#include?“led.h“
#include?“delay.h“
#include?“sys.h“
#include?“lcd.h“
#include?“encode.h“



extern?uint8_t?USART1_RX_BUF[64];??	???????????????????????????????????????????????????????
extern?uint8_t?USART1_RX_CNT;??????????????????????????????????????????????????????????????
//extern?uint8_t?flagframe?=?0;?

uint8_t?USART_RX_STA?=?0;
uint8_t?USART_RX_BUF[64];

uint16_t?handHeldCtrCnt?=?0;

//bit0:sendDataFlag?0x00?bit1~bit4:gage1?displacement?data?bit5~bit8:?gage2?strain?data?bit9?bit10:?adc?data（pressure?data）bit11:0x0Abit12:0x0D
uint8_t?HHdata[13];
uint16_t?count;
uint16_t?GAGECnt?=?0;
uint16_t?GAGECnt_meta?=?0;


uint8_t?SRV_ON[8]?=?{0x01?0x05?0x00?0x60?0xFF?0x00?0x8C?0x24};
uint8_t?SRV_OFF[8]?=?{0x01?0x05?0x00?0x60?0x00?0x00?0xCD?0xD4};
uint8_t?Block_velocity0[8]?=?{0x01?0x06?0x46?0x00?0x04?0x00?0x9E?0x42};
uint8_t?Block_accelaration0[8]?=?{0x01?0x06?0x46?0x10?0x01?0x00?0x9C?0xD7?};
uint8_t?Block_decelaration0[8]?=?{0x01?0x06?0x46?0x20?0x01?0x00?0x9C?0xD8?};
uint8_t?Block0_CMD[13]?=?{0x01?0x10?0x48?0x00?0x00?0x02?0x04?0x00?0x00?0x03?0x00?0xA5?0xE8};
uint8_t?Block0_data[13]?=?{0x01?0x10?0x48?0x02?0x00?0x02?0x04?0x00?0x00?0x00?0x00?0x24?0x75};
uint8_t?S_STOP_ON[8]?=?{0x01?0x05?0x01?0x24?0xFF?0x00?0xCD?0xCD};
uint8_t?S_STOP_OFF[8]?=?{0x01?0x05?0x01?0x24?0x00?0x00?0x8C?0x3D};
uint8_t?Block_NO[8]?=?{0x01?0x06?0x44?0x14?0x00?0x00?0xDD?0x3E?};
uint8_t?Block_Start[8]?=?{0x01?0x05?0x01?0x20?0xFF?0x00?0x8C?0x0C};
uint8_t?Block_OFF[8]?=?{0x01?0x05?0x01?0x20?0x00?0x00?0xCD?0xFC};

uint8_t?Block1_cmd_data[17]?=?{0x01?0x10?0x48?0x08?0x00?0x04?0x08?0x00?0x00?0x03?0x00?0x00?0x00?0x00?0x00?0xB6?0x1E};
uint8_t?Block0_cmd_data[17]?=?{0x01?0x10?0x48?0x00?0x00?0x04?0x08?0x00?0x00?0x03?0x00?0x00?0x00?0x00?0x00?0x57?0xC1};
uint8_t?Block0_cmd_data_R[17]?=?{0x01?0x10?0x48?0x00?0x00?0x04?0x08?0x04?0x00?0x03?0x00?0x00?0x00?0x00?0x00?0x56?0x32};

?int?main（void）
?{	

	?uint16_t?adcx;
	?uint8_t?cmd_buf[4]?=?{0x030x000x030x00};				
	?uint8_t?cmd_data[4]?=?{0x000x000x000x00};
	?uint8_t?cmd_count_cmd[4]?=?{0x030x000x070x00};
	?uint8_t?cmd_count_data[4]?=?{0x270x100x000x00};
	?uint8_t?condition_cmd[4]?=?{0x000x330x0A0x60};
	?uint8_t?condition_data[4]?=?{0x270x100x000x00};
	?uint8_t?decelaration_cmd[4]?=?{0x000x000x050x00};
	?uint8_t?decelaration_data[4]?=?{0x000x000x000x00};

	?delay_init（）;	????	?//延時函數初始化	??
	?USART3_Initialise（115200）;
	?USART1_Initialise（9600）;
	?RS485_switchinit（）;
	?Adc_Init（）;
	?TIM_Init（）;//定時器編碼器接口初始化
	?
//	?UART_PutStrRS485（SRV_ON8）;
//	?UART_PutStrRS485（Block_NO8）;
	?MODH_Send06H（SLAVE_ADDRREG_Block_NO?0）;
	?delay_ms（10）;
	?//UART_PutStrRS485（Block_velocity08）;
	?MODH_Send06H（SLAVE_ADDRREG_Block_velocity0?0x0400）;
	?delay_ms（10）;
	?//UART_PutStrRS485（Block_accelaration08）;
	?MODH_Send06H（SLAVE_ADDRREG_