feat: add control commands for DDS parameters

dds
[example] add JF_02_motor example
2026-03-30 17:22:53 +08:00 · 2026-03-26 16:35:48 +08:00 · 2026-03-26 13:13:47 +08:00 · 2026-03-26 09:50:04 +08:00
18 changed files with 1518 additions and 152 deletions
@@ -0,0 +1,52 @@
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+								<option id="ilg.gnumcueclipse.managedbuild.cross.riscv.option.createlisting.source.1733954628" name="Display source (--source|-S)" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.option.createlisting.source" value="true" valueType="boolean"/>
+								<option id="ilg.gnumcueclipse.managedbuild.cross.riscv.option.createlisting.allheaders.1626209232" name="Display all headers (--all-headers|-x)" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.option.createlisting.allheaders" value="true" valueType="boolean"/>
+								<option id="ilg.gnumcueclipse.managedbuild.cross.riscv.option.createlisting.demangle.280684598" name="Demangle names (--demangle|-C)" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.option.createlisting.demangle" value="false" valueType="boolean"/>
+								<option id="ilg.gnumcueclipse.managedbuild.cross.riscv.option.createlisting.linenumbers.1695987115" name="Display line numbers (--line-numbers|-l)" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.option.createlisting.linenumbers" value="true" valueType="boolean"/>
+								<option id="ilg.gnumcueclipse.managedbuild.cross.riscv.option.createlisting.wide.1148871387" name="Wide lines (--wide|-w)" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.option.createlisting.wide" value="true" valueType="boolean"/>
+								<option id="ilg.gnumcueclipse.managedbuild.cross.riscv.option.createlisting.disassemble.1301534980" name="Disassemble (--disassemble|-d)" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.option.createlisting.disassemble" value="true" valueType="boolean"/>
+							</tool>
+							<tool id="ilg.gnumcueclipse.managedbuild.cross.riscv.tool.printsize.315205585" name="GNU RISC-V Cross Print Size" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.tool.printsize">
+								<option id="ilg.gnumcueclipse.managedbuild.cross.riscv.option.printsize.format.1467048234" name="Size format" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.option.printsize.format"/>
+							</tool>
+						</toolChain>
+					</folderInfo>
+					<sourceEntries>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+					</sourceEntries>
+				</configuration>
+			</storageModule>
+			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
+			<storageModule moduleId="ilg.gnumcueclipse.managedbuild.packs"/>
+		</cconfiguration>
+		<cconfiguration id="ilg.gnumcueclipse.managedbuild.cross.riscv.config.elf.release.16434552">
+			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="ilg.gnumcueclipse.managedbuild.cross.riscv.config.elf.release.16434552" moduleId="org.eclipse.cdt.core.settings" name="Release">
+				<externalSettings/>
+				<extensions>
+					<extension id="org.eclipse.cdt.core.RV_ELF" point="org.eclipse.cdt.core.BinaryParser"/>
+					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
+					<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+				</extensions>
+			</storageModule>
+			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
+				<configuration artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="${cross_rm} -rf" description="" id="ilg.gnumcueclipse.managedbuild.cross.riscv.config.elf.release.16434552" name="Release" parent="ilg.gnumcueclipse.managedbuild.cross.riscv.config.elf.release">
+					<folderInfo id="ilg.gnumcueclipse.managedbuild.cross.riscv.config.elf.release.16434552." name="/" resourcePath="">
+						<toolChain id="ilg.gnumcueclipse.managedbuild.cross.riscv.toolchain.elf.release.837856819" name="RISC-V Cross GCC" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.toolchain.elf.release">
+							<option id="ilg.gnumcueclipse.managedbuild.cross.riscv.option.addtools.createflash.1208613512" name="Create flash image" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.option.addtools.createflash" value="true" valueType="boolean"/>
+							<option id="ilg.gnumcueclipse.managedbuild.cross.riscv.option.addtools.createlisting.1016401583" name="Create extended listing" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.option.addtools.createlisting" value="true" valueType="boolean"/>
+							<option id="ilg.gnumcueclipse.managedbuild.cross.riscv.option.addtools.printsize.1246797237" name="Print size" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.option.addtools.printsize" value="true" valueType="boolean"/>
+							<option id="ilg.gnumcueclipse.managedbuild.cross.riscv.option.optimization.level.2012455781" name="Optimization Level" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.option.optimization.level" value="ilg.gnumcueclipse.managedbuild.cross.riscv.option.optimization.level.size" valueType="enumerated"/>
+							<option id="ilg.gnumcueclipse.managedbuild.cross.riscv.option.optimization.messagelength.1493955924" name="Message length (-fmessage-length=0)" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.option.optimization.messagelength" value="true" valueType="boolean"/>
+							<option id="ilg.gnumcueclipse.managedbuild.cross.riscv.option.optimization.signedchar.651822097" name="'char' is signed (-fsigned-char)" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.option.optimization.signedchar" value="true" valueType="boolean"/>
+							<option id="ilg.gnumcueclipse.managedbuild.cross.riscv.option.optimization.functionsections.1717953891" name="Function sections (-ffunction-sections)" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.option.optimization.functionsections" value="true" valueType="boolean"/>
+							<option id="ilg.gnumcueclipse.managedbuild.cross.riscv.option.optimization.datasections.541048735" name="Data sections (-fdata-sections)" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.option.optimization.datasections" value="true" valueType="boolean"/>
+							<option id="ilg.gnumcueclipse.managedbuild.cross.riscv.option.debugging.level.360621726" name="Debug level" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.option.debugging.level"/>
+							<option id="ilg.gnumcueclipse.managedbuild.cross.riscv.option.debugging.format.1281181250" name="Debug format" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.option.debugging.format"/>
+							<option id="ilg.gnumcueclipse.managedbuild.cross.riscv.option.toolchain.id.723143813" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.option.toolchain.id" value="2262347901" valueType="string"/>
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+							<option id="ilg.gnumcueclipse.managedbuild.cross.riscv.option.command.prefix.568227293" name="Prefix" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.option.command.prefix" value="riscv64-unknown-elf-" valueType="string"/>
+							<option id="ilg.gnumcueclipse.managedbuild.cross.riscv.option.command.c.639974320" name="C compiler" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.option.command.c" value="gcc" valueType="string"/>
+							<option id="ilg.gnumcueclipse.managedbuild.cross.riscv.option.command.cpp.1733841476" name="C++ compiler" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.option.command.cpp" value="g++" valueType="string"/>
+							<option id="ilg.gnumcueclipse.managedbuild.cross.riscv.option.command.ar.789308737" name="Archiver" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.option.command.ar" value="ar" valueType="string"/>
+							<option id="ilg.gnumcueclipse.managedbuild.cross.riscv.option.command.objcopy.1273467405" name="Hex/Bin converter" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.option.command.objcopy" value="objcopy" valueType="string"/>
+							<option id="ilg.gnumcueclipse.managedbuild.cross.riscv.option.command.objdump.1863146323" name="Listing generator" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.option.command.objdump" value="objdump" valueType="string"/>
+							<option id="ilg.gnumcueclipse.managedbuild.cross.riscv.option.command.size.350346878" name="Size command" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.option.command.size" value="size" valueType="string"/>
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+							<option id="ilg.gnumcueclipse.managedbuild.cross.riscv.option.command.rm.1369963916" name="Remove command" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.option.command.rm" value="rm" valueType="string"/>
+							<option id="ilg.gnumcueclipse.managedbuild.cross.riscv.option.target.isa.base.371627411" name="Architecture" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.option.target.isa.base" value="ilg.gnumcueclipse.managedbuild.cross.riscv.option.target.arch.rv32e" valueType="enumerated"/>
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+							<tool id="ilg.gnumcueclipse.managedbuild.cross.riscv.tool.assembler.1274001025" name="GNU RISC-V Cross Assembler" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.tool.assembler">
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+								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnumcueclipse.managedbuild.cross.riscv.option.assembler.include.paths.284910497" name="Include paths (-I)" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.option.assembler.include.paths" valueType="includePath">
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/inc}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Drivers/PEC930/NMSIS/Core/Include}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Drivers/PEC930/Device/inc}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Drivers/PEC930/HAL_Lib/inc}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Drivers/PEC930/BSP/StarterKit}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Common}&quot;"/>
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+								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnumcueclipse.managedbuild.cross.riscv.option.c.compiler.defs.687116111" name="Defined symbols (-D)" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.option.c.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
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+									<listOptionValue builtIn="false" value="NDEBUG"/>
+									<listOptionValue builtIn="false" value="CONFIG_USE_PEC930"/>
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+								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnumcueclipse.managedbuild.cross.riscv.option.c.compiler.include.paths.140100445" name="Include paths (-I)" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.option.c.compiler.include.paths" useByScannerDiscovery="true" valueType="includePath">
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/inc}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Drivers/PEC930/NMSIS/Core/Include}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Drivers/PEC930/Device/inc}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Drivers/PEC930/HAL_Lib/inc}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Drivers/PEC930/BSP/StarterKit}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Common}&quot;"/>
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+								<option id="ilg.gnumcueclipse.managedbuild.cross.riscv.option.c.linker.gcsections.589554014" name="Remove unused sections (-Xlinker --gc-sections)" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.option.c.linker.gcsections" value="true" valueType="boolean"/>
+								<option id="ilg.gnumcueclipse.managedbuild.cross.riscv.option.c.linker.other.170075676" name="Other linker flags" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.option.c.linker.other" value="--specs=nosys.specs" valueType="string"/>
+								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnumcueclipse.managedbuild.cross.riscv.option.c.linker.scriptfile.123103120" name="Script files (-T)" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.option.c.linker.scriptfile" valueType="stringList">
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Drivers/PEC930/gcc_flashxip.ld}&quot;"/>
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+								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnumcueclipse.managedbuild.cross.riscv.option.c.linker.libs.1049690196" name="Libraries (-l)" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.option.c.linker.libs" valueType="libs">
+									<listOptionValue builtIn="false" value="c_nano"/>
+									<listOptionValue builtIn="false" value="gcc"/>
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+									<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
+									<additionalInput kind="additionalinput" paths="$(LIBS)"/>
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+							<tool id="ilg.gnumcueclipse.managedbuild.cross.riscv.tool.cpp.linker.554290345" name="GNU RISC-V Cross C++ Linker" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.tool.cpp.linker">
+								<option id="ilg.gnumcueclipse.managedbuild.cross.riscv.option.cpp.linker.gcsections.1904431755" name="Remove unused sections (-Xlinker --gc-sections)" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.option.cpp.linker.gcsections" value="true" valueType="boolean"/>
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+							<tool id="ilg.gnumcueclipse.managedbuild.cross.riscv.tool.archiver.1507570544" name="GNU RISC-V Cross Archiver" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.tool.archiver"/>
+							<tool id="ilg.gnumcueclipse.managedbuild.cross.riscv.tool.createflash.841899246" name="GNU RISC-V Cross Create Flash Image" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.tool.createflash">
+								<option id="ilg.gnumcueclipse.managedbuild.cross.riscv.option.createflash.choice.413941719" name="Output file format (-O)" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.option.createflash.choice" value="ilg.gnumcueclipse.managedbuild.cross.riscv.option.createflash.choice.ihex" valueType="enumerated"/>
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+							<tool id="ilg.gnumcueclipse.managedbuild.cross.riscv.tool.createlisting.39250443" name="GNU RISC-V Cross Create Listing" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.tool.createlisting">
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+							<tool id="ilg.gnumcueclipse.managedbuild.cross.riscv.tool.printsize.1552514466" name="GNU RISC-V Cross Print Size" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.tool.printsize">
+								<option id="ilg.gnumcueclipse.managedbuild.cross.riscv.option.printsize.format.1158424346" name="Size format" superClass="ilg.gnumcueclipse.managedbuild.cross.riscv.option.printsize.format"/>
+							</tool>
+						</toolChain>
+					</folderInfo>
+					<sourceEntries>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+					</sourceEntries>
+				</configuration>
+			</storageModule>
+			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
+		</cconfiguration>
+	</storageModule>
+	<storageModule moduleId="cdtBuildSystem" version="4.0.0">
+		<project id="Project.ilg.gnumcueclipse.managedbuild.cross.riscv.target.rvelf.1157615279" name="Executable" projectType="ilg.gnumcueclipse.managedbuild.cross.riscv.target.rvelf"/>
+	</storageModule>
+	<storageModule moduleId="scannerConfiguration">
+		<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+		<scannerConfigBuildInfo instanceId="ilg.gnumcueclipse.managedbuild.cross.riscv.config.elf.debug.926872659;ilg.gnumcueclipse.managedbuild.cross.riscv.config.elf.debug.926872659.;ilg.gnumcueclipse.managedbuild.cross.riscv.tool.c.compiler.991594434;ilg.gnumcueclipse.managedbuild.cross.riscv.tool.c.compiler.input.1843576227">
+			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+		</scannerConfigBuildInfo>
+		<scannerConfigBuildInfo instanceId="ilg.gnumcueclipse.managedbuild.cross.riscv.config.elf.release.16434552;ilg.gnumcueclipse.managedbuild.cross.riscv.config.elf.release.16434552.;ilg.gnumcueclipse.managedbuild.cross.riscv.tool.c.compiler.1901433257;ilg.gnumcueclipse.managedbuild.cross.riscv.tool.c.compiler.input.868354821">
+			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+		</scannerConfigBuildInfo>
+	</storageModule>
+	<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
+	<storageModule moduleId="refreshScope" versionNumber="2">
+		<configuration configurationName="Debug">
+			<resource resourceType="PROJECT" workspacePath="/Project"/>
+		</configuration>
+		<configuration configurationName="Release">
+			<resource resourceType="PROJECT" workspacePath="/Project"/>
+		</configuration>
+	</storageModule>
+	<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/>
+	<storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings"/>
+</cproject>
@@ -0,0 +1,54 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>Project</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
+			<triggers>clean,full,incremental,</triggers>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
+			<triggers>full,incremental,</triggers>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>org.eclipse.cdt.core.cnature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
+	</natures>
+	<linkedResources>
+		<link>
+			<name>Common</name>
+			<type>2</type>
+			<locationURI>PARENT-3-PROJECT_LOC/Common</locationURI>
+		</link>
+		<link>
+			<name>Drivers</name>
+			<type>2</type>
+			<locationURI>PARENT-3-PROJECT_LOC/Drivers</locationURI>
+		</link>
+		<link>
+			<name>Profiles</name>
+			<type>2</type>
+			<locationURI>PARENT-3-PROJECT_LOC/Tools/scripts/Profiles</locationURI>
+		</link>
+	</linkedResources>
+	<filteredResources>
+		<filter>
+			<id>0</id>
+			<name></name>
+			<type>6</type>
+			<matcher>
+				<id>org.eclipse.ui.ide.multiFilter</id>
+				<arguments>1.0-name-matches-false-false-*.nuproject</arguments>
+			</matcher>
+		</filter>
+	</filteredResources>
+</projectDescription>
@@ -0,0 +1,25 @@
+SDK_CONFIG: 
+   Debug: 
+      core: N203E
+      extra_asmflags: 
+      archext: 
+      extra_cxxflags: 
+      cmodel: medlow
+      extra_commonflags: 
+      abi: ilp32e
+      arch: rv32ema_zba_zbb_zbs_zca_zcb_zcmp_zcmt_zicond
+      toolchain: gnu
+      extra_cflags: 
+      extra_ldflags: 
+   Release: 
+      core: N203E
+      extra_asmflags: 
+      archext: 
+      extra_cxxflags: 
+      cmodel: medlow
+      extra_commonflags: 
+      abi: ilp32e
+      arch: rv32emac_zba_zbb_zbs
+      toolchain: gnu
+      extra_cflags: 
+      extra_ldflags: 
@@ -0,0 +1,16 @@
+#
+# component Makefile
+#
+
+
+C_SOURCES += \
+	$(srctree)/$(PROJ)/src/isr.c \
+	$(srctree)/$(PROJ)/src/main.c
+
+C_INCLUDES += -I$(srctree)/$(PROJ)/inc
+
+
+LIBS +=
+CFLAGS +=
+LDFLAGS +=
+LIBDIR +=
@@ -0,0 +1,24 @@
+/*
+ * init.h
+ *
+ *  Created on: 2025年10月9日
+ *      Author: jim_liao
+ */
+
+#ifndef INC_INIT_H_
+#define INC_INIT_H_
+
+#include "main.h"
+
+void SYS_Config();
+void gpio_config();
+void opa_config();
+void adc_config();
+void pwm_config();
+void pwm_set_duty(uint16_t ch1_val, uint16_t ch2_val, uint16_t ch3_val);
+void pwm_enable();
+void pwm_disable();
+void pwm_brake();
+void uart_config();
+void UART_Send_Wait(UART_Type *pHUart, uint16_t value);
+#endif /* INC_INIT_H_ */
@@ -0,0 +1,54 @@
+/**
+ * Copyright (c) 2024 Wei-Lun Hsu. All Rights Reserved.
+ */
+/** @file isr.h
+ *
+ * @author Wei-Lun Hsu
+ * @version 0.1
+ * @date 2024/09/16
+ * @license
+ * @description
+ */
+
+#ifndef __isr_H_wuraIpBA_lTJm_HvJw_sNDo_uEd5JnucTReY__
+#define __isr_H_wuraIpBA_lTJm_HvJw_sNDo_uEd5JnucTReY__
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "main.h"
+    //=============================================================================
+    //                  Constant Definition
+    //=============================================================================
+
+    //=============================================================================
+    //                  Macro Definition
+    //=============================================================================
+
+    //=============================================================================
+    //                  Structure Definition
+    //=============================================================================
+
+    //=============================================================================
+    //                  Global Data Definition
+    //=============================================================================
+    extern volatile bool flag_24Khz_timer;
+    extern volatile bool stringComplete;
+    extern volatile char rxBuffer[128];
+    //=============================================================================
+    //                  Private Function Definition
+    //=============================================================================
+
+    //=============================================================================
+    //                  Public Function Definition
+    //=============================================================================
+    void isr_epwm_handle(void);
+    void isr_adc_handle(void);
+    void isr_uart0_handle(void);
+#ifdef __cplusplus
+}
+#endif
+
+#endif
@@ -0,0 +1,51 @@
+/**
+ * Copyright (c) 2024 Wei-Lun Hsu. All Rights Reserved.
+ */
+/** @file main.h
+ *
+ * @author Wei-Lun Hsu
+ * @version 0.1
+ * @date 2024/08/29
+ * @license
+ * @description
+ */
+
+#ifndef __main_H_wxBnwdPw_lq7D_H4I5_sHPp_uXof15pFLp4V__
+#define __main_H_wxBnwdPw_lq7D_H4I5_sHPp_uXof15pFLp4V__
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "hal_device.h"
+#include "syslog.h"
+    //=============================================================================
+    //                  Constant Definition
+    //=============================================================================
+
+    //=============================================================================
+    //                  Macro Definition
+    //=============================================================================
+
+    //=============================================================================
+    //                  Structure Definition
+    //=============================================================================
+
+    //=============================================================================
+    //                  Global Data Definition
+    //=============================================================================
+
+    //=============================================================================
+    //                  Private Function Definition
+    //=============================================================================
+
+    //=============================================================================
+    //                  Public Function Definition
+    //=============================================================================
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
@@ -0,0 +1,8 @@
+demo_project
+---
+
+This example is a demo project to descript `how to log message`
+
+## Log
+
+Use serial port with baudrate 115200, 8bit, no parity check.
@@ -0,0 +1,258 @@
+/*
+ * init.c
+ *
+ *  Created on: 2025年8月18日
+ *      Author: jim_liao
+ */
+#include "init.h"
+#include "hal_device.h"
+#include "isr.h"
+#include "main.h"
+
+
+//=============================================================================
+//                  Constant Definition
+//=============================================================================
+#define CONFIG_OPA_PGA_GAIN OPAMP_PGAGain_5
+
+unsigned long ADC0Sum = 0;
+unsigned char k;
+
+#define HIRC_Freq          60000000 // Hz
+#define CurrentLoopIsrFreq 24000    // Hz
+#define PWM_PERIOD         HIRC_Freq / CurrentLoopIsrFreq
+#define DEAD_TIME          200 // ns
+#define DEAD_TIME_VALUE    DEAD_TIME * 0.06
+//=============================================================================
+//                  Public Function Definition
+//=============================================================================
+void SYS_Config()
+{
+    SYSCFG_ClkInitTypeDef SysClkInit = { 0 };
+    SysClkInit.ClkSource             = SYSCFG_ClkSrc_HSI;
+    SYSCFG_SysClkConfig(&SysClkInit);
+    sys_config_systick(SYS_TICK_1_MS);
+
+    gpio_config();
+    opa_config();
+    adc_config();
+    pwm_config();
+    uart_config();
+
+    __enable_irq();
+}
+
+void gpio_config()
+{
+    //-----------------//
+    //		PWM
+    //-----------------//
+    GPIO_InitTypeDef GPIO_InitStruct;
+
+    GPIO_InitStruct.GPIO_Pin = GPIO_Pin_00 | GPIO_Pin_01 | GPIO_Pin_02
+                               | GPIO_Pin_03 | GPIO_Pin_04 | GPIO_Pin_05;
+    GPIO_InitStruct.GPIO_Mode    = GPIO_Mode_AF;
+    GPIO_InitStruct.GPIO_AF_Mode = GPIO_AF_6;
+    GPIO_Init(GPIOA, &GPIO_InitStruct);
+    //-----------------//
+    //		UART
+    //		PB3:TX		PB5:RX
+    //-----------------//
+    GPIO_InitTypeDef GPIOA_InitUart;
+    GPIOA_InitUart.GPIO_Pin     = GPIO_Pin_03;
+    GPIOA_InitUart.GPIO_Mode    = GPIO_Mode_AF;
+    GPIOA_InitUart.GPIO_AF_Mode = GPIO_AF_1;
+    GPIO_Init(GPIOB, &GPIOA_InitUart);
+
+    GPIO_InitTypeDef GPIOB_InitUart;
+    GPIOB_InitUart.GPIO_Pin     = GPIO_Pin_05;
+    GPIOB_InitUart.GPIO_Mode    = GPIO_Mode_AF;
+    GPIOB_InitUart.GPIO_AF_Mode = GPIO_AF_1;
+    GPIO_Init(GPIOB, &GPIOB_InitUart);
+    //-----------------//
+    //		ADC
+    //  PA12/13/14:OVP/OTP/CMD
+    //-----------------//
+    GPIO_InitTypeDef GPIO_InitADC;
+    GPIO_InitADC.GPIO_Pin  = GPIO_Pin_06 | GPIO_Pin_12;
+    GPIO_InitADC.GPIO_Mode = GPIO_Mode_ANAL;
+    GPIO_Init(GPIOA, &GPIO_InitADC);
+#if 1
+    //-----------------//
+    //		test
+    //-----------------//
+    GPIO_InitStruct.GPIO_Pin   = GPIO_Pin_14;
+    GPIO_InitStruct.GPIO_Mode  = GPIO_Mode_OUT;
+    GPIO_InitStruct.GPIO_PuPd  = GPIO_PuPd_NOPULL;
+    GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
+    GPIO_Init(GPIOA, &GPIO_InitStruct);
+#endif
+}
+
+void opa_config(void)
+{
+    OPAMP_InitTypeDef opa_init = { 0 };
+
+    opa_init.OPAMP_VinP = OPAMP_VinP_IO;
+    opa_init.OPAMP_VinM = OPAMP_VinM_GND;
+    opa_init.OPAMP_Gain = CONFIG_OPA_PGA_GAIN;
+
+    OPAMP_Init(OPAMP0, &opa_init);
+    OPAMP_Init(OPAMP1, &opa_init);
+
+    OPAMP_Enable(OPAMP0);
+    OPAMP_Enable(OPAMP1);
+}
+
+void adc_config(void)
+{
+
+    ADC_InitTypeDef init = { 0 };
+    ADC_StructInit(&init);
+
+    //-----------------//
+    //		set
+    //-----------------//
+    ADC_InitTypeDef init1 = { 0 };
+    ADC_StructInit(&init1);
+    init1.SelChannels  = ADC_Channel_06 | ADC_Channel_08;
+    init1.ClkPrescaler = ADC_ClkDiv_4;
+    init1.DataAlign    = ADC_DataAlign_Right;
+    init1.Mode         = ADC_Mode_Scan;
+    ADC_Init(ADC0, &init1);
+
+    ADC_ExtTrigConfig(ADC0, ADC_ExtTrigSource_EPWM_CCR4_UP,
+                      ADC_ExtTrigMode_Enable);
+    ADC_ExtTrigConfig(ADC0, ADC_ExtTrigSource_EPWM_CCDR4_UP,
+                      ADC_ExtTrigMode_Enable);
+
+#if 0
+    {   /* Configure TIM interrupts */
+        sys_irq_attr_t      irq_attr = { .disable_vector = false, };
+
+        irq_attr.trig_mode      = SYS_IRQ_TRIGGER_LEVEL;
+        irq_attr.level          = SYS_IRQ_LEVEL_H;
+        irq_attr.priority       = SYS_IRQ_PRIORITY_MIDDEN;
+        sys_register_IRQ(ADC0_IRQn, isr_adc_handle, &irq_attr);
+        ADC0->CON0_b.INT_EN = 1;
+    }
+#endif
+}
+
+void pwm_config()
+{
+    TIM_OCInitTypeDef TIM_OCInitStruct;
+    TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;
+
+    { /* Configure TIM interrupts */
+        sys_irq_attr_t irq_attr = {
+            .disable_vector = false,
+        };
+
+        irq_attr.trig_mode = SYS_IRQ_TRIGGER_LEVEL;
+        irq_attr.level     = SYS_IRQ_LEVEL_H;
+        irq_attr.priority  = SYS_IRQ_PRIORITY_MIDDEN;
+        sys_register_IRQ(EPWM_IRQn, isr_epwm_handle, &irq_attr);
+    }
+
+    TIM_DeInit(EPWM);
+
+    TIM_TimeBaseStructInit(&TIM_TimeBaseInitStruct);
+    TIM_TimeBaseInitStruct.TIM_Prescaler         = 0;
+    TIM_TimeBaseInitStruct.TIM_CounterMode       = TIM_CounterMode_Up;
+    TIM_TimeBaseInitStruct.TIM_Period            = PWM_PERIOD - 1;
+    TIM_TimeBaseInitStruct.TIM_ClockDivision     = TIM_CKD_Div1;
+    TIM_TimeBaseInitStruct.TIM_RepetitionCounter = 0;
+    TIM_TimeBaseInit(EPWM, &TIM_TimeBaseInitStruct);
+
+    TIM_ARRPreloadConfig(EPWM, ENABLE);
+
+    TIM_OCStructInit(&TIM_OCInitStruct);
+    TIM_OCInitStruct.TIM_OCMode      = TIM_OCMode_PWM1;
+    TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Disable;
+    TIM_OCInitStruct.TIM_Pulse       = 0;
+    TIM_OCInitStruct.TIM_OCPolarity  = TIM_OCPolarity_High;
+    TIM_OCInitStruct.TIM_OCIdleState = TIM_OCIdleState_Reset;
+    TIM_OCInitStruct.TIM_Pulse       = 1;
+
+    TIM_OCInitStruct.TIM_OutputNState = TIM_OutputNState_Disable;
+    TIM_OCInitStruct.TIM_OCNPolarity  = TIM_OCPolarity_High;
+    TIM_OC1Init(EPWM, &TIM_OCInitStruct);
+
+    TIM_OCInitStruct.TIM_Pulse = 1;
+    TIM_OC2Init(EPWM, &TIM_OCInitStruct);
+
+    TIM_OCInitStruct.TIM_Pulse = 1;
+    TIM_OC3Init(EPWM, &TIM_OCInitStruct);
+
+    { /* Automatic Output enable, Break, dead time and lock configuration */
+        TIM_BDTRInitTypeDef bdtr_init = { 0 };
+        bdtr_init.TIM_LOCKLevel       = TIM_LockLevel_OFF;
+        bdtr_init.TIM_DeadTime        = DEAD_TIME_VALUE;
+
+        TIM_BDTRConfig(EPWM, &bdtr_init);
+    }
+
+    EPWM->DIER |= 0x0800; // over flow
+
+    // enable preload for CCR1, CCR2 and CCR3
+    EPWM->CCMR1_OUTPUT_b.OC1PE = 1;
+    EPWM->CCMR1_OUTPUT_b.OC2PE = 1;
+    EPWM->CCMR2_OUTPUT_b.OC3PE = 1;
+
+    TIM_Cmd(EPWM, ENABLE);
+    TIM_CtrlPWMOutputs(EPWM, ENABLE);
+}
+
+void pwm_set_duty(uint16_t ch1_val, uint16_t ch2_val, uint16_t ch3_val)
+{
+    EPWM->CCR1 = ch1_val;
+    EPWM->CCR2 = ch2_val;
+    EPWM->CCR3 = ch3_val;
+    return;
+}
+void pwm_enable()
+{
+    REG_SET_BITS(EPWM->CCER, TIM_CCER_CC1E_Msk | TIM_CCER_CC1NE_Msk
+                                 | TIM_CCER_CC2E_Msk | TIM_CCER_CC2NE_Msk
+                                 | TIM_CCER_CC3E_Msk | TIM_CCER_CC3NE_Msk);
+    return;
+}
+
+void pwm_disable()
+{
+    REG_CLR_BITS(EPWM->CCER, TIM_CCER_CC1E_Msk | TIM_CCER_CC1NE_Msk
+                                 | TIM_CCER_CC2E_Msk | TIM_CCER_CC2NE_Msk
+                                 | TIM_CCER_CC3E_Msk | TIM_CCER_CC3NE_Msk);
+    return;
+}
+
+void uart_config()
+{
+    UART_InitTypeDef uart_init = { 0 };
+    uart_init.BaudRate         = 115200;
+    uart_init.WordLength       = UART_WordLength_8b;
+    uart_init.StopBits         = UART_StopBits_1;
+    uart_init.Parity           = UART_Parity_No;
+    uart_init.Mode             = UART_Mode_TxRx;
+    UART_Init(UART0, &uart_init);
+    UART_Start(UART0);
+
+    UART_ITConfig(UART0, UART_FLAG_RXNE, ENABLE);
+    { /* Configure TIM interrupts */
+        sys_irq_attr_t irq_attr = {
+            .disable_vector = false,
+        };
+
+        irq_attr.trig_mode = SYS_IRQ_TRIGGER_LEVEL;
+        irq_attr.level     = SYS_IRQ_LEVEL_H;
+        irq_attr.priority  = SYS_IRQ_PRIORITY_MIDDEN;
+        sys_register_IRQ(UART0_IRQn, isr_uart0_handle, &irq_attr);
+    }
+}
+
+void UART_Send_Wait(UART_Type *pHUart, uint16_t value)
+{
+    UART_SendData(pHUart, value);
+    UART_WaitTxFifoEmpty(pHUart);
+}
@@ -0,0 +1,75 @@
+/**
+ * Copyright (c) 2024 Wei-Lun Hsu. All Rights Reserved.
+ */
+/** @file isr.c
+ *
+ * @author Wei-Lun Hsu
+ * @version 0.1
+ * @date 2024/09/16
+ * @license
+ * @description
+ */
+
+#include "isr.h"
+#include "init.h"
+#include "main.h"
+
+
+//=============================================================================
+//                  Constant Definition
+//=============================================================================
+
+//=============================================================================
+//                  Macro Definition
+//=============================================================================
+#define RX_BUFFER_SIZE 128
+//=============================================================================
+//                  Global Data Definition
+//=============================================================================
+long ADC_DATA[10];
+volatile bool flag_24Khz_timer = false;
+
+volatile char rxBuffer[RX_BUFFER_SIZE];
+volatile bool stringComplete = false;
+volatile uint16_t rxIndex    = 0;
+//=============================================================================
+//                  Private Function Definition
+//=============================================================================
+
+//=============================================================================
+//                  Public Function Definition
+//=============================================================================
+__INTERRUPT void isr_epwm_handle(void)
+{
+
+    if ((EPWM->SR & 0x10000) == 0x10000)
+    {
+        flag_24Khz_timer = true;
+        ADC_DATA[0]      = ADC0->DAT6_b.DATA;
+        ADC_DATA[1]      = ADC0->DAT8_b.DATA;
+        TIM_ClearITPendingBit(EPWM, 0x10000); // clear OVIF
+    }
+}
+
+__INTERRUPT void isr_uart0_handle(void)
+{
+    if (UART_GetITStatus(UART0, UART_FLAG_RXNE) == 1)
+    {
+        char receivedChar = (char)UART_ReceiveData(UART0);
+
+        if (receivedChar == '\n' || receivedChar == '\r')
+        {
+            if (rxIndex > 0)
+            {
+                rxBuffer[rxIndex] = '\0';
+                stringComplete    = true;
+                rxIndex           = 0;
+                msg("Received: %s\n", rxBuffer);
+            }
+        }
+        else if (rxIndex < RX_BUFFER_SIZE - 1)
+        {
+            rxBuffer[rxIndex++] = receivedChar;
+        }
+    }
+}
@@ -0,0 +1,214 @@
+/**
+ * Copyright (c) 2024 Wei-Lun Hsu. All Rights Reserved.
+ */
+/** @file main.c
+ *
+ * @author Wei-Lun Hsu
+ * @version 0.1
+ * @date 2024/08/29
+ * @license
+ * @description
+ */
+#include <string.h>
+
+#include "hal_gpio.h"
+#include "hal_tim.h"
+#include "init.h"
+#include "isr.h"
+#include "main.h"
+
+//=============================================================================
+//                  Constant Definition
+//=============================================================================
+
+//=============================================================================
+//                  Macro Definition
+//=============================================================================
+#define PWM_TABLE_SIZE 64
+//=============================================================================
+//                  Structure Definition
+//=============================================================================
+
+//=============================================================================
+//                  Global Data Definition
+//=============================================================================
+const uint16_t pwm_table[PWM_TABLE_SIZE]
+    = { 1250, 1372, 1493, 1612, 1728, 1839, 1944, 2042, 2133, 2216, 2289,
+        2352, 2404, 2446, 2475, 2493, 2499, 2493, 2475, 2446, 2404, 2352,
+        2289, 2216, 2133, 2042, 1944, 1839, 1728, 1612, 1493, 1372, 1250,
+        1127, 1006, 887,  771,  660,  555,  457,  366,  283,  210,  147,
+        95,   53,   24,   6,    0,    6,    24,   53,   95,   147,  210,
+        283,  366,  457,  555,  660,  771,  887,  1006, 1127 };
+
+
+
+// 64-point sine wave lookup table (-2048-2047 range)
+// Sine_table[i] = sin(i*2*pi/64)*(4095/2) where i = 0 to 63
+// Use sine_amplitude parameter to scale to desired duty cycle range later
+const int16_t LUT_sin[64]
+    = { 0,     200,   399,   594,   783,   965,   1137,  1298,  1447,  1582,
+        1702,  1805,  1891,  1959,  2008,  2037,  2047,  2037,  2008,  1959,
+        1891,  1805,  1702,  1582,  1447,  1298,  1137,  965,   783,   594,
+        399,   200,   0,     -200,  -399,  -594,  -783,  -965,  -1137, -1298,
+        -1447, -1582, -1702, -1805, -1891, -1959, -2008, -2037, -2047, -2037,
+        -2008, -1959, -1891, -1805, -1702, -1582, -1447, -1298, -1137, -965,
+        -783,  -594,  -399,  -200 };
+
+const int16_t LUT_cos[64]
+    = { 2047,  2037,  2008,  1959,  1891,  1805,  1702,  1582,  1447,  1298,
+        1137,  965,   783,   594,   399,   200,   0,     -200,  -399,  -594,
+        -783,  -965,  -1137, -1298, -1447, -1582, -1702, -1805, -1891, -1959,
+        -2008, -2037, -2047, -2037, -2008, -1959, -1891, -1805, -1702, -1582,
+        -1447, -1298, -1137, -965,  -783,  -594,  -399,  -200,  0,     200,
+        399,   594,   783,   965,   1137,  1298,  1447,  1582,  1702,  1805,
+        1891,  1959,  2008,  2037 };
+
+//=============================================================================
+//                  Private Function Definition
+//=============================================================================
+
+//=============================================================================
+//                  Public Function Definition
+//=============================================================================
+#define ENABLE_DDS
+#ifdef ENABLE_DDS
+
+struct dds_cal_param
+{
+uint32_t phase_acc;
+uint8_t lut_idx;
+uint8_t nquadrant;
+uint8_t last_quadrant;
+int16_t lut_sin_val;
+int16_t lut_cos_val;
+uint16_t duty;
+};
+
+struct dds_param_t dds ={0};
+#define PHASE_COUNT 3
+const uint32_t phase_offset[PHASE_COUNT] = { 0, 1398101, 2796203 };
+static struct dds_cal_param phase[PHASE_COUNT] = { 0 };
+
+void dds_pwm_duty_cycle_update(void)
+{
+    for (int i = 0; i < PHASE_COUNT; i++)
+    {
+        struct dds_cal_param *p = &phase[i];
+        p->phase_acc = (dds.phase_acc_base + phase_offset[i]) % 0x003FFFFF;
+    }
+
+    for (int i = 0; i < PHASE_COUNT; i++)
+    {
+        struct dds_cal_param *p = &phase[i];
+
+        p->last_quadrant = p->nquadrant;
+        p->lut_idx       = p->phase_acc >> 16;
+        p->nquadrant     = p->lut_idx >> 4;
+        p->lut_sin_val   = LUT_sin[p->lut_idx];
+        p->lut_cos_val   = LUT_cos[p->lut_idx];
+        p->duty = (((int32_t)p->lut_sin_val * dds.set_dds_amp) >> 18) + 1250; // 0~2500 duty cycle range
+    }
+
+    pwm_set_duty(phase[0].duty, phase[1].duty, phase[2].duty);
+}
+
+#else
+void uvw_set_duty(uint16_t base_idx)
+{
+    uint16_t iA = base_idx;
+    uint16_t iB = (base_idx + PWM_TABLE_SIZE / 3) % PWM_TABLE_SIZE;
+    uint16_t iC = (base_idx + 2 * PWM_TABLE_SIZE / 3) % PWM_TABLE_SIZE;
+
+    EPWM->CCR1 = pwm_table[iA];
+    EPWM->CCR2 = pwm_table[iB];
+    EPWM->CCR3 = pwm_table[iC];
+}
+#endif
+
+static void cmd_parser(char *data, uint32_t len)
+{
+    char cmd_reply[64] = { 0 };
+
+    // echo back received command
+    sprintf(cmd_reply, "Received command: %s\r\n", data);
+    msg("%s", cmd_reply);
+
+    // parse commands
+    if (strncmp(data, "help", 4) == 0)
+    {
+        msg("Available commands:\r\n");
+        msg("  help                - Show this help message\r\n");
+        msg("  fw_ver              - Show firmware version\r\n");
+    }
+    else if (strncmp(data, "fw_ver", 6) == 0)
+    {
+        msg("FW_VER_1.0.0_20260320\r\n");
+    }
+    else if (strncmp(data, "pwm_enable", 10) == 0)
+    {
+        memset(phase, 0, sizeof(phase));
+        dds.phase_acc_base = 0;
+        dds.set_dds_ftw = 1740;
+        dds.set_dds_amp = 160000;
+        pwm_enable();
+        msg("PWM enabled.\r\n");
+    }
+    else if (strncmp(data, "pwm_disable", 11) == 0)
+    {
+        pwm_disable();
+        msg("PWM disabled.\r\n");
+    }
+    else
+    {
+        msg("Unknown command. Type 'help' for available commands.\r\n");
+    }
+}
+
+int main(void)
+{
+    uint16_t base_idx = 0;
+    uint32_t timer    = sys_get_tick();
+
+    SYS_Config();
+    info("This is a demo project: JF_02\n");
+#ifdef ENABLE_DDS
+    pwm_set_duty(1250, 1250, 1250);
+    dds.phase_acc_base = 0;
+    dds.set_dds_ftw = 1740;
+    dds.set_dds_amp = 160000;
+    pwm_enable();
+#else
+    uvw_set_duty(base_idx);
+    pwm_enable();
+#endif
+
+    while (1)
+    {
+        if (stringComplete)
+        {
+            cmd_parser((char *)rxBuffer, strlen((char *)rxBuffer));
+            stringComplete = false;
+        }
+
+        if (sys_get_tick() - timer >= 1)
+        {
+            msg("%d tick\n", sys_get_tick());
+            timer = sys_get_tick();
+        }
+
+#ifdef ENABLE_DDS
+        if (flag_24Khz_timer)
+        {
+            dds_pwm_duty_cycle_update();
+            flag_24Khz_timer = false;
+        }
+#else
+        if (flag_24Khz_timer)
+        {
+            base_idx = (base_idx + 1) % PWM_TABLE_SIZE;
+            uvw_set_duty(base_idx);
+            flag_24Khz_timer = false;
+        }
+#endif
+    }
+}
@@ -8,6 +8,8 @@
 #ifndef INC_INIT_H_
 #define INC_INIT_H_

+#include "main.h"
+
 void SYS_Config();
 void gpio_config();
 void opa_config();
@@ -14,35 +14,39 @@
 #define __isr_H_wuraIpBA_lTJm_HvJw_sNDo_uEd5JnucTReY__

 #ifdef __cplusplus
-extern "C" {
+extern "C"
+{
 #endif

 #include "main.h"
-//=============================================================================
-//                  Constant Definition
-//=============================================================================
+    //=============================================================================
+    //                  Constant Definition
+    //=============================================================================

-//=============================================================================
-//                  Macro Definition
-//=============================================================================
+    //=============================================================================
+    //                  Macro Definition
+    //=============================================================================

-//=============================================================================
-//                  Structure Definition
-//=============================================================================
+    //=============================================================================
+    //                  Structure Definition
+    //=============================================================================

-//=============================================================================
-//                  Global Data Definition
-//=============================================================================
-extern volatile bool flag_24Khz_timer;
-//=============================================================================
-//                  Private Function Definition
-//=============================================================================
+    //=============================================================================
+    //                  Global Data Definition
+    //=============================================================================
+    extern volatile bool flag_24Khz_timer;
+    extern volatile bool stringComplete;
+    extern volatile char rxBuffer[128];
+    //=============================================================================
+    //                  Private Function Definition
+    //=============================================================================

-//=============================================================================
-//                  Public Function Definition
-//=============================================================================
-void isr_epwm_handle(void);
-void isr_adc_handle(void);
+    //=============================================================================
+    //                  Public Function Definition
+    //=============================================================================
+    void isr_epwm_handle(void);
+    void isr_adc_handle(void);
+    void isr_uart0_handle(void);
 #ifdef __cplusplus
 }
 #endif
@@ -14,35 +14,45 @@
 #define __main_H_wxBnwdPw_lq7D_H4I5_sHPp_uXof15pFLp4V__

 #ifdef __cplusplus
-extern "C" {
+extern "C"
+{
 #endif

-
 #include "hal_device.h"
 #include "syslog.h"
-//=============================================================================
-//                  Constant Definition
-//=============================================================================
+    //=============================================================================
+    //                  Constant Definition
+    //=============================================================================

-//=============================================================================
-//                  Macro Definition
-//=============================================================================
+    //=============================================================================
+    //                  Macro Definition
+    //=============================================================================

-//=============================================================================
-//                  Structure Definition
-//=============================================================================
+    //=============================================================================
+    //                  Structure Definition
+    //=============================================================================

-//=============================================================================
-//                  Global Data Definition
-//=============================================================================
+    //=============================================================================
+    //                  Global Data Definition
+    //=============================================================================

-//=============================================================================
-//                  Private Function Definition
-//=============================================================================
+    //=============================================================================
+    //                  Private Function Definition
+    //=============================================================================

-//=============================================================================
-//                  Public Function Definition
-//=============================================================================
+    //=============================================================================
+    //                  Public Function Definition
+    //=============================================================================
+
+    struct dds_param_t
+    {
+        uint32_t phase_acc_base;
+        uint32_t set_dds_ftw;
+        int32_t set_dds_amp;
+        uint8_t notify_en;
+    };
+
+    extern struct dds_param_t dds;

 #ifdef __cplusplus
 }
@@ -4,34 +4,38 @@
 *  Created on: 2025年8月18日
 *      Author: jim_liao
 */
-
 #include "main.h"
-#include "isr.h"
+
 #include "init.h"
-#include "hal_device.h"
+#include "isr.h"

 //=============================================================================
 //                  Constant Definition
 //=============================================================================
-#define CONFIG_OPA_PGA_GAIN     OPAMP_PGAGain_5
+#define CONFIG_OPA_PGA_GAIN OPAMP_PGAGain_5

 unsigned long ADC0Sum = 0;
 unsigned char k;

-#define	HIRC_Freq        			60000000       //Hz
-#define	CurrentLoopIsrFreq      	24000          //Hz
-#define PWM_PERIOD  				HIRC_Freq/CurrentLoopIsrFreq
-#define DEAD_TIME  					200				//ns
-#define DEAD_TIME_VALUE				DEAD_TIME*0.06
+#define HIRC_Freq          60000000 // Hz
+#define CurrentLoopIsrFreq 24000    // Hz
+#define PWM_PERIOD         HIRC_Freq / CurrentLoopIsrFreq
+#define DEAD_TIME          200 // ns
+#define DEAD_TIME_VALUE    DEAD_TIME * 0.06
 //=============================================================================
 //                  Public Function Definition
 //=============================================================================
 void SYS_Config()
 {
-    SYSCFG_ClkInitTypeDef   SysClkInit = {0};
-    SysClkInit.ClkSource  = SYSCFG_ClkSrc_HSI;
+    SYSCFG_ClkInitTypeDef SysClkInit = { 0 };
+    SysClkInit.ClkSource             = SYSCFG_ClkSrc_HSI;
    SYSCFG_SysClkConfig(&SysClkInit);
+
    sys_config_systick(SYS_TICK_1_MS);
+    sys_delay(3000);
+
+    /* Disable ICE I/O */
+    SYSCFG_SetICEPin2NormalIO(true);

    gpio_config();
    opa_config();
@@ -44,54 +48,54 @@ void SYS_Config()

 void gpio_config()
 {
-//-----------------//
-//		PWM
-//-----------------//
-    GPIO_InitTypeDef        GPIO_InitStruct;
+    //-----------------//
+    //		PWM
+    //-----------------//
+    GPIO_InitTypeDef GPIO_InitStruct;

-    GPIO_InitStruct.GPIO_Pin      = GPIO_Pin_00 | GPIO_Pin_01 | GPIO_Pin_02 | \
-                                    GPIO_Pin_03 | GPIO_Pin_04 | GPIO_Pin_05;
-    GPIO_InitStruct.GPIO_Mode     = GPIO_Mode_AF;
-    GPIO_InitStruct.GPIO_AF_Mode  = GPIO_AF_6;
+    GPIO_InitStruct.GPIO_Pin = GPIO_Pin_00 | GPIO_Pin_01 | GPIO_Pin_02
+                               | GPIO_Pin_03 | GPIO_Pin_04 | GPIO_Pin_05;
+    GPIO_InitStruct.GPIO_Mode    = GPIO_Mode_AF;
+    GPIO_InitStruct.GPIO_AF_Mode = GPIO_AF_6;
    GPIO_Init(GPIOA, &GPIO_InitStruct);
-//-----------------//
-//		UART
-//		PB3:TX		PB5:RX
-//-----------------//
-    GPIO_InitTypeDef        GPIOA_InitUart;
-    GPIOA_InitUart.GPIO_Pin      = GPIO_Pin_03;
-    GPIOA_InitUart.GPIO_Mode     = GPIO_Mode_AF;
-    GPIOA_InitUart.GPIO_AF_Mode  = GPIO_AF_1;
+    //-----------------//
+    //		UART
+    //		PB3:TX		PB5:RX
+    //-----------------//
+    GPIO_InitTypeDef GPIOA_InitUart;
+    GPIOA_InitUart.GPIO_Pin     = GPIO_Pin_03;
+    GPIOA_InitUart.GPIO_Mode    = GPIO_Mode_AF;
+    GPIOA_InitUart.GPIO_AF_Mode = GPIO_AF_1;
    GPIO_Init(GPIOB, &GPIOA_InitUart);

-    GPIO_InitTypeDef        GPIOB_InitUart;
-    GPIOB_InitUart.GPIO_Pin      = GPIO_Pin_05;
-    GPIOB_InitUart.GPIO_Mode     = GPIO_Mode_AF;
-    GPIOB_InitUart.GPIO_AF_Mode  = GPIO_AF_1;
+    GPIO_InitTypeDef GPIOB_InitUart;
+    GPIOB_InitUart.GPIO_Pin     = GPIO_Pin_05;
+    GPIOB_InitUart.GPIO_Mode    = GPIO_Mode_AF;
+    GPIOB_InitUart.GPIO_AF_Mode = GPIO_AF_1;
    GPIO_Init(GPIOB, &GPIOB_InitUart);
-//-----------------//
-//		ADC
-//  PA12/13/14:OVP/OTP/CMD
-//-----------------//
-    GPIO_InitTypeDef        GPIO_InitADC;
-    GPIO_InitADC.GPIO_Pin      = GPIO_Pin_06 | GPIO_Pin_12;
-    GPIO_InitADC.GPIO_Mode     = GPIO_Mode_ANAL;
+    //-----------------//
+    //		ADC
+    //  PA06/12:VBUS/ADC_KEY
+    //-----------------//
+    GPIO_InitTypeDef GPIO_InitADC;
+    GPIO_InitADC.GPIO_Pin  = GPIO_Pin_06 | GPIO_Pin_12;
+    GPIO_InitADC.GPIO_Mode = GPIO_Mode_ANAL;
    GPIO_Init(GPIOA, &GPIO_InitADC);
 #if 1
-//-----------------//
-//		test
-//-----------------//
-    GPIO_InitStruct.GPIO_Pin        = GPIO_Pin_14;
-    GPIO_InitStruct.GPIO_Mode       = GPIO_Mode_OUT;
-    GPIO_InitStruct.GPIO_PuPd       = GPIO_PuPd_NOPULL;
-    GPIO_InitStruct.GPIO_OType      = GPIO_OType_PP;
-    GPIO_Init(GPIOA , &GPIO_InitStruct);
+    //-----------------//
+    //		test
+    //-----------------//
+    GPIO_InitStruct.GPIO_Pin   = GPIO_Pin_14;
+    GPIO_InitStruct.GPIO_Mode  = GPIO_Mode_OUT;
+    GPIO_InitStruct.GPIO_PuPd  = GPIO_PuPd_NOPULL;
+    GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
+    GPIO_Init(GPIOA, &GPIO_InitStruct);
 #endif
 }

 void opa_config(void)
 {
-    OPAMP_InitTypeDef   opa_init = {0};
+    OPAMP_InitTypeDef opa_init = { 0 };

    opa_init.OPAMP_VinP = OPAMP_VinP_IO;
    opa_init.OPAMP_VinM = OPAMP_VinM_GND;
@@ -104,28 +108,27 @@ void opa_config(void)
    OPAMP_Enable(OPAMP1);
 }

-
-
 void adc_config(void)
 {

-    ADC_InitTypeDef     init = {0};
+    ADC_InitTypeDef init = { 0 };
    ADC_StructInit(&init);

-//-----------------//
-//		set
-//-----------------//
-    ADC_InitTypeDef     init1 = {0};
+    //-----------------//
+    //		set
+    //-----------------//
+    ADC_InitTypeDef init1 = { 0 };
    ADC_StructInit(&init1);
-    init1.SelChannels    = ADC_Channel_06 |ADC_Channel_08;
-    init1.ClkPrescaler   = ADC_ClkDiv_4;
-    init1.DataAlign		 = ADC_DataAlign_Right;
-    init1.Mode           = ADC_Mode_Scan;
+    init1.SelChannels  = ADC_Channel_06 | ADC_Channel_08;
+    init1.ClkPrescaler = ADC_ClkDiv_4;
+    init1.DataAlign    = ADC_DataAlign_Right;
+    init1.Mode         = ADC_Mode_Scan;
    ADC_Init(ADC0, &init1);

-    ADC_ExtTrigConfig(ADC0,ADC_ExtTrigSource_EPWM_CCR4_UP,ADC_ExtTrigMode_Enable);
-    ADC_ExtTrigConfig(ADC0,ADC_ExtTrigSource_EPWM_CCDR4_UP,ADC_ExtTrigMode_Enable);
-
+    ADC_ExtTrigConfig(ADC0, ADC_ExtTrigSource_EPWM_CCR4_UP,
+                      ADC_ExtTrigMode_Enable);
+    ADC_ExtTrigConfig(ADC0, ADC_ExtTrigSource_EPWM_CCDR4_UP,
+                      ADC_ExtTrigMode_Enable);

 #if 0
    {   /* Configure TIM interrupts */
@@ -140,18 +143,19 @@ void adc_config(void)
 #endif
 }

-
 void pwm_config()
 {
-    TIM_OCInitTypeDef       TIM_OCInitStruct;
+    TIM_OCInitTypeDef TIM_OCInitStruct;
    TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;

-    {   /* Configure TIM interrupts */
-        sys_irq_attr_t      irq_attr = { .disable_vector = false, };
+    { /* Configure TIM interrupts */
+        sys_irq_attr_t irq_attr = {
+            .disable_vector = false,
+        };

-        irq_attr.trig_mode      = SYS_IRQ_TRIGGER_LEVEL;
-        irq_attr.level          = SYS_IRQ_LEVEL_H;
-        irq_attr.priority       = SYS_IRQ_PRIORITY_MIDDEN;
+        irq_attr.trig_mode = SYS_IRQ_TRIGGER_LEVEL;
+        irq_attr.level     = SYS_IRQ_LEVEL_H;
+        irq_attr.priority  = SYS_IRQ_PRIORITY_MIDDEN;
        sys_register_IRQ(EPWM_IRQn, isr_epwm_handle, &irq_attr);
    }

@@ -160,23 +164,23 @@ void pwm_config()
    TIM_TimeBaseStructInit(&TIM_TimeBaseInitStruct);
    TIM_TimeBaseInitStruct.TIM_Prescaler         = 0;
    TIM_TimeBaseInitStruct.TIM_CounterMode       = TIM_CounterMode_Up;
-    TIM_TimeBaseInitStruct.TIM_Period            = PWM_PERIOD-1;
+    TIM_TimeBaseInitStruct.TIM_Period            = PWM_PERIOD - 1;
    TIM_TimeBaseInitStruct.TIM_ClockDivision     = TIM_CKD_Div1;
    TIM_TimeBaseInitStruct.TIM_RepetitionCounter = 0;
    TIM_TimeBaseInit(EPWM, &TIM_TimeBaseInitStruct);

-    TIM_ARRPreloadConfig(EPWM,ENABLE);
+    TIM_ARRPreloadConfig(EPWM, ENABLE);

    TIM_OCStructInit(&TIM_OCInitStruct);
-    TIM_OCInitStruct.TIM_OCMode       = TIM_OCMode_PWM1;
-    TIM_OCInitStruct.TIM_OutputState  = TIM_OutputState_Disable;
-    TIM_OCInitStruct.TIM_Pulse        = 0;
-    TIM_OCInitStruct.TIM_OCPolarity   = TIM_OCPolarity_High;
-    TIM_OCInitStruct.TIM_OCIdleState  = TIM_OCIdleState_Reset;
-    TIM_OCInitStruct.TIM_Pulse = 1;
+    TIM_OCInitStruct.TIM_OCMode      = TIM_OCMode_PWM1;
+    TIM_OCInitStruct.TIM_OutputState = TIM_OutputState_Disable;
+    TIM_OCInitStruct.TIM_Pulse       = 0;
+    TIM_OCInitStruct.TIM_OCPolarity  = TIM_OCPolarity_High;
+    TIM_OCInitStruct.TIM_OCIdleState = TIM_OCIdleState_Reset;
+    TIM_OCInitStruct.TIM_Pulse       = 1;

-    TIM_OCInitStruct.TIM_OutputNState  = TIM_OutputNState_Disable;
-    TIM_OCInitStruct.TIM_OCNPolarity   = TIM_OCPolarity_High;
+    TIM_OCInitStruct.TIM_OutputNState = TIM_OutputNState_Disable;
+    TIM_OCInitStruct.TIM_OCNPolarity  = TIM_OCPolarity_High;
    TIM_OC1Init(EPWM, &TIM_OCInitStruct);

    TIM_OCInitStruct.TIM_Pulse = 1;
@@ -185,8 +189,8 @@ void pwm_config()
    TIM_OCInitStruct.TIM_Pulse = 1;
    TIM_OC3Init(EPWM, &TIM_OCInitStruct);

-    {   /* Automatic Output enable, Break, dead time and lock configuration */
-        TIM_BDTRInitTypeDef     bdtr_init = {0};
+    { /* Automatic Output enable, Break, dead time and lock configuration */
+        TIM_BDTRInitTypeDef bdtr_init = { 0 };
        bdtr_init.TIM_LOCKLevel       = TIM_LockLevel_OFF;
        bdtr_init.TIM_DeadTime        = DEAD_TIME_VALUE;

@@ -201,8 +205,7 @@ void pwm_config()
    EPWM->CCMR2_OUTPUT_b.OC3PE = 1;

    TIM_Cmd(EPWM, ENABLE);
-    TIM_CtrlPWMOutputs(EPWM,ENABLE);
-
+    TIM_CtrlPWMOutputs(EPWM, ENABLE);
 }

 void pwm_set_duty(uint16_t ch1_val, uint16_t ch2_val, uint16_t ch3_val)
@@ -214,28 +217,49 @@ void pwm_set_duty(uint16_t ch1_val, uint16_t ch2_val, uint16_t ch3_val)
 }
 void pwm_enable()
 {
-	REG_SET_BITS(EPWM->CCER, TIM_CCER_CC1E_Msk | TIM_CCER_CC1NE_Msk | \
-                             TIM_CCER_CC2E_Msk | TIM_CCER_CC2NE_Msk | \
-                             TIM_CCER_CC3E_Msk | TIM_CCER_CC3NE_Msk);
+    REG_SET_BITS(EPWM->CCER, TIM_CCER_CC1E_Msk | TIM_CCER_CC1NE_Msk
+                                 | TIM_CCER_CC2E_Msk | TIM_CCER_CC2NE_Msk
+                                 | TIM_CCER_CC3E_Msk | TIM_CCER_CC3NE_Msk);
    return;
 }

-
+void pwm_disable()
+{
+    REG_CLR_BITS(EPWM->CCER, TIM_CCER_CC1E_Msk | TIM_CCER_CC1NE_Msk
+                                 | TIM_CCER_CC2E_Msk | TIM_CCER_CC2NE_Msk
+                                 | TIM_CCER_CC3E_Msk | TIM_CCER_CC3NE_Msk);
+    return;
+}

 void uart_config()
 {
-    UART_InitTypeDef    uart_init = {0};
-    uart_init.BaudRate      = 115200;
-    uart_init.WordLength    = UART_WordLength_8b;
-    uart_init.StopBits      = UART_StopBits_1;
-    uart_init.Parity        = UART_Parity_No;
-    uart_init.Mode          = UART_Mode_TxRx;
+    UART_InitTypeDef uart_init = { 0 };
+    uart_init.BaudRate         = 115200;
+    uart_init.WordLength       = UART_WordLength_8b;
+    uart_init.StopBits         = UART_StopBits_1;
+    uart_init.Parity           = UART_Parity_No;
+    uart_init.Mode             = UART_Mode_TxRx;
    UART_Init(UART0, &uart_init);
    UART_Start(UART0);
+
+    // Wait for UART to be ready after initialization
+    for (volatile uint32_t i = 0; i < 10000; i++);
+
+    UART_ITConfig(UART0, UART_FLAG_RXNE, ENABLE);
+    { /* Configure TIM interrupts */
+        sys_irq_attr_t irq_attr = {
+            .disable_vector = false,
+        };
+
+        irq_attr.trig_mode = SYS_IRQ_TRIGGER_LEVEL;
+        irq_attr.level     = SYS_IRQ_LEVEL_H;
+        irq_attr.priority  = SYS_IRQ_PRIORITY_MIDDEN;
+        sys_register_IRQ(UART0_IRQn, isr_uart0_handle, &irq_attr);
+    }
 }

 void UART_Send_Wait(UART_Type *pHUart, uint16_t value)
 {
-    UART_SendData(pHUart,value);
+    UART_SendData(pHUart, value);
    UART_WaitTxFifoEmpty(pHUart);
 }
@@ -11,9 +11,11 @@
 */

 #include "main.h"
+
 #include "isr.h"
 #include "init.h"

+
 //=============================================================================
 //                  Constant Definition
 //=============================================================================
@@ -21,12 +23,16 @@
 //=============================================================================
 //                  Macro Definition
 //=============================================================================
-
+#define RX_BUFFER_SIZE 128
 //=============================================================================
 //                  Global Data Definition
 //=============================================================================
 long ADC_DATA[10];
 volatile bool flag_24Khz_timer = false;
+
+volatile char rxBuffer[RX_BUFFER_SIZE];
+volatile bool stringComplete = false;
+volatile uint16_t rxIndex    = 0;
 //=============================================================================
 //                  Private Function Definition
 //=============================================================================
@@ -37,17 +43,35 @@ volatile bool flag_24Khz_timer = false;
 __INTERRUPT void isr_epwm_handle(void)
 {

-	if ((EPWM->SR & 0x10000) == 0x10000)
+    if ((EPWM->SR & 0x10000) == 0x10000)
    {
-		flag_24Khz_timer = true;
-		ADC_DATA[0] = ADC0->DAT6_b.DATA;
-    	ADC_DATA[1] = ADC0->DAT8_b.DATA;
-    	TIM_ClearITPendingBit(EPWM, 0x10000); // clear OVIF
-
-   		GPIO_TogglePin(GPIOA, GPIO_Pin_14);
+        flag_24Khz_timer = true;
+        ADC_DATA[0]      = ADC0->DAT6_b.DATA;
+        ADC_DATA[1]      = ADC0->DAT8_b.DATA;
+		dds.phase_acc_base += dds.set_dds_ftw;
+        TIM_ClearITPendingBit(EPWM, 0x10000); // clear OVIF
    }
-
 }

+__INTERRUPT void isr_uart0_handle(void)
+{
+    if (UART_GetITStatus(UART0, UART_FLAG_RXNE) == 1)
+    {
+        char receivedChar = (char)UART_ReceiveData(UART0);

-
+        if (receivedChar == '\n' || receivedChar == '\r')
+        {
+            if (rxIndex > 0)
+            {
+                rxBuffer[rxIndex] = '\0';
+                stringComplete    = true;
+                rxIndex           = 0;
+                msg("Received: %s\n", rxBuffer);
+            }
+        }
+        else if (rxIndex < RX_BUFFER_SIZE - 1)
+        {
+            rxBuffer[rxIndex++] = receivedChar;
+        }
+    }
+}
@@ -9,10 +9,11 @@
 * @license
 * @description
 */
+#include <stdlib.h>
+#include <string.h>

 #include "main.h"
-#include "hal_gpio.h"
-#include "hal_tim.h"
+
 #include "init.h"
 #include "isr.h"

@@ -38,6 +39,28 @@ const uint16_t pwm_table[PWM_TABLE_SIZE]
        1127, 1006, 887,  771,  660,  555,  457,  366,  283,  210,  147,
        95,   53,   24,   6,    0,    6,    24,   53,   95,   147,  210,
        283,  366,  457,  555,  660,  771,  887,  1006, 1127 };
+
+// 64-point sine wave lookup table (-2048-2047 range)
+// Sine_table[i] = sin(i*2*pi/64)*(4095/2) where i = 0 to 63
+// Use sine_amplitude parameter to scale to desired duty cycle range later
+const int16_t LUT_sin[64]
+    = { 0,     200,   399,   594,   783,   965,   1137,  1298,  1447,  1582,
+        1702,  1805,  1891,  1959,  2008,  2037,  2047,  2037,  2008,  1959,
+        1891,  1805,  1702,  1582,  1447,  1298,  1137,  965,   783,   594,
+        399,   200,   0,     -200,  -399,  -594,  -783,  -965,  -1137, -1298,
+        -1447, -1582, -1702, -1805, -1891, -1959, -2008, -2037, -2047, -2037,
+        -2008, -1959, -1891, -1805, -1702, -1582, -1447, -1298, -1137, -965,
+        -783,  -594,  -399,  -200 };
+
+const int16_t LUT_cos[64]
+    = { 2047,  2037,  2008,  1959,  1891,  1805,  1702,  1582,  1447,  1298,
+        1137,  965,   783,   594,   399,   200,   0,     -200,  -399,  -594,
+        -783,  -965,  -1137, -1298, -1447, -1582, -1702, -1805, -1891, -1959,
+        -2008, -2037, -2047, -2037, -2008, -1959, -1891, -1805, -1702, -1582,
+        -1447, -1298, -1137, -965,  -783,  -594,  -399,  -200,  0,     200,
+        399,   594,   783,   965,   1137,  1298,  1447,  1582,  1702,  1805,
+        1891,  1959,  2008,  2037 };
+
 //=============================================================================
 //                  Private Function Definition
 //=============================================================================
@@ -45,6 +68,50 @@ const uint16_t pwm_table[PWM_TABLE_SIZE]
 //=============================================================================
 //                  Public Function Definition
 //=============================================================================
+#define ENABLE_DDS
+#ifdef ENABLE_DDS
+
+struct dds_cal_param
+{
+    uint32_t phase_acc;
+    uint8_t lut_idx;
+    uint8_t nquadrant;
+    uint8_t last_quadrant;
+    int16_t lut_sin_val;
+    int16_t lut_cos_val;
+    uint16_t duty;
+};
+
+struct dds_param_t dds = { 0 };
+#define PHASE_COUNT 3
+const uint32_t phase_offset[PHASE_COUNT]       = { 0, 1398101, 2796203 };
+static struct dds_cal_param phase[PHASE_COUNT] = { 0 };
+
+void dds_pwm_duty_cycle_update(void)
+{
+    for (int i = 0; i < PHASE_COUNT; i++)
+    {
+        struct dds_cal_param *p = &phase[i];
+        p->phase_acc = (dds.phase_acc_base + phase_offset[i]) % 0x003FFFFF;
+    }
+
+    for (int i = 0; i < PHASE_COUNT; i++)
+    {
+        struct dds_cal_param *p = &phase[i];
+
+        p->last_quadrant = p->nquadrant;
+        p->lut_idx       = p->phase_acc >> 16;
+        p->nquadrant     = p->lut_idx >> 4;
+        p->lut_sin_val   = LUT_sin[p->lut_idx];
+        p->lut_cos_val   = LUT_cos[p->lut_idx];
+        p->duty          = (((int32_t)p->lut_sin_val * dds.set_dds_amp) >> 18)
+                  + 1250; // 0~2500 duty cycle range
+    }
+
+    pwm_set_duty(phase[0].duty, phase[1].duty, phase[2].duty);
+}
+
+#else
 void uvw_set_duty(uint16_t base_idx)
 {
    uint16_t iA = base_idx;
@@ -55,30 +122,140 @@ void uvw_set_duty(uint16_t base_idx)
    EPWM->CCR2 = pwm_table[iB];
    EPWM->CCR3 = pwm_table[iC];
 }
+#endif
+
+static void cmd_parser(char *data, uint32_t len)
+{
+    char cmd_reply[64] = { 0 };
+
+    // echo back received command
+    sprintf(cmd_reply, "Received command: %s\r\n", data);
+    printf("%s", cmd_reply);
+
+    // parse commands
+    if (strncmp(data, "help", 4) == 0)
+    {
+        printf("Available commands:\r\n");
+        printf("  help                - Show this help message\r\n");
+        printf("  fw_ver              - Show firmware version\r\n");
+    }
+    else if (strncmp(data, "fw_ver", 6) == 0)
+    {
+        printf("FW_VER_1.0.0_20260320\r\n");
+    }
+    else if (strncmp(data, "dds_init", 8) == 0)
+    {
+        memset(phase, 0, sizeof(phase));
+        dds.phase_acc_base = 0;
+        dds.set_dds_ftw    = 174;
+        dds.set_dds_amp    = 0;
+    }
+    else if (strncmp(data, "pwm_enable", 10) == 0)
+    {
+        pwm_enable();
+        printf("PWM enabled.\r\n");
+    }
+    else if (strncmp(data, "pwm_disable", 11) == 0)
+    {
+        pwm_disable();
+        printf("PWM disabled.\r\n");
+    }
+    else if (strncmp(data, "dds_amp++", 9) == 0)
+    {
+        dds.set_dds_amp++;
+        printf("dds_amp++\r\n");
+    }
+    else if (strncmp(data, "dds_amp--", 9) == 0)
+    {
+        dds.set_dds_amp--;
+        printf("dds_amp--\r\n");
+    }
+    else if (strncmp(data, "dds_ftw++", 9) == 0)
+    {
+        dds.set_dds_ftw++;
+        printf("dds_ftw++\r\n");
+    }
+    else if (strncmp(data, "dds_ftw--", 9) == 0)
+    {
+        dds.set_dds_ftw--;
+        printf("dds_ftw--\r\n");
+    }
+    else if (strncmp(data, "dds_amp:", 8) == 0)
+    {
+        dds.set_dds_amp = atoi(data + 8);
+        printf("dds_amp set to %d\r\n", dds.set_dds_amp);
+    }
+    else if (strncmp(data, "dds_ftw:", 8) == 0)
+    {
+        dds.set_dds_ftw = atoi(data + 8);
+        printf("dds_ftw set to %d\r\n", dds.set_dds_ftw);
+    }
+    else if (strncmp(data, "notify_en:", 10) == 0)
+    {
+        dds.notify_en = atoi(data + 10);
+        if (dds.notify_en)
+        {
+            printf("Notification enabled.\r\n");
+        }
+        else
+        {
+            printf("Notification disabled.\r\n");
+        }
+    }
+
+    else
+    {
+        printf("Unknown command. Type 'help' for available commands.\r\n");
+    }
+}

 int main(void)
 {
    uint16_t base_idx = 0;
-    uint32_t timer    = sys_get_tick();
+    uint32_t timer;

    SYS_Config();
-    info("This is a demo project: JF_02\n");
+    printf("This is a demo project: JF_02\n");
+
+#ifdef ENABLE_DDS
+    pwm_set_duty(1250, 1250, 1250);
+    dds.phase_acc_base = 0;
+    dds.set_dds_ftw    = 174;
+    dds.set_dds_amp    = 0;
+    pwm_enable();
+#else
    uvw_set_duty(base_idx);
    pwm_enable();
+#endif
+
+    timer = sys_get_tick();

    while (1)
    {
-        if (sys_get_tick() - timer >= 1000)
+        if (stringComplete)
        {
-            msg("%d tick\n", sys_get_tick());
-            timer = sys_get_tick();
+            cmd_parser((char *)rxBuffer, strlen((char *)rxBuffer));
+            stringComplete = false;
        }

+#ifdef ENABLE_DDS
+        if (flag_24Khz_timer)
+        {
+            dds_pwm_duty_cycle_update();
+            if (dds.notify_en)
+            {
+                printf("%d tick: %d, %d, %d\n", sys_get_tick(), phase[0].duty,
+                       phase[1].duty, phase[2].duty);
+            }
+            flag_24Khz_timer = false;
+        }
+#else
        if (flag_24Khz_timer)
        {
            base_idx = (base_idx + 1) % PWM_TABLE_SIZE;
            uvw_set_duty(base_idx);
            flag_24Khz_timer = false;
        }
+#endif
    }
 }
Author	SHA1	Message	Date
Roy_01	16d792d62b	feat: add control commands for DDS parameters	2026-03-30 17:22:53 +08:00
Roy_01	7d03c00122	dds	2026-03-26 16:35:48 +08:00
Roy_01	aab1672cb2	[example] add JF_02_motor example	2026-03-26 13:13:47 +08:00
Roy_01	79b18664d3	feat: 1. add uart RX decoder 2. enabled pwm on/of control via uart cmd 3. known Issue: observed unexpected spikes on the pwm waveform	2026-03-26 09:50:04 +08:00