE); // 蜂鸣器
+
+  for (uint8_t i = 0; i < 4; i++) {
+    gpio_bits_write(GPIOB, GPIO_PINS_6, !gpio_output_data_bit_read(GPIOB, GPIO_PINS_6)); // 灯条
+    gpio_bits_write(GPIOB, GPIO_PINS_7, !gpio_output_data_bit_read(GPIOB, GPIO_PINS_7)); // 蜂鸣器
+    DWT_Delay(100000);
+  }
+
   LOGI("init done");
 
   /* add user code end 2 */