feat: 增加上下位机通信接口 (底盘速度和位置控制)

BC1C.ATWP

@@ -78,8 +78,8 @@
             <ModeSub name="Activated" value="TRUE"/>
         </Mode>
         <Parameters>
-            <ParametersSub name="DividerValue" value="4999"/>
-            <ParametersSub name="Period" value="47999"/>
+            <ParametersSub name="DividerValue" value="499"/>
+            <ParametersSub name="Period" value="2399"/>
         </Parameters>
     </TMR6>
     <TMR8>
@@ -90,6 +90,10 @@
             <ModeSub name="Channel4 mode" value="Output_CH4"/>
             <ModeSub name="Activated" value="TRUE"/>
         </Mode>
+        <Parameters>
+            <ParametersSub name="DividerValue" value="1999"/>
+            <ParametersSub name="Period" value="2399"/>
+        </Parameters>
     </TMR8>
     <TMR11>
         <Mode>

BC1C.code-workspace

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

app/by_can.c

@@ -0,0 +1,40 @@
+#include "by_can.h"
+
+#include <string.h>
+#include <assert.h>
+#include "dwt_delay.h"
+#include "by_utils.h"
+#include "by_debug.h"
+
+by_error_status by_can_send_stdd(uint32_t id, const uint8_t *data, uint8_t len, uint16_t timeout)
+{
+
+  assert(id < 0x7FF);
+
+  if (len > 8) {
+    len = 8;
+  }
+
+  uint8_t transmit_mailbox;
+  can_tx_message_type tx_message_struct;
+  tx_message_struct.standard_id = id;                                /* 设置发送数据帧的 ID=0x400 */
+  tx_message_struct.extended_id = 0;                                 /* 不设置 */
+  tx_message_struct.id_type     = CAN_ID_STANDARD;                   /* 发送数据帧类型（标准/扩展）：标准数据帧 */
+  tx_message_struct.frame_type  = CAN_TFT_DATA;                      /* 发送帧类型（远程/数据）：数据帧 */
+  tx_message_struct.dlc         = len;                               /* 发送数据长度（0~8）：8 */
+  memcpy(tx_message_struct.data, data, len);                         /* 复制发送数据 */
+  transmit_mailbox = can_message_transmit(CAN1, &tx_message_struct); /* 将以上待发送报文写入发送邮箱并请求发送 */
+
+  /* 等待该邮箱发送成功—对应邮箱发送成功标志置起 */
+  while (can_transmit_status_get(CAN1, (can_tx_mailbox_num_type)transmit_mailbox) != CAN_TX_STATUS_SUCCESSFUL) {
+    // LOGD("CAN#SEND: timeout=%d", timeout);
+    if (0 == timeout--) {
+      LOGW("CAN#TIMEOUT: ID=0x%x", id);
+
+      return BY_ERROR;
+    }
+    DWT_Delay(10);
+  }
+
+  return BY_SUCCESS;
+}

app/by_can.h

@@ -0,0 +1,9 @@
+#ifndef _BY_CAN_H__
+#define _BY_CAN_H__
+
+#include "at32f403a_407.h"
+#include "by_utils.h"
+
+by_error_status by_can_send_stdd(uint32_t id, const uint8_t *data, uint8_t len, uint16_t timeout);
+
+#endif

app/by_frame.h

@@ -14,7 +14,7 @@
 
 #define BY_FRAME_UART_INDEX (USART3)
 
-#define BY_FRAME_DATA_NUM   (3)
+#define BY_FRAME_DATA_NUM   (2)
 
 extern void by_frame_init(void);
 void by_frame_send(uint8_t cmd, uint32_t *data_array);

app/by_messy.c

@@ -0,0 +1,74 @@
+#include "by_messy.h"
+
+#include "lwprintf.h"
+#include "by_frame.h"
+#include "by_motion.h"
+
+void by_messy_init(void)
+{
+  by_frame_init();
+}
+
+void by_messy_loop(void)
+{
+  uint8_t cmd                      = 0;
+  uint32_t buff[BY_FRAME_DATA_NUM] = {0};
+
+  if (!by_frame_parse(&cmd, buff)) {
+
+    lwprintf("get cmd: %X\r\n", cmd);
+
+    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);
+        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);
+        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);
+        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);
+        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);
+        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);
+        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
+        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
+        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
+        break;
+
+      default:
+        break;
+    }
+  }
+}

app/by_messy.h

@@ -0,0 +1,7 @@
+#ifndef _BY_MESSY_H__
+#define _BY_MESSY_H__
+
+extern void by_messy_init(void);
+extern void by_messy_loop(void);
+
+#endif

app/by_motion.c

@@ -2,13 +2,12 @@
 
 #include <math.h>
 #include <string.h>
+#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_Y          (0.25f) // 底盘 X 轴上两轮中心的间距
-#define RX_RY        ((D_X + D_Y) / 2.f)
-
-#define FP2U16_SCALE (1000.f)                // 浮点转存为整数缩放尺度，所有设备该参数需对应
-#define FP2U16(x)    ((int16_t)(x * FP2U16_SCALE)) // 浮点转存为整数
+#define D_X   (0.18f) // 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 RX_RY ((D_X + D_Y) / 2.f)
 
 /**********************************************
  * v_1 = v_{ty} + v_{tx} - (r_x + r_y) * \omega
@@ -17,11 +16,20 @@
  * v_4 = v_{ty} - v_{tx} - (r_x + r_y) * \omega
  **********************************************/
 
+/*** 控制模式 ***/
+uint8_t control_mode = 0; // 0-速度模式 1-位置模式
+
+/*** 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
+
 /*** 各轮转速，左上角为 1 号，顺时针标号 ***/
 float v_wheel[4] = {0.f};
 
 /** 目标速度 **/
 motion_speed_type motion_speed_struct;
+motion_speed_type motion_speed_struct_last;
+motion_time_type motion_time_struct;
 
 /** 下发数据包 **/
 int16_t motion_speed_data[4] = {0};
@@ -29,26 +37,88 @@ int16_t motion_speed_data[4] = {0};
 void by_motion_init(void)
 {
   memset(&motion_speed_struct, 0, sizeof(motion_speed_struct));
+  memset(&motion_speed_struct_last, 0, sizeof(motion_speed_struct_last));
+  memset(&motion_time_struct, 0, sizeof(motion_time_struct));
+  memset(motion_speed_data, 0, sizeof(motion_speed_data));
   memset(v_wheel, 0, sizeof(v_wheel));
+
+  by_can_send_stdd(0x01, (uint8_t *)&motion_speed_data, 8, 100);
 }
 
-void by_motion_calc_speed(motion_speed_type *speed)
+void by_motion_update_speed(void)
 {
-  motion_speed_struct = *speed;
+  const motion_speed_type *speed = &motion_speed_struct;
 
   v_wheel[0] = speed->v_x + speed->v_y - RX_RY * speed->v_w;
   v_wheel[1] = speed->v_x - speed->v_y + RX_RY * speed->v_w;
   v_wheel[2] = speed->v_x + speed->v_y + RX_RY * speed->v_w;
   v_wheel[3] = speed->v_x - speed->v_y - RX_RY * speed->v_w;
+
+  for (uint8_t i = 0; i < 4; i++) {
+    motion_speed_data[i] = (int16_t)v_wheel[i];
+
+    LOGD("MOTION#SPD wheel[%d] - %d", i, motion_speed_data[i]);
+  }
+
+  by_can_send_stdd(0x01, (uint8_t *)&motion_speed_data, 8, 100);
+  LOGD("MOTION#SPD updated");
 }
 
 /**
- * @brief
+ * @brief 电机控制 - 主循环中调用
  *
  */
-void by_motion_pack_speed(void)
+void by_motion_loop(void)
 {
-  for (uint8_t i = 0; i < 4; i++) {
-    motion_speed_data[i] = FP2U16(v_wheel[i]);
+  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));
   }
 }
+
+/**
+ * @brief 定时回调
+ *
+ */
+void by_motion_timer_handle(void)
+{
+  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--;
+    }
+  }
+}
+
+/**
+ * @brief 设置电机控制模式
+ *
+ * @param mode 0-速度模式 1-位置模式
+ */
+void by_motion_set_mode(uint8_t mode)
+{
+  control_mode = mode;
+}

app/by_motion.h

@@ -9,4 +9,20 @@ typedef struct motion_speed_type {
   float v_w;
 } motion_speed_type;
 
+typedef struct motion_time_type {
+  uint32_t t_x;
+  uint32_t t_y;
+  uint32_t t_w;
+} motion_time_type;
+
+extern void by_motion_init(void);
+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 motion_speed_type motion_speed_struct;
+extern motion_time_type motion_time_struct;
+
 #endif

app/by_utils.c

@@ -0,0 +1,7 @@
+#include "by_utils.h"
+
+inline int32_t clip_s32(int32_t x, int32_t low, int32_t up)
+{
+  return (x > up ? up : x < low ? low
+                                : x);
+}

app/by_utils.h

@@ -0,0 +1,23 @@
+#ifndef _BY_UTILS_H__
+#define _BY_UTILS_H__
+
+#include "at32f403a_407.h"
+
+typedef enum {
+  BY_ERROR   = 0,
+  BY_SUCCESS = !BY_ERROR
+} by_error_status;
+
+typedef enum {
+  T_U8 = 0,
+  T_U16,
+  T_U32,
+  T_S8,
+  T_S16,
+  T_S32,
+  T_F32
+} by_data_type;
+
+int32_t clip_s32(int32_t x, int32_t low, int32_t up);
+
+#endif

project/src/at32f403a_407_int.c

@@ -31,6 +31,7 @@
 /* add user code begin private includes */
 #include "by_debug.h"
 #include "by_frame.h"
+#include "by_motion.h"
 /* add user code end private includes */
 
 /* private typedef -----------------------------------------------------------*/
@@ -266,6 +267,7 @@ void USART3_IRQHandler(void)
 {
   /* add user code begin USART3_IRQ 0 */
   if (SET == usart_flag_get(USART3, USART_RDBF_FLAG)) {
+    by_frame_parse_uart_handle((uint8_t)usart_data_receive(USART3));
     // usart_data_transmit(USART1, usart_data_receive(USART3));
     usart_flag_clear(USART3, USART_RDBF_FLAG);
   }
@@ -284,6 +286,7 @@ void TMR6_GLOBAL_IRQHandler(void)
 {
   /* add user code begin TMR6_GLOBAL_IRQ 0 */
   if (SET == tmr_flag_get(TMR6, TMR_OVF_FLAG)) {
+    by_motion_timer_handle();
     tmr_flag_clear(TMR6, TMR_OVF_FLAG);
   }
   /* add user code end TMR6_GLOBAL_IRQ 0 */

project/src/at32f403a_407_wk_config.c

@@ -62,23 +62,23 @@
 /* add user code end 0 */
 
 /**
- * @brief  system clock config program
- * @note   the system clock is configured as follow:
- *         system clock (sclk)   = hick / 12 * pll_mult
- *         system clock source   = HICK_VALUE
- *         - hext                = HEXT_VALUE
- *         - sclk                = 240000000
- *         - ahbdiv              = 1
- *         - ahbclk              = 240000000
- *         - apb1div             = 2
- *         - apb1clk             = 120000000
- *         - apb2div             = 2
- *         - apb2clk             = 120000000
- *         - pll_mult            = 60
- *         - pll_range           = GT72MHZ (greater than 72 mhz)
- * @param  none
- * @retval none
- */
+  * @brief  system clock config program
+  * @note   the system clock is configured as follow:
+  *         system clock (sclk)   = hick / 12 * pll_mult
+  *         system clock source   = HICK_VALUE
+  *         - hext                = HEXT_VALUE
+  *         - sclk                = 240000000
+  *         - ahbdiv              = 1
+  *         - ahbclk              = 240000000
+  *         - apb1div             = 2
+  *         - apb1clk             = 120000000
+  *         - apb2div             = 2
+  *         - apb2clk             = 120000000
+  *         - pll_mult            = 60
+  *         - pll_range           = GT72MHZ (greater than 72 mhz)
+  * @param  none
+  * @retval none
+  */
 void wk_system_clock_config(void)
 {
   /* reset crm */
@@ -88,21 +88,24 @@ void wk_system_clock_config(void)
   crm_clock_source_enable(CRM_CLOCK_SOURCE_LICK, TRUE);
 
   /* wait till lick is ready */
-  while (crm_flag_get(CRM_LICK_STABLE_FLAG) != SET) {
+  while(crm_flag_get(CRM_LICK_STABLE_FLAG) != SET)
+  {
   }
 
   /* enable hext */
   crm_clock_source_enable(CRM_CLOCK_SOURCE_HEXT, TRUE);
 
   /* wait till hext is ready */
-  while (crm_hext_stable_wait() == ERROR) {
+  while(crm_hext_stable_wait() == ERROR)
+  {
   }
 
   /* enable hick */
   crm_clock_source_enable(CRM_CLOCK_SOURCE_HICK, TRUE);
 
   /* wait till hick is ready */
-  while (crm_flag_get(CRM_HICK_STABLE_FLAG) != SET) {
+  while(crm_flag_get(CRM_HICK_STABLE_FLAG) != SET)
+  {
   }
 
   /* config pll clock resource */
@@ -112,7 +115,8 @@ void wk_system_clock_config(void)
   crm_clock_source_enable(CRM_CLOCK_SOURCE_PLL, TRUE);
 
   /* wait till pll is ready */
-  while (crm_flag_get(CRM_PLL_STABLE_FLAG) != SET) {
+  while(crm_flag_get(CRM_PLL_STABLE_FLAG) != SET)
+  {
   }
 
   /* config ahbclk */
@@ -131,7 +135,8 @@ void wk_system_clock_config(void)
   crm_sysclk_switch(CRM_SCLK_PLL);
 
   /* wait till pll is used as system clock source */
-  while (crm_sysclk_switch_status_get() != CRM_SCLK_PLL) {
+  while(crm_sysclk_switch_status_get() != CRM_SCLK_PLL)
+  {
   }
 
   /* disable auto step mode */
@@ -142,10 +147,10 @@ void wk_system_clock_config(void)
 }
 
 /**
- * @brief  config periph clock
- * @param  none
- * @retval none
- */
+  * @brief  config periph clock
+  * @param  none
+  * @retval none
+  */
 void wk_periph_clock_config(void)
 {
   /* enable crc periph clock */
@@ -201,10 +206,10 @@ void wk_periph_clock_config(void)
 }
 
 /**
- * @brief  init debug function.
- * @param  none
- * @retval none
- */
+  * @brief  init debug function.
+  * @param  none
+  * @retval none
+  */
 void wk_debug_config(void)
 {
   /* jtag-dp disabled and sw-dp enabled */
@@ -212,10 +217,10 @@ void wk_debug_config(void)
 }
 
 /**
- * @brief  nvic config
- * @param  none
- * @retval none
- */
+  * @brief  nvic config
+  * @param  none
+  * @retval none
+  */
 void wk_nvic_config(void)
 {
   nvic_priority_group_config(NVIC_PRIORITY_GROUP_4);
@@ -229,10 +234,10 @@ void wk_nvic_config(void)
 }
 
 /**
- * @brief  init gpio_input/gpio_output/gpio_analog/eventout function.
- * @param  none
- * @retval none
- */
+  * @brief  init gpio_input/gpio_output/gpio_analog/eventout function.
+  * @param  none
+  * @retval none
+  */
 void wk_gpio_config(void)
 {
   /* add user code begin gpio_config 0 */
@@ -266,10 +271,10 @@ void wk_gpio_config(void)
   gpio_bits_reset(GPIOC, GPIO_PINS_0 | GPIO_PINS_1 | GPIO_PINS_2 | GPIO_PINS_3);
 
   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_pull           = GPIO_PULL_NONE;
+  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_pull = GPIO_PULL_NONE;
   gpio_init(GPIOC, &gpio_init_struct);
 
   /* add user code begin gpio_config 2 */
@@ -278,10 +283,10 @@ void wk_gpio_config(void)
 }
 
 /**
- * @brief  init i2c1 function.
- * @param  none
- * @retval none
- */
+  * @brief  init i2c1 function.
+  * @param  none
+  * @retval none
+  */
 void wk_i2c1_init(void)
 {
   /* add user code begin i2c1_init 0 */
@@ -297,19 +302,19 @@ void wk_i2c1_init(void)
   /* 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_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_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_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_struct.gpio_pins = GPIO_PINS_7;
   gpio_init(GPIOB, &gpio_init_struct);
 
   i2c_init(I2C1, I2C_FSMODE_DUTY_2_1, 100000);
@@ -326,10 +331,10 @@ void wk_i2c1_init(void)
 }
 
 /**
- * @brief  init i2c2 function.
- * @param  none
- * @retval none
- */
+  * @brief  init i2c2 function.
+  * @param  none
+  * @retval none
+  */
 void wk_i2c2_init(void)
 {
   /* add user code begin i2c2_init 0 */
@@ -345,19 +350,19 @@ void wk_i2c2_init(void)
   /* 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_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_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_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_struct.gpio_pins = GPIO_PINS_11;
   gpio_init(GPIOB, &gpio_init_struct);
 
   i2c_init(I2C2, I2C_FSMODE_DUTY_2_1, 100000);
@@ -374,10 +379,10 @@ void wk_i2c2_init(void)
 }
 
 /**
- * @brief  init usart1 function
- * @param  none
- * @retval none
- */
+  * @brief  init usart1 function
+  * @param  none
+  * @retval none
+  */
 void wk_usart1_init(void)
 {
   /* add user code begin usart1_init 0 */
@@ -393,18 +398,18 @@ void wk_usart1_init(void)
 
   /* configure the TX pin */
   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_MUX;
-  gpio_init_struct.gpio_pins           = GPIO_PINS_9;
-  gpio_init_struct.gpio_pull           = GPIO_PULL_NONE;
+  gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL;
+  gpio_init_struct.gpio_mode = GPIO_MODE_MUX;
+  gpio_init_struct.gpio_pins = GPIO_PINS_9;
+  gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
   gpio_init(GPIOA, &gpio_init_struct);
 
   /* configure the RX pin */
   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_INPUT;
-  gpio_init_struct.gpio_pins           = GPIO_PINS_10;
-  gpio_init_struct.gpio_pull           = GPIO_PULL_NONE;
+  gpio_init_struct.gpio_out_type  = GPIO_OUTPUT_PUSH_PULL;
+  gpio_init_struct.gpio_mode = GPIO_MODE_INPUT;
+  gpio_init_struct.gpio_pins = GPIO_PINS_10;
+  gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
   gpio_init(GPIOA, &gpio_init_struct);
 
   /* configure param */
@@ -431,10 +436,10 @@ void wk_usart1_init(void)
 }
 
 /**
- * @brief  init usart2 function
- * @param  none
- * @retval none
- */
+  * @brief  init usart2 function
+  * @param  none
+  * @retval none
+  */
 void wk_usart2_init(void)
 {
   /* add user code begin usart2_init 0 */
@@ -450,18 +455,18 @@ void wk_usart2_init(void)
 
   /* configure the TX pin */
   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_MUX;
-  gpio_init_struct.gpio_pins           = GPIO_PINS_2;
-  gpio_init_struct.gpio_pull           = GPIO_PULL_NONE;
+  gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL;
+  gpio_init_struct.gpio_mode = GPIO_MODE_MUX;
+  gpio_init_struct.gpio_pins = GPIO_PINS_2;
+  gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
   gpio_init(GPIOA, &gpio_init_struct);
 
   /* configure the RX pin */
   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_INPUT;
-  gpio_init_struct.gpio_pins           = GPIO_PINS_3;
-  gpio_init_struct.gpio_pull           = GPIO_PULL_NONE;
+  gpio_init_struct.gpio_out_type  = GPIO_OUTPUT_PUSH_PULL;
+  gpio_init_struct.gpio_mode = GPIO_MODE_INPUT;
+  gpio_init_struct.gpio_pins = GPIO_PINS_3;
+  gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
   gpio_init(GPIOA, &gpio_init_struct);
 
   /* configure param */
@@ -488,10 +493,10 @@ void wk_usart2_init(void)
 }
 
 /**
- * @brief  init usart3 function
- * @param  none
- * @retval none
- */
+  * @brief  init usart3 function
+  * @param  none
+  * @retval none
+  */
 void wk_usart3_init(void)
 {
   /* add user code begin usart3_init 0 */
@@ -507,18 +512,18 @@ void wk_usart3_init(void)
 
   /* configure the TX pin */
   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_MUX;
-  gpio_init_struct.gpio_pins           = GPIO_PINS_10;
-  gpio_init_struct.gpio_pull           = GPIO_PULL_NONE;
+  gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL;
+  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);
 
   /* configure the RX pin */
   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_INPUT;
-  gpio_init_struct.gpio_pins           = GPIO_PINS_11;
-  gpio_init_struct.gpio_pull           = GPIO_PULL_NONE;
+  gpio_init_struct.gpio_out_type  = GPIO_OUTPUT_PUSH_PULL;
+  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_pin_remap_config(USART3_GMUX_0001, TRUE);
@@ -547,10 +552,10 @@ void wk_usart3_init(void)
 }
 
 /**
- * @brief  init tmr6 function.
- * @param  none
- * @retval none
- */
+  * @brief  init tmr6 function.
+  * @param  none
+  * @retval none
+  */
 void wk_tmr6_init(void)
 {
   /* add user code begin tmr6_init 0 */
@@ -562,7 +567,7 @@ void wk_tmr6_init(void)
   /* add user code end tmr6_init 1 */
 
   /* configure counter settings */
-  tmr_base_init(TMR6, 47999, 4999);
+  tmr_base_init(TMR6, 2399, 499);
   tmr_cnt_dir_set(TMR6, TMR_COUNT_UP);
   tmr_period_buffer_enable(TMR6, FALSE);
 
@@ -585,10 +590,10 @@ void wk_tmr6_init(void)
 }
 
 /**
- * @brief  init tmr8 function.
- * @param  none
- * @retval none
- */
+  * @brief  init tmr8 function.
+  * @param  none
+  * @retval none
+  */
 void wk_tmr8_init(void)
 {
   /* add user code begin tmr8_init 0 */
@@ -606,39 +611,39 @@ void wk_tmr8_init(void)
   /* 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_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_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_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_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, 65535, 0);
+  tmr_base_init(TMR8, 2399, 1999);
   tmr_cnt_dir_set(TMR8, TMR_COUNT_UP);
   tmr_clock_source_div_set(TMR8, TMR_CLOCK_DIV1);
   tmr_repetition_counter_set(TMR8, 0);
@@ -649,63 +654,64 @@ void wk_tmr8_init(void)
   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.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_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.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_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.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_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.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_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.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_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);
@@ -716,10 +722,10 @@ void wk_tmr8_init(void)
 }
 
 /**
- * @brief  init tmr11 function.
- * @param  none
- * @retval none
- */
+  * @brief  init tmr11 function.
+  * @param  none
+  * @retval none
+  */
 void wk_tmr11_init(void)
 {
   /* add user code begin tmr11_init 0 */
@@ -735,10 +741,10 @@ void wk_tmr11_init(void)
   /* 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_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);
 
@@ -749,13 +755,13 @@ void wk_tmr11_init(void)
   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.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_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);
@@ -770,10 +776,10 @@ void wk_tmr11_init(void)
 }
 
 /**
- * @brief  init tmr12 function.
- * @param  none
- * @retval none
- */
+  * @brief  init tmr12 function.
+  * @param  none
+  * @retval none
+  */
 void wk_tmr12_init(void)
 {
   /* add user code begin tmr12_init 0 */
@@ -789,18 +795,18 @@ void wk_tmr12_init(void)
   /* 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_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_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);
 
@@ -811,25 +817,25 @@ void wk_tmr12_init(void)
   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.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_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.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_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);
@@ -842,10 +848,10 @@ void wk_tmr12_init(void)
 }
 
 /**
- * @brief  init can1 function.
- * @param  none
- * @retval none
- */
+  * @brief  init can1 function.
+  * @param  none
+  * @retval none
+  */
 void wk_can1_init(void)
 {
   /* add user code begin can1_init 0 */
@@ -866,51 +872,51 @@ void wk_can1_init(void)
 
   /* configure the CAN1 TX pin */
   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_MUX;
-  gpio_init_struct.gpio_pins           = GPIO_PINS_12;
-  gpio_init_struct.gpio_pull           = GPIO_PULL_NONE;
+  gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL;
+  gpio_init_struct.gpio_mode = GPIO_MODE_MUX;
+  gpio_init_struct.gpio_pins = GPIO_PINS_12;
+  gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
   gpio_init(GPIOA, &gpio_init_struct);
 
   /* configure the CAN1 RX pin */
   gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_STRONGER;
-  gpio_init_struct.gpio_out_type       = GPIO_OUTPUT_PUSH_PULL;
-  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_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL;
+  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(GPIOA, &gpio_init_struct);
 
   /*can_base_init--------------------------------------------------------------------*/ 
   can_default_para_init(&can_base_struct);
-  can_base_struct.mode_selection   = CAN_MODE_COMMUNICATE;
-  can_base_struct.ttc_enable       = FALSE;
-  can_base_struct.aebo_enable      = TRUE;
-  can_base_struct.aed_enable       = TRUE;
-  can_base_struct.prsf_enable      = FALSE;
+  can_base_struct.mode_selection = CAN_MODE_COMMUNICATE;
+  can_base_struct.ttc_enable = FALSE;
+  can_base_struct.aebo_enable = TRUE;
+  can_base_struct.aed_enable = TRUE;
+  can_base_struct.prsf_enable = FALSE;
   can_base_struct.mdrsel_selection = CAN_DISCARDING_FIRST_RECEIVED;
-  can_base_struct.mmssr_selection  = CAN_SENDING_BY_ID;
+  can_base_struct.mmssr_selection = CAN_SENDING_BY_ID;
 
   can_base_init(CAN1, &can_base_struct);
 
   /*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.rsaw_size    = CAN_RSAW_1TQ; /*value: 1~4*/
-  can_baudrate_struct.bts1_size    = CAN_BTS1_8TQ; /*value: 1~16*/
-  can_baudrate_struct.bts2_size    = CAN_BTS2_1TQ; /*value: 1~8*/
+  can_baudrate_struct.baudrate_div = 24;                       /*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.bts2_size = CAN_BTS2_1TQ;                /*value: 1~8*/
   can_baudrate_set(CAN1, &can_baudrate_struct);
 
   /*can_filter_0_config--------------------------------------------------------------*/
   can_filter_init_struct.filter_activate_enable = TRUE;
-  can_filter_init_struct.filter_number          = 0;
-  can_filter_init_struct.filter_fifo            = CAN_FILTER_FIFO0;
-  can_filter_init_struct.filter_bit             = CAN_FILTER_16BIT;
-  can_filter_init_struct.filter_mode            = CAN_FILTER_MODE_ID_MASK;
+  can_filter_init_struct.filter_number = 0;
+  can_filter_init_struct.filter_fifo = CAN_FILTER_FIFO0;
+  can_filter_init_struct.filter_bit = CAN_FILTER_16BIT;  
+  can_filter_init_struct.filter_mode = CAN_FILTER_MODE_ID_MASK;  
   /*Standard identifier + Mask Mode + Data/Remote frame: id/mask 11bit --------------*/
-  can_filter_init_struct.filter_id_high   = 0x0 << 5;
-  can_filter_init_struct.filter_id_low    = 0x0 << 5;
+  can_filter_init_struct.filter_id_high = 0x0 << 5;
+  can_filter_init_struct.filter_id_low = 0x0 << 5;
   can_filter_init_struct.filter_mask_high = 0x0 << 5;
-  can_filter_init_struct.filter_mask_low  = 0x0 << 5;
+  can_filter_init_struct.filter_mask_low = 0x0 << 5;
 
   can_filter_init(CAN1, &can_filter_init_struct);
 
@@ -923,7 +929,7 @@ void wk_can1_init(void)
    */
 
   /*can1 rx0 interrupt config--------------------------------------------------------*/ 
-  // can_interrupt_enable(CAN1, CAN_RF0MIEN_INT, TRUE);
+  //can_interrupt_enable(CAN1, CAN_RF0MIEN_INT, TRUE);
 
   /* add user code begin can1_init 2 */
   can_interrupt_enable(CAN1, CAN_RF0MIEN_INT, TRUE);
@@ -931,10 +937,10 @@ void wk_can1_init(void)
 }
 
 /**
- * @brief  init can2 function.
- * @param  none
- * @retval none
- */
+  * @brief  init can2 function.
+  * @param  none
+  * @retval none
+  */
 void wk_can2_init(void)
 {
   /* add user code begin can2_init 0 */
@@ -955,51 +961,51 @@ void wk_can2_init(void)
 
   /* configure the CAN2 TX pin */
   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_MUX;
-  gpio_init_struct.gpio_pins           = GPIO_PINS_13;
-  gpio_init_struct.gpio_pull           = GPIO_PULL_NONE;
+  gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL;
+  gpio_init_struct.gpio_mode = GPIO_MODE_MUX;
+  gpio_init_struct.gpio_pins = GPIO_PINS_13;
+  gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
   gpio_init(GPIOB, &gpio_init_struct);
 
   /* configure the CAN2 RX pin */
   gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_STRONGER;
-  gpio_init_struct.gpio_out_type       = GPIO_OUTPUT_PUSH_PULL;
-  gpio_init_struct.gpio_mode           = GPIO_MODE_INPUT;
-  gpio_init_struct.gpio_pins           = GPIO_PINS_12;
-  gpio_init_struct.gpio_pull           = GPIO_PULL_NONE;
+  gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL;
+  gpio_init_struct.gpio_mode = GPIO_MODE_INPUT;
+  gpio_init_struct.gpio_pins = GPIO_PINS_12;
+  gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
   gpio_init(GPIOB, &gpio_init_struct);
 
   /*can_base_init--------------------------------------------------------------------*/ 
   can_default_para_init(&can_base_struct);
-  can_base_struct.mode_selection   = CAN_MODE_COMMUNICATE;
-  can_base_struct.ttc_enable       = FALSE;
-  can_base_struct.aebo_enable      = TRUE;
-  can_base_struct.aed_enable       = TRUE;
-  can_base_struct.prsf_enable      = FALSE;
+  can_base_struct.mode_selection = CAN_MODE_COMMUNICATE;
+  can_base_struct.ttc_enable = FALSE;
+  can_base_struct.aebo_enable = TRUE;
+  can_base_struct.aed_enable = TRUE;
+  can_base_struct.prsf_enable = FALSE;
   can_base_struct.mdrsel_selection = CAN_DISCARDING_FIRST_RECEIVED;
-  can_base_struct.mmssr_selection  = CAN_SENDING_BY_ID;
+  can_base_struct.mmssr_selection = CAN_SENDING_BY_ID;
 
   can_base_init(CAN2, &can_base_struct);
 
   /*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.rsaw_size    = CAN_RSAW_1TQ; /*value: 1~4*/
-  can_baudrate_struct.bts1_size    = CAN_BTS1_8TQ; /*value: 1~16*/
-  can_baudrate_struct.bts2_size    = CAN_BTS2_1TQ; /*value: 1~8*/
+  can_baudrate_struct.baudrate_div = 24;                       /*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.bts2_size = CAN_BTS2_1TQ;                /*value: 1~8*/
   can_baudrate_set(CAN2, &can_baudrate_struct);
 
   /*can_filter_0_config--------------------------------------------------------------*/
   can_filter_init_struct.filter_activate_enable = TRUE;
-  can_filter_init_struct.filter_number          = 0;
-  can_filter_init_struct.filter_fifo            = CAN_FILTER_FIFO0;
-  can_filter_init_struct.filter_bit             = CAN_FILTER_16BIT;
-  can_filter_init_struct.filter_mode            = CAN_FILTER_MODE_ID_MASK;
+  can_filter_init_struct.filter_number = 0;
+  can_filter_init_struct.filter_fifo = CAN_FILTER_FIFO0;
+  can_filter_init_struct.filter_bit = CAN_FILTER_16BIT;  
+  can_filter_init_struct.filter_mode = CAN_FILTER_MODE_ID_MASK;  
   /*Standard identifier + Mask Mode + Data/Remote frame: id/mask 11bit --------------*/
-  can_filter_init_struct.filter_id_high   = 0x0 << 5;
-  can_filter_init_struct.filter_id_low    = 0x0 << 5;
+  can_filter_init_struct.filter_id_high = 0x0 << 5;
+  can_filter_init_struct.filter_id_low = 0x0 << 5;
   can_filter_init_struct.filter_mask_high = 0x0 << 5;
-  can_filter_init_struct.filter_mask_low  = 0x0 << 5;
+  can_filter_init_struct.filter_mask_low = 0x0 << 5;
 
   can_filter_init(CAN2, &can_filter_init_struct);
 
@@ -1012,7 +1018,7 @@ void wk_can2_init(void)
    */
 
   /*can2 rx0 interrupt config--------------------------------------------------------*/ 
-  // can_interrupt_enable(CAN2, CAN_RF0MIEN_INT, TRUE);
+  //can_interrupt_enable(CAN2, CAN_RF0MIEN_INT, TRUE);
 
   /* add user code begin can2_init 2 */
   can_interrupt_enable(CAN2, CAN_RF0MIEN_INT, TRUE);
@@ -1020,10 +1026,10 @@ void wk_can2_init(void)
 }
 
 /**
- * @brief  init crc function.
- * @param  none
- * @retval none
- */
+  * @brief  init crc function.
+  * @param  none
+  * @retval none
+  */
 void wk_crc_init(void)
 {
   /* add user code begin crc_init 0 */

project/src/main.c

@@ -34,6 +34,8 @@
 #include "by_debug.h"
 #include "by_crc16.h"
 #include "by_frame.h"
+#include "by_messy.h"
+#include "by_motion.h"
 /* add user code end private includes */
 
 /* private typedef -----------------------------------------------------------*/
@@ -138,8 +140,12 @@ int main(void)
   flash_ee_init();
   LOGD("eeprom init done");
 
-  /* frame init */
-  by_frame_init();
+  /* motion init */
+  by_motion_init();
+  LOGD("motion init done");
+
+  /* messy init */
+  by_messy_init();
   LOGD("frame init done");
 
   LOGI("init done");
@@ -148,7 +154,8 @@ int main(void)
 
   while (1) {
     /* add user code begin 3 */
-    // DWT_Delay(1000000);
+    by_messy_loop();
+    by_motion_loop();
     /* add user code end 3 */
   }
 }