特性：实现电机控制与霍尔传感器功能

新增电机板级支持包：基于 AT8236-MS 驱动芯片，实现了对 4 个直流电机的 PWM 控制。实现霍尔传感器功能：用于速度测量和脉冲计数。更新 GPIO 初始化：为霍尔传感器添加了外部中断（EXTI）配置。修改系统时钟配置：改用高速外部时钟（HSE）并调整了锁相环（PLL）设置。更改定时器配置：将时基生成从 TIM8 改为 TIM4。增强 FreeRTOS 任务：实现从霍尔传感器周期性读取并更新速度数据。更新项目配置：以反映外设使用情况和优先级的变更。
2026-04-03 20:24:55 +08:00
parent a53aa38ed3
commit 1cc8327f13
17 changed files with 682 additions and 149 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -53,6 +53,8 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
    ${CMAKE_CURRENT_SOURCE_DIR}/Core/Bsp/easylogger/port/elog_port.c
    ${CMAKE_CURRENT_SOURCE_DIR}/Core/Bsp/checksum.c
    ${CMAKE_CURRENT_SOURCE_DIR}/Core/Bsp/protocol.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/Core/Bsp/bsp_motor.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/Core/Bsp/bsp_hall.c
 )

 # Add include paths
@@ -77,3 +79,7 @@ target_link_libraries(${CMAKE_PROJECT_NAME}
    # Add user defined libraries
 )

+# Enable float support for printf
+target_link_options(${CMAKE_PROJECT_NAME} PRIVATE
+    -u _printf_float
+)
--- a/Core/Bsp/README.md
+++ b/Core/Bsp/README.md
@@ -0,0 +1,99 @@
+# BSP Motor 驱动说明 (AT8236-MS)
+
+该驱动模块用于通过 STM32 的硬件 PWM 功能控制 4 路直流电机，适配 **AT8236-MS** 驱动芯片。
+
+## 硬件连接
+
+| 电机 ID | 信号定义 | STM32 引脚 | 定时器通道 |
+| :--- | :--- | :--- | :--- |
+| **MOTOR_1** | M1_W / M1_S | PE9 / PE11 | TIM1_CH1 / TIM1_CH2 |
+| **MOTOR_2** | M2_W / M2_S | PE13 / PE14 | TIM1_CH3 / TIM1_CH4 |
+| **MOTOR_3** | M3_W / M3_S | PA15 / PB3 | TIM2_CH1 / TIM2_CH2 |
+| **MOTOR_4** | M4_W / M4_S | PA2 / PA3 | TIM2_CH3 / TIM2_CH4 |
+
+## 霍尔传感器 (由于是一根线，仅限频率测速)
+
+| 传感器 ID | STM32 引脚 | 模式 | 功能 |
+| :--- | :--- | :--- | :--- |
+| **HALL_1 (M1)** | PD9 (M_I_1) | GPIO_EXTI | 脉冲计数 / 测速 |
+| **HALL_2 (M2)** | PD8 (M_I_2) | GPIO_EXTI | 脉冲计数 / 测速 |
+| **HALL_3 (M3)** | PB15 (M_I_3) | GPIO_EXTI | 脉冲计数 / 测速 |
+| **HALL_4 (M4)** | PB14 (M_I_4) | GPIO_EXTI | 脉冲计数 / 测速 |
+
+## 使用方式
+
+### 1. 硬件初始化 (main.c)
+在 `main.c` 的循环前调用电机和霍尔的初始化函数：
+```c
+/* USER CODE BEGIN 2 */
+motor_init();
+hall_init();
+/* USER CODE END 2 */
+```
+
+### 2. 中断绑定 (stm32f1xx_it.c)
+在外部中断回调函数中加入脉冲统计：
+```c
+void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
+{
+    hall_pulse_callback(GPIO_Pin);
+}
+```
+
+### 3. 控制电机
+调用 `motor_set_speed` 函数控制电机转动：
+```c
+// 电机1正转，中等速度
+motor_set_speed(MOTOR_1, 2000); 
+
+// 电机2反转，全速
+motor_set_speed(MOTOR_2, -3599); 
+```
+
+### 4. 获取测量结果
+在 FreeRTOS 任务或主循环中读取脉冲数或计算转速：
+```c
+uint32_t count = hall_get_count(MOTOR_1);
+printf("Motor 1 Pulses: %ld\r\n", count);
+```
+
+## 预期结果
+
+1. **电机控制**：
+   - 给予正数速度时，对应电机的 W 引脚输出 PWM，S 引脚为低，电机正向旋转。
+   - 给予负数速度时，S 引脚输出 PWM，W 引脚为低，电机反向旋转。
+   - 速度数值越大，电机转速越高，最大有效值为 3599。
+
+2. **霍尔测量**：
+   - 电机每旋转一圈，对应的 `pulse_count` 会根据编码器磁极对数增加。
+   - 通过观察 `hall_get_count` 的数值增长，可以确认传感器信号捕获正常。
+
+## 驱动逻辑 (AT8236-MS)
+
+驱动器通过两路电平差控制方向：
+- **正转**: W引脚输出 PWM，S引脚输出低电平(0%)。
+- **反转**: W引脚输出低电平(0%)，S引脚输出 PWM。
+- **停止/刹车**: W和S引脚均输出低电平(0%)。
+
+## 核心 API
+
+### 1. 初始化
+`void motor_init(void);`
+- 开启 TIM1 和 TIM2 的所有对应 PWM 通道。
+- 初始电机状态为停止。
+
+### 2. 设置电机速度
+`void motor_set_speed(motor_id_t motor_id, int16_t speed);`
+- **motor_id**: `MOTOR_1` 到 `MOTOR_4`。
+- **speed**: 范围为 `-3599` 到 `3599`（对应 20kHz 频率下的 ARR 重装载值）。
+  - 正数：正转。
+  - 负数：反转。
+  - 0：停止。
+
+### 3. 停止电机
+`void motor_stop(motor_id_t motor_id);`
+- 立即将对应电机的两路占空比清零。
+
+## 注意事项
+- 使用前请确保 `MX_TIM1_Init()` 和 `MX_TIM2_Init()` 已在 `main.c` 中正常调用。
+- 定时器的 `Period`（重装载值值）决定了最大速度的分辨率，当前配置为 16 位（65535）。
--- a/Core/Bsp/bsp_hall.c
+++ b/Core/Bsp/bsp_hall.c
@@ -0,0 +1,134 @@
+#include "bsp_hall.h"
+
+
+/* 霍尔传感器数据结构体定义描述 */
+static hall_sensor_t sensors[MOTOR_COUNT];
+
+/**
+ * @brief 霍尔引脚初始化 (本驱动依赖 CubeMX 预设的 GPIO_EXTI 模式)
+ */
+void hall_init(void)
+{
+    for(int i = 0; i < MOTOR_COUNT; i++) {
+        sensors[i].pulse_count = 0;
+        sensors[i].speed_rpm = 0.0f;
+    }
+}
+
+/**
+  * @brief  HAL 层 GPIO 外部中断回调函数实现
+  * @note   此函数重写了 HAL 库中的 __weak 定义
+  */
+void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
+{
+    hall_pulse_callback(GPIO_Pin);
+}
+
+/**
+ * @brief 外部中断回调函数中的统计处理
+ */
+void hall_pulse_callback(uint16_t GPIO_Pin)
+{
+    /* 只负责计数，不再在中断中进行浮点运算和日志打印 */
+    if (GPIO_Pin == M_I_1_Pin) {
+        sensors[MOTOR_1].pulse_count++;
+    } else if (GPIO_Pin == M_I_2_Pin) {
+        sensors[MOTOR_2].pulse_count++;
+    } else if (GPIO_Pin == M_I_3_Pin) {
+        sensors[MOTOR_3].pulse_count++;
+    } else if (GPIO_Pin == M_I_4_Pin) {
+        sensors[MOTOR_4].pulse_count++;
+    }
+}
+
+// /**
+//  * @brief 获取霍尔传感器脉冲计数
+//  */
+// uint32_t hall_get_count(motor_id_t motor_id)
+// {
+//     if (motor_id < MOTOR_COUNT) {
+//         return sensors[motor_id].pulse_count;
+//     }
+//     return 0;
+// }
+
+// /**
+//  * @brief 重置霍尔传感器计数值
+//  */
+// void hall_reset_count(motor_id_t motor_id)
+// {
+//     if (motor_id < MOTOR_COUNT) {
+//         sensors[motor_id].pulse_count = 0;
+//     }
+// }
+
+/**
+ * @brief 计算并更新转速 (供应用层在定时任务中调用)
+ * @param motor_id 电机 ID
+ * @param interval_ms 两次调用之间的时间间隔 (ms)
+ * @return float 计算出的 RPM
+ */
+float hall_update_speed(motor_id_t motor_id, uint32_t interval_ms)
+{
+    if (motor_id >= MOTOR_COUNT || interval_ms == 0) return 0.0f;
+
+    /* 获取当前增量并重置计数 */
+    uint32_t current_pulses = sensors[motor_id].pulse_count;
+    sensors[motor_id].pulse_count = 0;
+
+    /* PPR = 330. RPM = (增量脉冲 / 间隔ms) * 60000ms / PPR */
+    sensors[motor_id].speed_rpm = ((float)current_pulses / (float)interval_ms) * 60000.0f / 330.0f;
+
+    // /* 应用层打印日志 */
+    // log_i("Motor[%d] Real-time: %.2f RPM (pulses: %d)", motor_id + 1, sensors[motor_id].speed_rpm, current_pulses);
+
+    return sensors[motor_id].speed_rpm;
+}
+
+// /**
+//  * @brief 计算转速 (由于只有一根线，仅支持根据脉冲频率计算速度)
+//  */
+// float hall_calculate_speed(motor_id_t motor_id, uint32_t interval_ms)
+// {
+//     if (motor_id >= MOTOR_COUNT || interval_ms == 0) return 0.0f;
+//
+//     /* 获取当前脉冲数 */
+//     uint32_t current_count = sensors[motor_id].pulse_count;
+//
+//     /*
+//      * 计算 RPM (转每分钟)
+//      * 公式: (脉冲增量 / 采样时间ms) * 1000ms * 60s / PPR
+//      * 注意：由于此处没有传入上一次的 count，我们假设 interval_ms 是相对于 count=0 开始的，
+//      * 或者你可以在调用前手动 reset。这里先实现基础频率转换为 RPM 的逻辑。
+//      * 假设 PPR (每圈脉冲数) 暂定为 11 (常见磁平衡霍尔) * 30 (减速比) = 330
+//      */
+//     const float PPR = 330.0f;
+//     sensors[motor_id].speed_rpm = ((float)current_count / interval_ms) * 60000.0f / PPR;
+//
+//     /* 输出日志：电机编号 + 转速 */
+//     // log_i("Motor[%d] speed: %.2f RPM", motor_id + 1, sensors[motor_id].speed_rpm);
+//
+//     /* 计算完后为了下一次增量计算，通常需要重置计数，或者记录旧值。这里保持框架。 */
+//
+//     return sensors[motor_id].speed_rpm;
+// }
+
+/* USER CODE BEGIN Header_speed_get */
+/**
+ * @brief Function implementing the timerTask thread.
+ * @param argument: Not used
+ * @retval None
+ */
+/* USER CODE END Header_speed_get */
+void speed_get(void *argument) {
+  /* USER CODE BEGIN speed_get */
+  /* Infinite loop */
+  for (;;) {
+    /* 在每 100ms 执行一次的任务中 */
+    for (int i = 0; i < MOTOR_COUNT; i++) {
+        hall_update_speed(i, 100);
+    }
+    osDelay(100); // 100ms
+  }
+  /* USER CODE END speed_get */
+}
--- a/Core/Bsp/bsp_hall.h
+++ b/Core/Bsp/bsp_hall.h
@@ -0,0 +1,35 @@
+#ifndef __BSP_HALL_H
+#define __BSP_HALL_H
+
+
+#include "main.h"
+#include "bsp_motor.h"  // 确保 motor_id_t 类型可见
+#include "elog.h"
+#include "cmsis_os.h"
+/**
+ * @brief 霍尔周期/脉冲计数结构体
+ */
+typedef struct {
+    uint32_t pulse_count;      // 总脉冲计数值
+    float speed_rpm;           // 计算得到的转速 (RPM)
+} hall_sensor_t;
+
+/* 初始化霍尔传感器 (GPIO 外部中断模式) */
+void hall_init(void);
+
+/* 外部中断处理接口 (供 HAL 层调用，请勿在应用层直接调用) */
+void hall_pulse_callback(uint16_t GPIO_Pin);
+
+// /* 获取指定霍尔传感器的计数值 */
+// uint32_t hall_get_count(motor_id_t motor_id);
+
+/* 每隔固定时间调用此函数计算并更新转速 (例如在 100ms 任务中调用) */
+float hall_update_speed(motor_id_t motor_id, uint32_t interval_ms);
+
+// /* 清位计数值 */
+// void hall_reset_count(motor_id_t motor_id);
+
+// /* 计算转速的原始接口 (内部使用) */
+// float hall_calculate_speed(motor_id_t motor_id, uint32_t interval_ms);
+
+#endif /* __BSP_HALL_H */
--- a/Core/Bsp/bsp_motor.c
+++ b/Core/Bsp/bsp_motor.c
@@ -0,0 +1,122 @@
+#include "bsp_motor.h"
+#include "tim.h"
+
+/**
+ * @file bsp_motor.c
+ * @brief AT8236-MS 电机驱动实现 (PWM)
+ * 
+ * AT8236-MS 驱动逻辑参考：
+ * - IN1 (PWM) / IN2 (L) -> 正转
+ * - IN1 (L) / IN2 (PWM) -> 反转
+ * - IN1 (L) / IN2 (L) -> 停止/刹车 (视具体芯片配置而定)
+ */
+
+/**
+ * @brief 初始化电机相关外设
+ */
+void motor_init(void)
+{
+    /* 1. 开启 PWM 定时器硬件通道 (TIM1 用于 M1, M2) */
+    HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
+    HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
+    HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3);
+    HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_4);
+
+        /* --- 关键修改：强制使能 TIM1 的主输出 (仅高级定时器需要) --- */
+    __HAL_TIM_MOE_ENABLE(&htim1); 
+
+    /* 2. 开启 PWM 定时器硬件通道 (TIM2 用于 M3, M4) */
+    HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);
+    HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2);
+    HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
+    HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4);
+    
+    /* 3. 初始状态设置为停止 */
+    motor_stop(MOTOR_1);
+    motor_stop(MOTOR_2);
+    motor_stop(MOTOR_3);
+    motor_stop(MOTOR_4);
+}
+
+/**
+ * @brief 设置电机PWM速度和方向
+ * @param motor_id 电机 ID (MOTOR_1 到 MOTOR_4)
+ * @param speed 速度值 (-3599 到 3599，正数正转，负数反转)
+ */
+void motor_set_speed(motor_id_t motor_id, int16_t speed)
+{
+    TIM_HandleTypeDef* htim_w = NULL;
+    uint32_t channel_w = 0;
+    TIM_HandleTypeDef* htim_s = NULL;
+    uint32_t channel_s = 0;
+
+    /* 获取对应电机的 定时器句柄和通道 (根据 tim.c GPIO 复用定义) */
+    switch (motor_id) {
+        case MOTOR_1: // PE9->TIM1_CH1, PE11->TIM1_CH2
+            htim_w = &htim1; channel_w = TIM_CHANNEL_1;
+            htim_s = &htim1; channel_s = TIM_CHANNEL_2;
+            break;
+        case MOTOR_2: // PE13->TIM1_CH3, PE14->TIM1_CH4
+            htim_w = &htim1; channel_w = TIM_CHANNEL_3;
+            htim_s = &htim1; channel_s = TIM_CHANNEL_4;
+            break;
+        case MOTOR_3: // PA15->TIM2_CH1, PB3->TIM2_CH2
+            htim_w = &htim2; channel_w = TIM_CHANNEL_1;
+            htim_s = &htim2; channel_s = TIM_CHANNEL_2;
+            break;
+        case MOTOR_4: // PA2->TIM2_CH3, PA3->TIM2_CH4
+            htim_w = &htim2; channel_w = TIM_CHANNEL_3;
+            htim_s = &htim2; channel_s = TIM_CHANNEL_4;
+            break;
+        default: return;
+    }
+
+    /* 限制速度范围 (ARR=3599) */
+    if (speed > 3599) speed = 3599;
+    if (speed < -3599) speed = -3599;
+
+    /* 计算绝对值速度 */
+    uint16_t pwm_val = (speed < 0) ? (uint16_t)(-speed) : (uint16_t)speed;
+
+    /* 根据速度判断方向 */
+    if (speed > 0) {
+        /* 正转：W 输出 PWM, S 输出低电平 (占空比 0) */
+        __HAL_TIM_SET_COMPARE(htim_w, channel_w, pwm_val);
+        __HAL_TIM_SET_COMPARE(htim_s, channel_s, 0);
+    } else if (speed < 0) {
+        /* 反转：W 输出低电平 (占空比 0), S 输出 PWM */
+        __HAL_TIM_SET_COMPARE(htim_w, channel_w, 0);
+        __HAL_TIM_SET_COMPARE(htim_s, channel_s, pwm_val);
+    } else {
+        motor_stop(motor_id);
+    }
+}
+
+/**
+ * @brief 停止电机
+ * @param motor_id 电机 ID
+ */
+void motor_stop(motor_id_t motor_id)
+{
+    /* 设置对应通道占空比均为 0 以刹车/停止 */
+    switch (motor_id) {
+        case MOTOR_1:
+            __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, 0);
+            __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_2, 0);
+            break;
+        case MOTOR_2:
+            __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_3, 0);
+            __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_4, 0);
+            break;
+        case MOTOR_3:
+            __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_1, 0);
+            __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_2, 0);
+            break;
+        case MOTOR_4:
+            __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_3, 0);
+            __HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_4, 0);
+            break;
+        default: break;
+    }
+}
+
--- a/Core/Bsp/bsp_motor.h
+++ b/Core/Bsp/bsp_motor.h
@@ -0,0 +1,35 @@
+#ifndef __BSP_MOTOR_H
+#define __BSP_MOTOR_H
+
+#include "main.h"
+
+/**
+ * @brief 电机选择枚举
+ */
+typedef enum {
+    MOTOR_1 = 0,
+    MOTOR_2,
+    MOTOR_3,
+    MOTOR_4,
+    MOTOR_COUNT
+} motor_id_t;
+
+/**
+ * @brief 电机方向枚举
+ */
+typedef enum {
+    MOTOR_FWD = 0, // 正转
+    MOTOR_REV,     // 反转
+    MOTOR_STOP     // 停止
+} motor_dir_t;
+
+/* 电机初始化 */
+void motor_init(void);
+
+/* 设置电机PWM占空比和方向 */
+void motor_set_speed(motor_id_t motor_id, int16_t speed);
+
+/* 停止指定电机 */
+void motor_stop(motor_id_t motor_id);
+
+#endif /* __BSP_MOTOR_H */
--- a/Core/Inc/FreeRTOSConfig.h
+++ b/Core/Inc/FreeRTOSConfig.h
@@ -64,7 +64,7 @@
 #define configTICK_RATE_HZ                       ((TickType_t)1000)
 #define configMAX_PRIORITIES                     ( 56 )
 #define configMINIMAL_STACK_SIZE                 ((uint16_t)128)
-#define configTOTAL_HEAP_SIZE                    ((size_t)3072)
+#define configTOTAL_HEAP_SIZE                    ((size_t)10000)
 #define configMAX_TASK_NAME_LEN                  ( 16 )
 #define configUSE_TRACE_FACILITY                 1
 #define configUSE_16_BIT_TICKS                   0
--- a/Core/Inc/main.h
+++ b/Core/Inc/main.h
@@ -69,6 +69,7 @@ void Error_Handler(void);
 #define SDA_GPIO_Port GPIOC
 #define IOR_Pin GPIO_PIN_5
 #define IOR_GPIO_Port GPIOC
+#define IOR_EXTI_IRQn EXTI9_5_IRQn
 #define RST_Pin GPIO_PIN_0
 #define RST_GPIO_Port GPIOB
 #define M1_W_Pin GPIO_PIN_9
@@ -81,12 +82,16 @@ void Error_Handler(void);
 #define M2_S_GPIO_Port GPIOE
 #define M_I_4_Pin GPIO_PIN_14
 #define M_I_4_GPIO_Port GPIOB
+#define M_I_4_EXTI_IRQn EXTI15_10_IRQn
 #define M_I_3_Pin GPIO_PIN_15
 #define M_I_3_GPIO_Port GPIOB
+#define M_I_3_EXTI_IRQn EXTI15_10_IRQn
 #define M_I_2_Pin GPIO_PIN_8
 #define M_I_2_GPIO_Port GPIOD
+#define M_I_2_EXTI_IRQn EXTI9_5_IRQn
 #define M_I_1_Pin GPIO_PIN_9
 #define M_I_1_GPIO_Port GPIOD
+#define M_I_1_EXTI_IRQn EXTI9_5_IRQn
 #define H4_Pin GPIO_PIN_11
 #define H4_GPIO_Port GPIOD
 #define H3_Pin GPIO_PIN_12
--- a/Core/Inc/stm32f1xx_it.h
+++ b/Core/Inc/stm32f1xx_it.h
@@ -55,9 +55,11 @@ void DebugMon_Handler(void);
 void DMA1_Channel4_IRQHandler(void);
 void DMA1_Channel5_IRQHandler(void);
 void DMA1_Channel7_IRQHandler(void);
+void EXTI9_5_IRQHandler(void);
+void TIM4_IRQHandler(void);
 void USART1_IRQHandler(void);
 void USART2_IRQHandler(void);
-void TIM8_UP_IRQHandler(void);
+void EXTI15_10_IRQHandler(void);
 /* USER CODE BEGIN EFP */

 /* USER CODE END EFP */
--- a/Core/Src/freertos.c
+++ b/Core/Src/freertos.c
@@ -1,20 +1,20 @@
 /* USER CODE BEGIN Header */
 /**
-  ******************************************************************************
-  * File Name          : freertos.c
-  * Description        : Code for freertos applications
-  ******************************************************************************
-  * @attention
-  *
-  * Copyright (c) 2026 STMicroelectronics.
-  * All rights reserved.
-  *
-  * This software is licensed under terms that can be found in the LICENSE file
-  * in the root directory of this software component.
-  * If no LICENSE file comes with this software, it is provided AS-IS.
-  *
-  ******************************************************************************
-  */
+ ******************************************************************************
+ * File Name          : freertos.c
+ * Description        : Code for freertos applications
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2026 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
 /* USER CODE END Header */

 /* Includes ------------------------------------------------------------------*/
@@ -25,11 +25,14 @@

 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
-#include "bsp_uart.h"
 #include "bsp_beep.h"
-#include "usart.h"
+#include "bsp_motor.h"
+#include "bsp_uart.h"
 #include "elog.h"
 #include "protocol.h"
+#include "usart.h"
+#include "bsp_hall.h" // 添加对 bsp_hall.h 的包含
+
 /* USER CODE END Includes */

 /* Private typedef -----------------------------------------------------------*/
@@ -65,6 +68,13 @@ const osThreadAttr_t CarCtrlTask_attributes = {
  .stack_size = 256 * 4,
  .priority = (osPriority_t) osPriorityNormal,
 };
+/* Definitions for timerTask */
+osThreadId_t timerTaskHandle;
+const osThreadAttr_t timerTask_attributes = {
+  .name = "timerTask",
+  .stack_size = 512 * 4,
+  .priority = (osPriority_t) osPriorityBelowNormal,
+};
 /* Definitions for CmdQueue */
 osMessageQueueId_t CmdQueueHandle;
 const osMessageQueueAttr_t CmdQueue_attributes = {
@@ -73,7 +83,7 @@ const osMessageQueueAttr_t CmdQueue_attributes = {

 /* Private function prototypes -----------------------------------------------*/
 /* USER CODE BEGIN FunctionPrototypes */
-	#ifdef __GNUC__
+#ifdef __GNUC__
 #define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
 #else
 #define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
@@ -87,6 +97,7 @@ PUTCHAR_PROTOTYPE {

 void StartDefaultTask(void *argument);
 void CarCtrl_Task(void *argument);
+void speed_get(void *argument);

 void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */

@@ -100,7 +111,10 @@ void MX_FREERTOS_Init(void) {
  easylogger_init();
  BEEP_Init();
  BSP_UART1_Init();
-   elog_raw("FreeRTOS Initialized\r\n");
+  elog_raw("FreeRTOS Initialized\r\n");
+
+  motor_init(); // 初始化电机相关外设
+  hall_init(); // 初始化霍尔传感器


  /* USER CODE END Init */
@@ -132,6 +146,9 @@ void MX_FREERTOS_Init(void) {
  /* creation of CarCtrlTask */
  CarCtrlTaskHandle = osThreadNew(CarCtrl_Task, NULL, &CarCtrlTask_attributes);

+  /* creation of timerTask */
+  timerTaskHandle = osThreadNew(speed_get, NULL, &timerTask_attributes);
+
  /* USER CODE BEGIN RTOS_THREADS */
  /* add threads, ... */
  /* USER CODE END RTOS_THREADS */
@@ -144,46 +161,62 @@ void MX_FREERTOS_Init(void) {

 /* USER CODE BEGIN Header_StartDefaultTask */
 /**
-  * @brief  Function implementing the initTask thread.
-  * @param  argument: Not used
-  * @retval None
-  */
+ * @brief  Function implementing the initTask thread.
+ * @param  argument: Not used
+ * @retval None
+ */
 /* USER CODE END Header_StartDefaultTask */
 void StartDefaultTask(void *argument)
 {
  /* USER CODE BEGIN StartDefaultTask */
  /* Infinite loop */
-  for(;;)
-  {
+  for (;;) {
+
+    HAL_GPIO_TogglePin(RUN_LED_GPIO_Port, RUN_LED_Pin);

-        HAL_GPIO_TogglePin(RUN_LED_GPIO_Port, RUN_LED_Pin);

    osDelay(1000);
-
  }
  /* USER CODE END StartDefaultTask */
 }

 /* USER CODE BEGIN Header_CarCtrl_Task */
 /**
-* @brief Function implementing the CarCtrlTask thread.
-* @param argument: Not used
-* @retval None
-*/
+ * @brief Function implementing the CarCtrlTask thread.
+ * @param argument: Not used
+ * @retval None
+ */
 /* USER CODE END Header_CarCtrl_Task */
 __weak void CarCtrl_Task(void *argument)
 {
  /* USER CODE BEGIN CarCtrl_Task */

  /* Infinite loop */
-  for(;;)
-  {
+  for (;;) {

    osDelay(1); // osMessageQueueGet 已经是阻塞的，不需要额外的 osDelay
  }
  /* USER CODE END CarCtrl_Task */
 }

+/* USER CODE BEGIN Header_speed_get */
+/**
+* @brief Function implementing the timerTask thread.
+* @param argument: Not used
+* @retval None
+*/
+/* USER CODE END Header_speed_get */
+__weak void speed_get(void *argument)
+{
+  /* USER CODE BEGIN speed_get */
+  /* Infinite loop */
+  for(;;)
+  {
+    osDelay(1);
+  }
+  /* USER CODE END speed_get */
+}
+
 /* Private application code --------------------------------------------------*/
 /* USER CODE BEGIN Application */

--- a/Core/Src/gpio.c
+++ b/Core/Src/gpio.c
@@ -105,6 +105,13 @@ void MX_GPIO_Init(void)
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct);

+  /* EXTI interrupt init*/
+  HAL_NVIC_SetPriority(EXTI9_5_IRQn, 5, 0);
+  HAL_NVIC_EnableIRQ(EXTI9_5_IRQn);
+
+  HAL_NVIC_SetPriority(EXTI15_10_IRQn, 5, 0);
+  HAL_NVIC_EnableIRQ(EXTI15_10_IRQn);
+
 }

 /* USER CODE BEGIN 2 */
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -140,12 +140,13 @@ void SystemClock_Config(void)
  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
-  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
+  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
+  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
+  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
-  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
-  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI_DIV2;
-  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL16;
+  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
+  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
@@ -178,7 +179,7 @@ void SystemClock_Config(void)

 /**
  * @brief  Period elapsed callback in non blocking mode
-  * @note   This function is called  when TIM8 interrupt took place, inside
+  * @note   This function is called  when TIM4 interrupt took place, inside
  * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
  * a global variable "uwTick" used as application time base.
  * @param  htim : TIM handle
@@ -189,7 +190,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
  /* USER CODE BEGIN Callback 0 */

  /* USER CODE END Callback 0 */
-  if (htim->Instance == TIM8)
+  if (htim->Instance == TIM4)
  {
    HAL_IncTick();
  }
--- a/Core/Src/stm32f1xx_hal_timebase_tim.c
+++ b/Core/Src/stm32f1xx_hal_timebase_tim.c
@@ -25,13 +25,13 @@
 /* Private define ------------------------------------------------------------*/
 /* Private macro -------------------------------------------------------------*/
 /* Private variables ---------------------------------------------------------*/
-TIM_HandleTypeDef        htim8;
+TIM_HandleTypeDef        htim4;
 /* Private function prototypes -----------------------------------------------*/
-void TIM8_IRQHandler(void);
+void TIM4_IRQHandler(void);
 /* Private functions ---------------------------------------------------------*/

 /**
-  * @brief  This function configures the TIM8 as a time base source.
+  * @brief  This function configures the TIM4 as a time base source.
  *         The time source is configured  to have 1ms time base with a dedicated
  *         Tick interrupt priority.
  * @note   This function is called  automatically at the beginning of program after
@@ -42,54 +42,63 @@ void TIM8_IRQHandler(void);
 HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
 {
  RCC_ClkInitTypeDef    clkconfig;
-  uint32_t              uwTimclock = 0U;
+  uint32_t              uwTimclock, uwAPB1Prescaler = 0U;

  uint32_t              uwPrescalerValue = 0U;
  uint32_t              pFLatency;

  HAL_StatusTypeDef     status = HAL_OK;

-  /* Enable TIM8 clock */
-  __HAL_RCC_TIM8_CLK_ENABLE();
+  /* Enable TIM4 clock */
+  __HAL_RCC_TIM4_CLK_ENABLE();

  /* Get clock configuration */
  HAL_RCC_GetClockConfig(&clkconfig, &pFLatency);

-  /* Compute TIM8 clock */
-      uwTimclock = HAL_RCC_GetPCLK2Freq();
+  /* Get APB1 prescaler */
+  uwAPB1Prescaler = clkconfig.APB1CLKDivider;
+  /* Compute TIM4 clock */
+  if (uwAPB1Prescaler == RCC_HCLK_DIV1)
+  {
+    uwTimclock = HAL_RCC_GetPCLK1Freq();
+  }
+  else
+  {
+    uwTimclock = 2UL * HAL_RCC_GetPCLK1Freq();
+  }

-  /* Compute the prescaler value to have TIM8 counter clock equal to 1MHz */
+  /* Compute the prescaler value to have TIM4 counter clock equal to 1MHz */
  uwPrescalerValue = (uint32_t) ((uwTimclock / 1000000U) - 1U);

-  /* Initialize TIM8 */
-  htim8.Instance = TIM8;
+  /* Initialize TIM4 */
+  htim4.Instance = TIM4;

  /* Initialize TIMx peripheral as follow:
-   * Period = [(TIM8CLK/1000) - 1]. to have a (1/1000) s time base.
+   * Period = [(TIM4CLK/1000) - 1]. to have a (1/1000) s time base.
   * Prescaler = (uwTimclock/1000000 - 1) to have a 1MHz counter clock.
   * ClockDivision = 0
   * Counter direction = Up
   */
-  htim8.Init.Period = (1000000U / 1000U) - 1U;
-  htim8.Init.Prescaler = uwPrescalerValue;
-  htim8.Init.ClockDivision = 0;
-  htim8.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim8.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  htim4.Init.Period = (1000000U / 1000U) - 1U;
+  htim4.Init.Prescaler = uwPrescalerValue;
+  htim4.Init.ClockDivision = 0;
+  htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;

-  status = HAL_TIM_Base_Init(&htim8);
+  status = HAL_TIM_Base_Init(&htim4);
  if (status == HAL_OK)
  {
    /* Start the TIM time Base generation in interrupt mode */
-    status = HAL_TIM_Base_Start_IT(&htim8);
+    status = HAL_TIM_Base_Start_IT(&htim4);
    if (status == HAL_OK)
    {
-    /* Enable the TIM8 global Interrupt */
-        HAL_NVIC_EnableIRQ(TIM8_UP_IRQn);
+    /* Enable the TIM4 global Interrupt */
+        HAL_NVIC_EnableIRQ(TIM4_IRQn);
      /* Configure the SysTick IRQ priority */
      if (TickPriority < (1UL << __NVIC_PRIO_BITS))
      {
        /* Configure the TIM IRQ priority */
-        HAL_NVIC_SetPriority(TIM8_UP_IRQn, TickPriority, 0U);
+        HAL_NVIC_SetPriority(TIM4_IRQn, TickPriority, 0U);
        uwTickPrio = TickPriority;
      }
      else
@@ -105,25 +114,25 @@ HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)

 /**
  * @brief  Suspend Tick increment.
-  * @note   Disable the tick increment by disabling TIM8 update interrupt.
+  * @note   Disable the tick increment by disabling TIM4 update interrupt.
  * @param  None
  * @retval None
  */
 void HAL_SuspendTick(void)
 {
-  /* Disable TIM8 update Interrupt */
-  __HAL_TIM_DISABLE_IT(&htim8, TIM_IT_UPDATE);
+  /* Disable TIM4 update Interrupt */
+  __HAL_TIM_DISABLE_IT(&htim4, TIM_IT_UPDATE);
 }

 /**
  * @brief  Resume Tick increment.
-  * @note   Enable the tick increment by Enabling TIM8 update interrupt.
+  * @note   Enable the tick increment by Enabling TIM4 update interrupt.
  * @param  None
  * @retval None
  */
 void HAL_ResumeTick(void)
 {
-  /* Enable TIM8 Update interrupt */
-  __HAL_TIM_ENABLE_IT(&htim8, TIM_IT_UPDATE);
+  /* Enable TIM4 Update interrupt */
+  __HAL_TIM_ENABLE_IT(&htim4, TIM_IT_UPDATE);
 }

--- a/Core/Src/stm32f1xx_it.c
+++ b/Core/Src/stm32f1xx_it.c
@@ -61,7 +61,7 @@ extern DMA_HandleTypeDef hdma_usart1_tx;
 extern DMA_HandleTypeDef hdma_usart2_tx;
 extern UART_HandleTypeDef huart1;
 extern UART_HandleTypeDef huart2;
-extern TIM_HandleTypeDef htim8;
+extern TIM_HandleTypeDef htim4;

 /* USER CODE BEGIN EV */

@@ -207,6 +207,36 @@ void DMA1_Channel7_IRQHandler(void)
  /* USER CODE END DMA1_Channel7_IRQn 1 */
 }

+/**
+  * @brief This function handles EXTI line[9:5] interrupts.
+  */
+void EXTI9_5_IRQHandler(void)
+{
+  /* USER CODE BEGIN EXTI9_5_IRQn 0 */
+
+  /* USER CODE END EXTI9_5_IRQn 0 */
+  HAL_GPIO_EXTI_IRQHandler(IOR_Pin);
+  HAL_GPIO_EXTI_IRQHandler(M_I_2_Pin);
+  HAL_GPIO_EXTI_IRQHandler(M_I_1_Pin);
+  /* USER CODE BEGIN EXTI9_5_IRQn 1 */
+
+  /* USER CODE END EXTI9_5_IRQn 1 */
+}
+
+/**
+  * @brief This function handles TIM4 global interrupt.
+  */
+void TIM4_IRQHandler(void)
+{
+  /* USER CODE BEGIN TIM4_IRQn 0 */
+
+  /* USER CODE END TIM4_IRQn 0 */
+  HAL_TIM_IRQHandler(&htim4);
+  /* USER CODE BEGIN TIM4_IRQn 1 */
+
+  /* USER CODE END TIM4_IRQn 1 */
+}
+
 /**
  * @brief This function handles USART1 global interrupt.
  */
@@ -240,17 +270,18 @@ void USART2_IRQHandler(void)
 }

 /**
-  * @brief This function handles TIM8 update interrupt.
+  * @brief This function handles EXTI line[15:10] interrupts.
  */
-void TIM8_UP_IRQHandler(void)
+void EXTI15_10_IRQHandler(void)
 {
-  /* USER CODE BEGIN TIM8_UP_IRQn 0 */
+  /* USER CODE BEGIN EXTI15_10_IRQn 0 */

-  /* USER CODE END TIM8_UP_IRQn 0 */
-  HAL_TIM_IRQHandler(&htim8);
-  /* USER CODE BEGIN TIM8_UP_IRQn 1 */
+  /* USER CODE END EXTI15_10_IRQn 0 */
+  HAL_GPIO_EXTI_IRQHandler(M_I_4_Pin);
+  HAL_GPIO_EXTI_IRQHandler(M_I_3_Pin);
+  /* USER CODE BEGIN EXTI15_10_IRQn 1 */

-  /* USER CODE END TIM8_UP_IRQn 1 */
+  /* USER CODE END EXTI15_10_IRQn 1 */
 }

 /* USER CODE BEGIN 1 */
--- a/Core/Src/tim.c
+++ b/Core/Src/tim.c
@@ -46,10 +46,10 @@ void MX_TIM1_Init(void)
  htim1.Instance = TIM1;
  htim1.Init.Prescaler = 0;
  htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim1.Init.Period = 65535;
+  htim1.Init.Period = 3599;
  htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim1.Init.RepetitionCounter = 0;
-  htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
  if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
  {
    Error_Handler();
@@ -117,9 +117,9 @@ void MX_TIM2_Init(void)
  htim2.Instance = TIM2;
  htim2.Init.Prescaler = 0;
  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim2.Init.Period = 65535;
+  htim2.Init.Period = 3599;
  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-  htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
  if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
  {
    Error_Handler();
--- a/f103_car.ioc
+++ b/f103_car.ioc
@@ -39,10 +39,11 @@ Dma.USART2_TX.2.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
 Dma.USART2_TX.2.PeriphInc=DMA_PINC_DISABLE
 Dma.USART2_TX.2.Priority=DMA_PRIORITY_LOW
 Dma.USART2_TX.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority
-FREERTOS.FootprintOK=true
-FREERTOS.IPParameters=Tasks01,FootprintOK,Queues01
+FREERTOS.FootprintOK=false
+FREERTOS.IPParameters=Tasks01,FootprintOK,Queues01,configTOTAL_HEAP_SIZE
 FREERTOS.Queues01=CmdQueue,16,16,1,Dynamic,NULL,NULL
-FREERTOS.Tasks01=initTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL;CarCtrlTask,24,256,CarCtrl_Task,As weak,NULL,Dynamic,NULL,NULL
+FREERTOS.Tasks01=initTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL;CarCtrlTask,24,256,CarCtrl_Task,As weak,NULL,Dynamic,NULL,NULL;timerTask,16,512,speed_get,As weak,NULL,Dynamic,NULL,NULL
+FREERTOS.configTOTAL_HEAP_SIZE=10000
 File.Version=6
 GPIO.groupedBy=Group By Peripherals
 KeepUserPlacement=false
@@ -64,40 +65,42 @@ Mcu.IPNb=12
 Mcu.Name=STM32F103V(C-D-E)Tx
 Mcu.Package=LQFP100
 Mcu.Pin0=PC13-TAMPER-RTC
-Mcu.Pin1=PA0-WKUP
-Mcu.Pin10=PE9
-Mcu.Pin11=PE11
-Mcu.Pin12=PE13
-Mcu.Pin13=PE14
-Mcu.Pin14=PB14
-Mcu.Pin15=PB15
-Mcu.Pin16=PD8
-Mcu.Pin17=PD9
-Mcu.Pin18=PD11
-Mcu.Pin19=PD12
-Mcu.Pin2=PA2
-Mcu.Pin20=PD13
-Mcu.Pin21=PD14
-Mcu.Pin22=PD15
-Mcu.Pin23=PC6
-Mcu.Pin24=PA9
-Mcu.Pin25=PA10
-Mcu.Pin26=PA13
-Mcu.Pin27=PA14
-Mcu.Pin28=PA15
-Mcu.Pin29=PD5
-Mcu.Pin3=PA3
-Mcu.Pin30=PD6
-Mcu.Pin31=PB3
-Mcu.Pin32=VP_FREERTOS_VS_CMSIS_V2
-Mcu.Pin33=VP_SYS_VS_tim8
-Mcu.Pin4=PA5
-Mcu.Pin5=PA6
-Mcu.Pin6=PA7
-Mcu.Pin7=PC4
-Mcu.Pin8=PC5
-Mcu.Pin9=PB0
-Mcu.PinsNb=34
+Mcu.Pin1=OSC_IN
+Mcu.Pin10=PC5
+Mcu.Pin11=PB0
+Mcu.Pin12=PE9
+Mcu.Pin13=PE11
+Mcu.Pin14=PE13
+Mcu.Pin15=PE14
+Mcu.Pin16=PB14
+Mcu.Pin17=PB15
+Mcu.Pin18=PD8
+Mcu.Pin19=PD9
+Mcu.Pin2=OSC_OUT
+Mcu.Pin20=PD11
+Mcu.Pin21=PD12
+Mcu.Pin22=PD13
+Mcu.Pin23=PD14
+Mcu.Pin24=PD15
+Mcu.Pin25=PC6
+Mcu.Pin26=PA9
+Mcu.Pin27=PA10
+Mcu.Pin28=PA13
+Mcu.Pin29=PA14
+Mcu.Pin3=PA0-WKUP
+Mcu.Pin30=PA15
+Mcu.Pin31=PD5
+Mcu.Pin32=PD6
+Mcu.Pin33=PB3
+Mcu.Pin34=VP_FREERTOS_VS_CMSIS_V2
+Mcu.Pin35=VP_SYS_VS_tim4
+Mcu.Pin4=PA2
+Mcu.Pin5=PA3
+Mcu.Pin6=PA5
+Mcu.Pin7=PA6
+Mcu.Pin8=PA7
+Mcu.Pin9=PC4
+Mcu.PinsNb=36
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F103VETx
@@ -108,6 +111,8 @@ NVIC.DMA1_Channel4_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DMA1_Channel5_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DMA1_Channel7_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
+NVIC.EXTI15_10_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.EXTI9_5_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.ForceEnableDMAVector=true
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
@@ -119,12 +124,16 @@ NVIC.SavedPendsvIrqHandlerGenerated=true
 NVIC.SavedSvcallIrqHandlerGenerated=true
 NVIC.SavedSystickIrqHandlerGenerated=true
 NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:true\:false
-NVIC.TIM8_UP_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true
-NVIC.TimeBase=TIM8_UP_IRQn
-NVIC.TimeBaseIP=TIM8
+NVIC.TIM4_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true
+NVIC.TimeBase=TIM4_IRQn
+NVIC.TimeBaseIP=TIM4
 NVIC.USART1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.USART2_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
+OSC_IN.Mode=HSE-External-Oscillator
+OSC_IN.Signal=RCC_OSC_IN
+OSC_OUT.Mode=HSE-External-Oscillator
+OSC_OUT.Signal=RCC_OSC_OUT
 PA0-WKUP.GPIOParameters=GPIO_Label
 PA0-WKUP.GPIO_Label=HC-SR04
 PA0-WKUP.Signal=ADCx_IN0
@@ -265,32 +274,33 @@ ProjectManager.UAScriptAfterPath=
 ProjectManager.UAScriptBeforePath=
 ProjectManager.UnderRoot=false
 ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_SPI1_Init-SPI1-false-HAL-true,6-MX_TIM1_Init-TIM1-false-HAL-true,7-MX_TIM2_Init-TIM2-false-HAL-true,8-MX_USART1_UART_Init-USART1-false-HAL-true,9-MX_USART2_UART_Init-USART2-false-HAL-true,10-MX_TIM3_Init-TIM3-false-HAL-true
-RCC.ADCFreqValue=10666666.666666666
+RCC.ADCFreqValue=12000000
 RCC.ADCPresc=RCC_ADCPCLK2_DIV6
-RCC.AHBFreq_Value=64000000
+RCC.AHBFreq_Value=72000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV2
-RCC.APB1Freq_Value=32000000
-RCC.APB1TimFreq_Value=64000000
-RCC.APB2Freq_Value=64000000
-RCC.APB2TimFreq_Value=64000000
-RCC.FCLKCortexFreq_Value=64000000
-RCC.FSMCFreq_Value=64000000
+RCC.APB1Freq_Value=36000000
+RCC.APB1TimFreq_Value=72000000
+RCC.APB2Freq_Value=72000000
+RCC.APB2TimFreq_Value=72000000
+RCC.FCLKCortexFreq_Value=72000000
+RCC.FSMCFreq_Value=72000000
 RCC.FamilyName=M
-RCC.HCLKFreq_Value=64000000
-RCC.I2S2Freq_Value=64000000
-RCC.I2S3Freq_Value=64000000
-RCC.IPParameters=ADCFreqValue,ADCPresc,AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2Freq_Value,APB2TimFreq_Value,FCLKCortexFreq_Value,FSMCFreq_Value,FamilyName,HCLKFreq_Value,I2S2Freq_Value,I2S3Freq_Value,MCOFreq_Value,PLLCLKFreq_Value,PLLMCOFreq_Value,PLLMUL,SDIOFreq_Value,SDIOHCLKDiv2FreqValue,SYSCLKFreq_VALUE,SYSCLKSource,TimSysFreq_Value,USBFreq_Value,VCOOutput2Freq_Value
-RCC.MCOFreq_Value=64000000
-RCC.PLLCLKFreq_Value=64000000
-RCC.PLLMCOFreq_Value=32000000
-RCC.PLLMUL=RCC_PLL_MUL16
-RCC.SDIOFreq_Value=64000000
-RCC.SDIOHCLKDiv2FreqValue=32000000
-RCC.SYSCLKFreq_VALUE=64000000
+RCC.HCLKFreq_Value=72000000
+RCC.I2S2Freq_Value=72000000
+RCC.I2S3Freq_Value=72000000
+RCC.IPParameters=ADCFreqValue,ADCPresc,AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2Freq_Value,APB2TimFreq_Value,FCLKCortexFreq_Value,FSMCFreq_Value,FamilyName,HCLKFreq_Value,I2S2Freq_Value,I2S3Freq_Value,MCOFreq_Value,PLLCLKFreq_Value,PLLMCOFreq_Value,PLLMUL,PLLSourceVirtual,SDIOFreq_Value,SDIOHCLKDiv2FreqValue,SYSCLKFreq_VALUE,SYSCLKSource,TimSysFreq_Value,USBFreq_Value,VCOOutput2Freq_Value
+RCC.MCOFreq_Value=72000000
+RCC.PLLCLKFreq_Value=72000000
+RCC.PLLMCOFreq_Value=36000000
+RCC.PLLMUL=RCC_PLL_MUL9
+RCC.PLLSourceVirtual=RCC_PLLSOURCE_HSE
+RCC.SDIOFreq_Value=72000000
+RCC.SDIOHCLKDiv2FreqValue=36000000
+RCC.SYSCLKFreq_VALUE=72000000
 RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
-RCC.TimSysFreq_Value=64000000
-RCC.USBFreq_Value=64000000
-RCC.VCOOutput2Freq_Value=4000000
+RCC.TimSysFreq_Value=72000000
+RCC.USBFreq_Value=72000000
+RCC.VCOOutput2Freq_Value=8000000
 SH.ADCx_IN0.0=ADC1_IN0,IN0
 SH.ADCx_IN0.ConfNb=1
 SH.GPXTI14.0=GPIO_EXTI14
@@ -322,21 +332,25 @@ SH.S_TIM2_CH4.ConfNb=1
 SH.S_TIM3_CH1.0=TIM3_CH1,PWM Generation1 CH1
 SH.S_TIM3_CH1.ConfNb=1
 SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_4
-SPI1.CalculateBaudRate=16.0 MBits/s
+SPI1.CalculateBaudRate=18.0 MBits/s
 SPI1.Direction=SPI_DIRECTION_2LINES
 SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler
 SPI1.Mode=SPI_MODE_MASTER
 SPI1.VirtualType=VM_MASTER
+TIM1.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
 TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
 TIM1.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
 TIM1.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
 TIM1.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
-TIM1.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4
+TIM1.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4,Period,AutoReloadPreload
+TIM1.Period=3599
+TIM2.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
 TIM2.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
 TIM2.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
 TIM2.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
 TIM2.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
-TIM2.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4
+TIM2.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4,Period,AutoReloadPreload
+TIM2.Period=3599
 TIM3.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
 TIM3.IPParameters=Channel-PWM Generation1 CH1
 USART1.IPParameters=VirtualMode
@@ -345,7 +359,7 @@ USART2.IPParameters=VirtualMode
 USART2.VirtualMode=VM_ASYNC
 VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2
 VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2
-VP_SYS_VS_tim8.Mode=TIM8
-VP_SYS_VS_tim8.Signal=SYS_VS_tim8
+VP_SYS_VS_tim4.Mode=TIM4
+VP_SYS_VS_tim4.Signal=SYS_VS_tim4
 board=custom
 rtos.0.ip=FREERTOS
--- a/物流小车/esp_12f/TCPUDPDbg/config/config.ini
+++ b/物流小车/esp_12f/TCPUDPDbg/config/config.ini
@@ -10,7 +10,7 @@ SendHex=0
 [DlgCreateServer]
 DlgServerPort=3456
 [Update]
-Time=1775059200
+Time=1775206716
 [SysOptions]
 SendBlSZforFile=10240
 SendBlITforFile=1