初版调试完成

Project/MDK/HC32F460.uvoptx

@@ -103,7 +103,7 @@
         <bEvRecOn>1</bEvRecOn>
         <bSchkAxf>0</bSchkAxf>
         <bTchkAxf>0</bTchkAxf>
-        <nTsel>12</nTsel>
+        <nTsel>3</nTsel>
         <sDll></sDll>
         <sDllPa></sDllPa>
         <sDlgDll></sDlgDll>
@@ -145,7 +145,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>CMSIS_AGDI</Key>
-          <Name>-X"Any" -UAny -O206 -S0 -C0 -P00000000 -N00("") -D00(00000000) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD1FFF8000 -FC1000 -FN2 -FF0HC32F460_512K.FLM -FS00 -FL080000 -FP0($$Device:HC32F460JETA$FlashARM\HC32F460_512K.FLM) -FF1HC32F460_otp.FLM -FS13000C00 -FL13FC -FP1($$Device:HC32F460JETA$FlashARM\HC32F460_otp.FLM)</Name>
+          <Name>-X"Any" -UAny -O206 -S0 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD1FFF8000 -FC1000 -FN2 -FF0HC32F460_512K.FLM -FS00 -FL080000 -FP0($$Device:HC32F460JETA$FlashARM\HC32F460_512K.FLM) -FF1HC32F460_otp.FLM -FS13000C00 -FL13FC -FP1($$Device:HC32F460JETA$FlashARM\HC32F460_otp.FLM)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -153,40 +153,7 @@
           <Name>UL2CM3(-S0 -C0 -P0 -FD1FFF8000 -FC1000 -FN2 -FF0HC32F460_512K -FS00 -FL080000 -FF1HC32F460_otp -FS13000C00 -FL13FC -FP0($$Device:HC32F460JETA$FlashARM\HC32F460_512K.FLM) -FP1($$Device:HC32F460JETA$FlashARM\HC32F460_otp.FLM))</Name>
         </SetRegEntry>
       </TargetDriverDllRegistry>
-      <Breakpoint>
-        <Bp>
-          <Number>0</Number>
-          <Type>0</Type>
-          <LineNumber>1118</LineNumber>
-          <EnabledFlag>1</EnabledFlag>
-          <Address>4658</Address>
-          <ByteObject>0</ByteObject>
-          <HtxType>0</HtxType>
-          <ManyObjects>0</ManyObjects>
-          <SizeOfObject>0</SizeOfObject>
-          <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>1</BreakIfRCount>
-          <Filename>..\source\User\Src\main.c</Filename>
-          <ExecCommand></ExecCommand>
-          <Expression>\\BombSensor\../source/User/Src/main.c\1118</Expression>
-        </Bp>
-        <Bp>
-          <Number>1</Number>
-          <Type>0</Type>
-          <LineNumber>1156</LineNumber>
-          <EnabledFlag>1</EnabledFlag>
-          <Address>5298</Address>
-          <ByteObject>0</ByteObject>
-          <HtxType>0</HtxType>
-          <ManyObjects>0</ManyObjects>
-          <SizeOfObject>0</SizeOfObject>
-          <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>1</BreakIfRCount>
-          <Filename>..\source\User\Src\main.c</Filename>
-          <ExecCommand></ExecCommand>
-          <Expression>\\BombSensor\../source/User/Src/main.c\1156</Expression>
-        </Bp>
-      </Breakpoint>
+      <Breakpoint/>
       <WatchWindow1>
         <Ww>
           <count>0</count>
@@ -251,97 +218,57 @@
         <Ww>
           <count>12</count>
           <WinNumber>1</WinNumber>
-          <ItemText>App.SlopeCollDelay1mSCnt,0x0A</ItemText>
+          <ItemText>App.EmergencyDelay1mSCnt,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>13</count>
           <WinNumber>1</WinNumber>
-          <ItemText>App.EmergencyDelay1mSCnt,0x0A</ItemText>
+          <ItemText>App.MotorPara.Current_height,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>14</count>
           <WinNumber>1</WinNumber>
-          <ItemText>App.MotorPara.LU_HeightStress,0x0A</ItemText>
+          <ItemText>App.RightUpCS1237_SlopeArray[0],0x0A</ItemText>
         </Ww>
         <Ww>
           <count>15</count>
           <WinNumber>1</WinNumber>
-          <ItemText>App.MotorPara.LL_HeightStress,0x0A</ItemText>
+          <ItemText>App.RightLowCS1237_SlopeArray[0],0x0A</ItemText>
         </Ww>
         <Ww>
           <count>16</count>
           <WinNumber>1</WinNumber>
-          <ItemText>App.MotorPara.RU_HeightStress,0x0A</ItemText>
+          <ItemText>Olu_diff1,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>17</count>
           <WinNumber>1</WinNumber>
-          <ItemText>App.MotorPara.RL_HeightStress,0x0A</ItemText>
+          <ItemText>Olu_diff2,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>18</count>
           <WinNumber>1</WinNumber>
-          <ItemText>App.TD1mSDelayCnt,0x0A</ItemText>
+          <ItemText>Olu_diff3,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>19</count>
           <WinNumber>1</WinNumber>
-          <ItemText>App.RxUart3Data.RxBuff,0x10</ItemText>
+          <ItemText>Oru_diff1,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>20</count>
           <WinNumber>1</WinNumber>
-          <ItemText>App.RxUart3Data.RxLen,0x0A</ItemText>
+          <ItemText>Oru_diff2,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>21</count>
           <WinNumber>1</WinNumber>
-          <ItemText>App.Status</ItemText>
+          <ItemText>Oru_diff3,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>22</count>
           <WinNumber>1</WinNumber>
-          <ItemText>App.MotorPara.CaliNum,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>23</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>App.CailUp1mSCnt,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>24</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>Oru_diff1,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>25</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>Orl_diff1,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>26</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>App.ADTrack.Stop_VPT,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>27</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>ru_ad[0],0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>28</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>App.MotorPara.RestFlag,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>29</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>App.MotorPara.Current_height,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>30</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>App.HeightContRolCnt,0x0A</ItemText>
+          <ItemText>App.CentCollDelay1mSCnt,0x0A</ItemText>
         </Ww>
       </WatchWindow1>
       <Tracepoint>
@@ -1010,7 +937,7 @@
 
   <Group>
     <GroupName>CS1237</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1065,7 +992,7 @@
   </Group>
 
   <Group>
-    <GroupName>dc_motor</GroupName>
+    <GroupName>BeepAndLed</GroupName>
     <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
@@ -1077,6 +1004,26 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
+      <PathWithFileName>..\source\Module\BeepAndLed\BeepAndLed.c</PathWithFileName>
+      <FilenameWithoutPath>BeepAndLed.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+  </Group>
+
+  <Group>
+    <GroupName>dc_motor</GroupName>
+    <tvExp>1</tvExp>
+    <tvExpOptDlg>0</tvExpOptDlg>
+    <cbSel>0</cbSel>
+    <RteFlg>0</RteFlg>
+    <File>
+      <GroupNumber>6</GroupNumber>
+      <FileNumber>55</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
       <PathWithFileName>..\source\Module\dc_motor\dc_motor.c</PathWithFileName>
       <FilenameWithoutPath>dc_motor.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>

Project/MDK/HC32F460.uvprojx

@@ -10,14 +10,14 @@
       <TargetName>Release</TargetName>
       <ToolsetNumber>0x4</ToolsetNumber>
       <ToolsetName>ARM-ADS</ToolsetName>
-      <pArmCC>5060960::V5.06 update 7 (build 960)::ARMCC</pArmCC>
-      <pCCUsed>5060960::V5.06 update 7 (build 960)::ARMCC</pCCUsed>
+      <pArmCC>5060960::V5.06 update 7 (build 960)::.\ARMCC</pArmCC>
+      <pCCUsed>5060960::V5.06 update 7 (build 960)::.\ARMCC</pCCUsed>
       <uAC6>0</uAC6>
       <TargetOption>
         <TargetCommonOption>
           <Device>HC32F460JETA</Device>
           <Vendor>HDSC</Vendor>
-          <PackID>HDSC.HC32F460.1.0.12</PackID>
+          <PackID>HDSC.HC32F460.1.0.11</PackID>
           <PackURL>https://raw.githubusercontent.com/hdscmcu/pack/master/</PackURL>
           <Cpu>IRAM(0x1FFF8000,0x2F000) IRAM2(0x200F0000,0x1000) IROM(0x00000000,0x80000) IROM2(0x03000C00,0x003FC) CPUTYPE("Cortex-M4") FPU2 CLOCK(12000000) ELITTLE</Cpu>
           <FlashUtilSpec></FlashUtilSpec>
@@ -341,7 +341,7 @@
               <MiscControls></MiscControls>
               <Define>__DEBUG,HC32F460,USE_DEVICE_DRIVER_LIB,JEUA</Define>
               <Undefine></Undefine>
-              <IncludePath>..\..\mcu\common;..\source\Module\CS1237;..\source\Module\dc_motor;..\source\User\Src;..\source\User\Inc;..\..\driver\src;..\..\driver\inc</IncludePath>
+              <IncludePath>..\..\mcu\common;..\source\Module\CS1237;..\source\Module\dc_motor;..\source\User\Src;..\source\User\Inc;..\..\driver\src;..\..\driver\inc;..\source\Module\BeepAndLed</IncludePath>
             </VariousControls>
           </Cads>
           <Aads>
@@ -667,6 +667,16 @@
             </File>
           </Files>
         </Group>
+        <Group>
+          <GroupName>BeepAndLed</GroupName>
+          <Files>
+            <File>
+              <FileName>BeepAndLed.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\source\Module\BeepAndLed\BeepAndLed.c</FilePath>
+            </File>
+          </Files>
+        </Group>
         <Group>
           <GroupName>dc_motor</GroupName>
           <Files>

Project/source/Module/BeepAndLed/BeepAndLed.c

@@ -0,0 +1,177 @@
+#include "BeepAndLed.h"
+#include "beepAndLed.h"
+#include "main.h"  // 包含BUZZER_ON/OFF, LED等宏定义
+
+// ========== 变量定义 ==========
+static BeeperCtrl_t g_beeper = {
+    .state = BEEPER_STATE_IDLE,
+    .is_active = 0,
+    .repeat = 0,
+    .repeat_done = 0,
+    .on_ms = 0,
+    .off_ms = 0
+};
+
+// 延时计数器（供滴答定时器使用）
+uint32_t BeepAndLedCollDelay1mSCnt = 0;
+
+// ========== 硬件控制函数（根据您的实际宏定义修改）==========
+static void Beeper_HW_On(void)
+{
+    BUZZER_ON();      // 请替换为您的实际宏
+    LED_GREEN_OFF();  // 请替换为您的实际宏
+    LED_RED_ON();     // 请替换为您的实际宏
+}
+
+static void Beeper_HW_Off(void)
+{
+    BUZZER_OFF();     // 请替换为您的实际宏
+    LED_GREEN_ON();   // 请替换为您的实际宏
+    LED_RED_OFF();    // 请替换为您的实际宏
+}
+
+// ========== 实现函数 ==========
+
+/**
+ * @brief 蜂鸣器初始化
+ */
+void Beeper_Init(void)
+{
+    Beeper_Stop();
+}
+
+/**
+ * @brief 开始鸣响（非阻塞）
+ * @param on_ms   鸣响时间(ms)
+ * @param off_ms  间隔时间(ms)
+ * @param repeat  重复次数（0表示无效）
+ * 
+ * @example Beeper_Start(200, 100, 3);  // 鸣200ms，停100ms，重复3次
+ */
+void Beeper_Start(uint16_t on_ms, uint16_t off_ms, uint8_t repeat)
+{
+    if (repeat == 0) return;
+    
+    // 如果已经在鸣响，可以选择停止并重新开始
+    if (g_beeper.is_active) {
+        Beeper_Stop();  // 停止当前，重新开始新的
+        // return;      // 或者选择忽略新请求
+    }
+    
+    // 保存参数
+    g_beeper.on_ms = on_ms;
+    g_beeper.off_ms = off_ms;
+    g_beeper.repeat = repeat;
+    g_beeper.repeat_done = 0;
+    g_beeper.is_active = 1;
+    
+    // 开启蜂鸣器
+    Beeper_HW_On();
+    
+    // 设置延时计数器（开启状态延时）
+    BeepAndLedCollDelay1mSCnt = on_ms;
+    g_beeper.state = BEEPER_STATE_ON;
+}
+
+/**
+ * @brief 停止鸣响
+ */
+void Beeper_Stop(void)
+{
+    // 关闭硬件
+    Beeper_HW_Off();
+    
+    // 重置状态机
+    g_beeper.state = BEEPER_STATE_IDLE;
+    g_beeper.is_active = 0;
+    g_beeper.repeat = 0;
+    g_beeper.repeat_done = 0;
+    BeepAndLedCollDelay1mSCnt = 0;
+}
+
+/**
+ * @brief 蜂鸣器状态机更新（放在main.c的while(1)中循环调用）
+ * @note 必须在滴答定时器更新BeepAndLedCollDelay1mSCnt后才能正确工作
+ */
+void BeeperLoopHandler(void)
+{
+    if (!g_beeper.is_active) {
+        return;
+    }
+    
+    switch (g_beeper.state) {
+        case BEEPER_STATE_ON:
+            // 蜂鸣器开启状态，等待计数器归零
+            if (BeepAndLedCollDelay1mSCnt == 0) {
+                // 延时结束，关闭蜂鸣器
+                Beeper_HW_Off();
+                
+                g_beeper.repeat_done++;
+                
+                // 检查是否完成所有重复
+                if (g_beeper.repeat_done >= g_beeper.repeat) {
+                    // 全部完成，结束
+                    g_beeper.is_active = 0;
+                    g_beeper.state = BEEPER_STATE_IDLE;
+                } else {
+                    // 还有下次，进入等待状态
+                    BeepAndLedCollDelay1mSCnt = g_beeper.off_ms;
+                    g_beeper.state = BEEPER_STATE_OFF;
+                }
+            }
+            break;
+            
+        case BEEPER_STATE_OFF:
+            // 蜂鸣器关闭等待状态（间隔时间）
+            if (BeepAndLedCollDelay1mSCnt == 0) {
+                // 间隔结束，开启下一次鸣响
+                Beeper_HW_On();
+                
+                BeepAndLedCollDelay1mSCnt = g_beeper.on_ms;
+                g_beeper.state = BEEPER_STATE_ON;
+            }
+            break;
+            
+        case BEEPER_STATE_WAIT:
+        case BEEPER_STATE_IDLE:
+        default:
+            break;
+    }
+}
+
+/**
+ * @brief 查询是否正在鸣响
+ * @return true:正在鸣响, false:空闲
+ */
+bool Beeper_IsPlaying(void)
+{
+    return g_beeper.is_active;
+}
+
+/**
+ * @brief 手动开启蜂鸣器（不计入状态机）
+ */
+void Beeper_On(void)
+{
+    Beeper_HW_On();
+}
+
+/**
+ * @brief 手动关闭蜂鸣器（不计入状态机）
+ */
+void Beeper_Off(void)
+{
+    Beeper_HW_Off();
+}
+
+/**
+ * @brief 清除延时计数器（由滴答定时器调用）
+ * @note 这个函数放在滴答定时器的1ms中断中调用
+ */
+void Beeper_ClearDelay(void)
+{
+    if (BeepAndLedCollDelay1mSCnt > 0) {
+        BeepAndLedCollDelay1mSCnt--;
+    }
+}
+

Project/source/Module/BeepAndLed/BeepAndLed.h

@@ -0,0 +1,39 @@
+#ifndef __BEEPANDLED_H
+#define __BEEPANDLED_H
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "bsp.h"
+
+// ========== 蜂鸣器状态机状态定义 ==========
+typedef enum {
+    BEEPER_STATE_IDLE = 0,      // 空闲
+    BEEPER_STATE_ON,            // 蜂鸣器开启延时中
+    BEEPER_STATE_OFF,           // 蜂鸣器关闭延时中
+    BEEPER_STATE_WAIT           // 等待下一次鸣响
+} BeeperState_t;
+
+// ========== 蜂鸣器控制结构体 ==========
+typedef struct {
+    BeeperState_t state;        // 当前状态
+    uint16_t on_ms;             // 鸣响时间(ms)
+    uint16_t off_ms;            // 间隔时间(ms)
+    uint8_t repeat;             // 重复次数
+    uint8_t repeat_done;        // 已完成次数
+    uint8_t is_active;          // 是否激活
+} BeeperCtrl_t;
+
+// ========== 外部可访问变量 ==========
+extern uint32_t BeepAndLedCollDelay1mSCnt;  // 延时计数器（在beepAndLed.c中定义）
+
+// ========== API函数 ==========
+void Beeper_Init(void);                          // 初始化
+void Beeper_Start(uint16_t on_ms, uint16_t off_ms, uint8_t repeat);  // 开始鸣响（非阻塞）
+void Beeper_Stop(void);                          // 停止鸣响
+void BeeperLoopHandler(void);                        // 状态机更新（放在while(1)中）
+bool Beeper_IsPlaying(void);                     // 查询是否正在鸣响
+void Beeper_On(void);                            // 手动开启蜂鸣器
+void Beeper_Off(void);                           // 手动关闭蜂鸣器
+void Beeper_ClearDelay(void);                    // 清除延时计数器（供滴答定时器使用）
+#endif /* _BEEP_AND_LED_H_ */
+

Project/source/User/Inc/bsp.h

@@ -221,12 +221,12 @@
 
 //< 		LED
 #define	LED_GREEN_PORTx						(PortA)
-#define	LED_GREEN_PINx							(Pin09)
+#define	LED_GREEN_PINx							(Pin08)
 #define	LED_GREEN_ON()							PORT_SetBits(LED_GREEN_PORTx, LED_GREEN_PINx)//拉高
 #define	LED_GREEN_OFF()						PORT_ResetBits(LED_GREEN_PORTx, LED_GREEN_PINx)//拉低
 
 #define	LED_RED_PORTx							(PortA)
-#define	LED_RED_PINx							(Pin08)
+#define	LED_RED_PINx							(Pin09)
 #define	LED_RED_ON()							PORT_SetBits(LED_RED_PORTx, LED_RED_PINx)//拉高
 #define	LED_RED_OFF()							PORT_ResetBits(LED_RED_PORTx, LED_RED_PINx)//拉低
 

Project/source/User/Inc/main.h

@@ -3,34 +3,25 @@
 #include <stdlib.h>
 #include "bsp.h"
 
-
-#define 	USE_FILE_SYSTEM									1
-#define		SDCARD_BLOCK_MAX								(10000)
-
 #define 	OSC_CNT    			40
 #define 	SLOPE_CNT			  20
 
-#define 	SLOPE_VPT				1000
 #define		PRESS_VPT				3
 #define		FOLLOW_VPT			10
-#define		SHIELD_VPT			5000
+#define		SHIELD_VPT			8000
 #define		EME_STOP_VPT		4000
-#define		CENTRE_VPT			2000
+#define		CENTRE_VPT			8000
+#define		CENTRE_SHIELD_VPT			2000
 
 #define 	STOP_TIME_MS		500
+#define 	CENT_TIME_MS		200
 #define 	RUN_TIME_MS			0
 #define		EME_START_MS		0
 #define		EME_STOP_MS			2000
-#define		SLOPE_START_MS	3000
 
-#define		TRAVEL_TIME_MS	30000
-
-#define		PEAK						1200		//1200mm
-#define		VALLEY					720			//720mm
-
-#define	BDC_STOP()			(SET_TWIN_BIT0(),SET_TWIN_BIT1())
-#define  BDC_DOWN()				(SET_TWIN_BIT0(),CLR_TWIN_BIT1())
-#define	BDC_UP()			(SET_TWIN_BIT1(),CLR_TWIN_BIT0())
+#define		BDC_STOP()			(SET_TWIN_BIT0(),SET_TWIN_BIT1())
+#define  	BDC_DOWN()				(SET_TWIN_BIT0(),CLR_TWIN_BIT1())
+#define		BDC_UP()			(SET_TWIN_BIT1(),CLR_TWIN_BIT0())
 
 //#define	BDC_STOP()				Motor_Control(MOTOR_CMD_STOP)
 //#define BDC_UP()					Motor_Control(MOTOR_CMD_FORWARD)
@@ -47,7 +38,6 @@ typedef enum {
 
 /*设备阈值*/
 typedef struct{
-	int32_t Slope_VPT;
 	int32_t	Stop_VPT;
 	
 	int32_t LeftUpVPT;//左上设备阈值
@@ -66,16 +56,8 @@ typedef struct{
 	int32_t RightLow_Org_AdZero;//右下设备原始AD零点
 }ADTrack_t;
 typedef struct{//电机参数
-	bool InitialFlag;//初始标志位
 	bool RestFlag;
-	bool CaliFlag;
-	bool LoopOne;//循环一次标志位
 	int16_t Current_height;//当前高度mm
-	int16_t CaliNum;//标校数量
-	int32_t LU_HeightStress[488];//左上传感器对应高度应力
-	int32_t LL_HeightStress[488];//左下传感器对应高度应力
-	int32_t RU_HeightStress[488];//右上传感器对应高度应力
-	int32_t RL_HeightStress[488];//右上传感器对应高度应力
 }MotorPara_t;
 /*数据读取状态机*/
 typedef enum {
@@ -97,22 +79,9 @@ typedef enum {
 	APP_STATUS_IDLE,
 	APP_STATUS_ON,
 	APP_STATUS_OFF,
-	APP_STATUS_MOTOR_INIT,
-	APP_STATUS_WAIT_MOTOR_INIT,
-	APP_STATUS_WAIT_MOTOR_CALI_UP,
-	APP_STATUS_WAIT_MOTOR_CALI_DOWN,
-	APP_STATUS_WAIT_STEADY,
 	APP_STATUS_ZERO_MARKING,
-	APP_STATUS_HEIGHT_CONTROL,
 }AppStatus_m;
 
-typedef struct{
-	__IO uint16_t rPayLen;
-	__IO bool HeaderFrame;
-	__IO uint16_t RxLen;
-	uint8_t RxBuff[10];
-}Uart1Rx_t;
-
 typedef struct{
 	__IO uint16_t rPayLen;
 	__IO bool HeaderFrame;
@@ -124,25 +93,20 @@ typedef struct {
 	AppStatus_m Status;//状态
 	ReadStatus_m RStatus;
 	AppPara_T Para;
-	Uart1Rx_t RxUart1Data;
 	Uart3Rx_t RxUart3Data;
 
 	ADTrack_t ADTrack;
 	MotorPara_t	MotorPara;
 	uint32_t TD1mSDelayCnt;
 	uint32_t Read1mSDelayCnt;	
-	uint32_t Uart1Delay1mSCnt;
 	uint32_t Uart3RxTimeOut1mSCnt;
 	uint32_t StopCollDelay1mSCnt;
 	uint32_t RunCollDelay1mSCnt;
+	uint32_t CentCollDelay1mSCnt;
 	uint32_t EmergencyDelay1mSCnt;
-	uint32_t SlopeCollDelay1mSCnt;
-	uint32_t CailUp1mSCnt;
-	uint32_t HeightContRolCnt;
 	uint8_t FeedDogDlyCnt;
 	
 	bool CaliZeroFlag;//校零标志位
-	bool SideFlag;//侧压标志位
 	bool UpFlag;//上升标志位
 	bool DownFlag;//下降标志位
 	bool StopFlag;//停止标志位
@@ -165,8 +129,6 @@ typedef struct {
 	int32_t LeftLowCS1237_SlopeArray[SLOPE_CNT];
 	int32_t RightUpCS1237_SlopeArray[SLOPE_CNT];
 	int32_t RightLowCS1237_SlopeArray[SLOPE_CNT];
-	
-	bool WaitFlag;
 }AppDetect_t;
 extern AppDetect_t App;