✨ feat(optic_mag): 集成光泵磁力仪驱动并重构数据包架构

- 新增光泵磁力仪驱动模块，通过 USART2 中断接收 BCD 编码数据，采样率 115200bps - 重构数据包架构：引入标准包与扩展包（含光泵数据）两种类型，通过帧头魔数区分 - 新增 DataPacketWithOptic_t、CorrectedDataPacketWithOptic_t 两种扩展数据包类型 - 数据存储改为通用字节流写入（方案Y），支持任意包类型混流存储 - 将编译期配置集中到 app_config.h，包括 UART 输出、SD 存储、GPS 位置等开关 - 移除 ADC_SYNC GPIO 引脚配置，释放 PA2 用于 USART2_TX - 主循环 ProcessAdcData 改为按需选择数据包类型，光泵数据快照在 ADC 中断前完成 - 新增 USART2 错误回调处理，支持接收异常时自动恢复
2026-06-07 22:50:54 +08:00 · 2026-06-07 22:50:54 +08:00 · bc37e14fba
commit bc37e14fba
parent 4f8feccc06
18 changed files with 694 additions and 299 deletions
--- a/CLAUDE.md
+++ b/CLAUDE.md
@ -0,0 +1,49 @@
+# STM_ATEM_F405 项目说明
+
+## 项目概述
+STM32F405 航空电磁接收机固件，基于 STM32CubeIDE + HAL 库开发。
+
+**核心功能：** ADC 采集（LTC2508）→ 数据校正 → SD 卡存储 / UART 输出
+
+## 目录结构
+- `Core/` — CubeMX 生成代码（main.c、外设初始化），**不要手动修改生成区域**
+- `User/` — 业务逻辑（驱动、数据包、存储、GPS、配置管理等）
+- `Drivers/` — HAL 驱动库（不修改）
+- `Middlewares/` — FatFs、USB（不修改）
+
+## 关键模块
+| 文件 | 职责 |
+|------|------|
+| `ltc2508_driver` | SPI ADC 采集驱动 |
+| `data_packet` | 数据包格式定义与封包 |
+| `data_storage` | FatFs SD 卡文件写入 |
+| `correction` | ADC 校正参数应用 |
+| `app_config` | 编译期配置（UART 输出、SD 存储开关）|
+| `config_manager` | 配置运行时访问层，默认值来自 `app_config.h` |
+| `gps_driver` | GPS NMEA 解析（UART）|
+| `rs485_driver` | RS485 通信 |
+| `optic_mag_driver` | 光学磁传感器 |
+| `system_monitor` | 系统状态统计与诊断 |
+
+## 通信接口
+| 接口 | 用途 | 波特率 | 备注 |
+|------|------|--------|------|
+| USART1 (PA9/PA10) | RS485 数据输出 | 2 000 000 | TX DMA；DE/RE 控制脚 PC7 |
+| USART2 (PA3) | 光泵磁力仪接收 | 115 200 | 仅 RX，DMA 循环；PA2 已改为普通 GPIO |
+| USART3 (PB10/PB11) | GPS NMEA 接收 | 115 200 | TX/RX，单字节中断接收 |
+| SPI1/2/3 | LTC2508 ADC 采集 | — | 三路 SPI 同时驱动三片 ADC |
+| SDIO | SD 卡（FatFs） | — | 与 USB MSC 共用，采样期间独占 |
+| USB | MSC 大容量存储 | — | 供 PC 直接访问 SD 卡 |
+
+## 开发规范
+- 每次修改代码后，判断是否影响模块职责、接口用途、配置项或注意事项，若有则同步更新 CLAUDE.md 对应部分
+
+- 业务代码只放 `User/` 目录；CubeMX 生成区域（`USER CODE BEGIN/END`）内写用户代码
+- 函数命名：`模块名_功能()` 如 `DataStorage_StartRecording()`
+- 全局变量加 `g_` 前缀，静态变量加 `s_` 前缀
+- 不添加无意义注释；注释用中文说明 **为什么**，不说明是什么
+
+## 注意事项
+- 修改 `.ioc` 文件后重新生成代码会覆盖 `Core/` 文件，需手动恢复用户代码
+- USB MSC 与 FatFs 共享 SD 卡，采样期间需卸载再挂载
+- 配置在 `User/app_config.h` 中以 `#define` 编译期确定；若需恢复 CONFIG.TXT 运行时加载，在 `main.c` 挂载 SD 后重新调用 `Config_Load()` 即可
--- a/Core/Inc/main.h
+++ b/Core/Inc/main.h
@ -60,8 +60,6 @@ void Error_Handler(void);
 #define ADC_DRY_Pin GPIO_PIN_1
 #define ADC_DRY_GPIO_Port GPIOA
 #define ADC_DRY_EXTI_IRQn EXTI1_IRQn
-#define ADC_SYNC_Pin GPIO_PIN_2
-#define ADC_SYNC_GPIO_Port GPIOA
 #define RS485_CTL_Pin GPIO_PIN_7
 #define RS485_CTL_GPIO_Port GPIOC

--- a/Core/Inc/stm32f4xx_it.h
+++ b/Core/Inc/stm32f4xx_it.h
@ -60,6 +60,7 @@ void DMA1_Stream0_IRQHandler(void);
 void DMA1_Stream3_IRQHandler(void);
 void TIM2_IRQHandler(void);
 void USART1_IRQHandler(void);
+void USART2_IRQHandler(void);
 void USART3_IRQHandler(void);
 void SDIO_IRQHandler(void);
 void DMA2_Stream0_IRQHandler(void);
--- a/Core/Inc/usart.h
+++ b/Core/Inc/usart.h
@ -34,6 +34,8 @@ extern "C" {

 extern UART_HandleTypeDef huart1;

+extern UART_HandleTypeDef huart2;
+
 extern UART_HandleTypeDef huart3;

 /* USER CODE BEGIN Private defines */
@ -41,6 +43,7 @@ extern UART_HandleTypeDef huart3;
 /* USER CODE END Private defines */

 void MX_USART1_UART_Init(void);
+void MX_USART2_UART_Init(void);
 void MX_USART3_UART_Init(void);

 /* USER CODE BEGIN Prototypes */
--- a/Core/Src/gpio.c
+++ b/Core/Src/gpio.c
@ -51,9 +51,6 @@ void MX_GPIO_Init(void)
  __HAL_RCC_GPIOB_CLK_ENABLE();
  __HAL_RCC_GPIOD_CLK_ENABLE();

-  /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(ADC_SYNC_GPIO_Port, ADC_SYNC_Pin, GPIO_PIN_RESET);
-
  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(RS485_CTL_GPIO_Port, RS485_CTL_Pin, GPIO_PIN_RESET);

@ -69,13 +66,6 @@ void MX_GPIO_Init(void)
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(ADC_DRY_GPIO_Port, &GPIO_InitStruct);

-  /*Configure GPIO pin : ADC_SYNC_Pin */
-  GPIO_InitStruct.Pin = ADC_SYNC_Pin;
-  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
-  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-  HAL_GPIO_Init(ADC_SYNC_GPIO_Port, &GPIO_InitStruct);
-
  /*Configure GPIO pin : RS485_CTL_Pin */
  GPIO_InitStruct.Pin = RS485_CTL_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@ -37,6 +37,7 @@
 #include "system_monitor.h"
 #include "config_manager.h"
 #include "gps_driver.h"
+#include "optic_mag_driver.h"
 #include <stdio.h>
 #include <string.h>
 /* USER CODE END Includes */
@ -48,15 +49,10 @@

 /* Private define ------------------------------------------------------------*/
 /* USER CODE BEGIN PD */
-// 监控功能宏开关（统一控制串口输出和文件存储）
-#define ENABLE_SYSTEM_MONITOR       1       // 系统监控开关
-#define DEBUG_OUTPUT_INTERVAL_MS    30000    // 调试输出间隔(毫秒)
-#define MONITOR_SAVE_INTERVAL_MS    30000   // 监控状态保存间隔(毫秒) - 30秒
-
-// 数据输出模式选择（运行时配置，从SD卡加载）
-// 注意：DATA_OUTPUT_MODE_UART 和 DATA_OUTPUT_MODE_STORAGE 已改为运行时配置
-// 使用 Config_IsUartOutputEnabled() 和 Config_IsStorageEnabled() 来检查状态
-// 配置文件：0:/CONFIG.TXT
+// 以下宏从 app_config.h 引入，此处仅做别名映射，保持内部代码不变
+#define ENABLE_SYSTEM_MONITOR       CFG_ENABLE_SYSTEM_MONITOR
+#define DEBUG_OUTPUT_INTERVAL_MS    CFG_DEBUG_OUTPUT_INTERVAL_MS
+#define MONITOR_SAVE_INTERVAL_MS    CFG_MONITOR_SAVE_INTERVAL_MS
 /* USER CODE END PD */

 /* Private macro -------------------------------------------------------------*/
@ -73,14 +69,17 @@ extern SPI_HandleTypeDef hspi2;
 extern SPI_HandleTypeDef hspi3;
 extern TIM_HandleTypeDef htim2;
 extern UART_HandleTypeDef huart1;
+extern UART_HandleTypeDef huart2;
 extern UART_HandleTypeDef huart3;

 // 校正参数
 CorrectionParams_t g_correction_params;
-// 数据包
+// 数据包（标准包 / 扩展包各一份，ProcessAdcData按需选用）
 DataPacket_t                   g_data_packet;
+DataPacketWithOptic_t          g_data_packet_with_optic;
 CorrectedDataPacket_t          g_corrected_packet;
-CorrectedDataPacketWithGPS_t g_corrected_packet_with_gps;  // 带GPS信息的数据包
+CorrectedDataPacketWithGPS_t   g_corrected_packet_with_gps;
+CorrectedDataPacketWithOptic_t g_corrected_packet_with_optic;
 // 数据存储句柄
 DataStorageHandle_t g_data_storage;
 // 系统状态
@ -151,110 +150,99 @@ static void StopRecording(void)
 */
 static void ProcessAdcData(void)
 {
-    // 检查ADC数据是否准备就绪
    LTC2508_BufferTypeDef *ready_buffer = NULL;
-    if (LTC2508_GetReadyBuffer(&ready_buffer) == LTC2508_OK && ready_buffer != NULL)
-    {
-        // 检查存储缓冲区是否可用（用于决定是否存储数据）
+    if (LTC2508_GetReadyBuffer(&ready_buffer) != LTC2508_OK || ready_buffer == NULL) return;
+
+    // 快照光泵数据：USART2中断优先级(10) < TIM2优先级(3)，此处不会被抢占，无需关中断
+    uint8_t  optic_fresh = g_optic_mag_fresh;
+    uint32_t optic_val   = g_optic_mag_value;
+    if (optic_fresh) g_optic_mag_fresh = 0;
+
+    // 检查存储缓冲区是否可用（取最大包长为基准）
    uint8_t can_store_data = 0;
    if (g_recording_enabled) {
-            uint32_t max_packet_size = sizeof(CorrectedDataPacketWithGPS_t);  // 使用带GPS的数据包大小
-            can_store_data = DataStorage_IsBufferAvailable(&g_data_storage, max_packet_size);
+        can_store_data = DataStorage_IsBufferAvailable(&g_data_storage,
+                             sizeof(CorrectedDataPacketWithOptic_t));
    }

 #if ENABLE_SYSTEM_MONITOR
    SystemMonitor_IncrementSampleCount();
 #endif

-        // 1. 从双缓冲区获取数据并合并 (高位16位在前)
+    // 1. 合并三路ADC原始数据（高16位在前）
    int32_t raw_adc[NUM_LTC2508];
    for (uint8_t i = 0; i < NUM_LTC2508; i++) {
        raw_adc[i] = (int32_t)(((uint32_t)ready_buffer->data[i][0] << 16) | ready_buffer->data[i][1]);
    }

-        // 2. 获取当前GPS数据
+    // 2. 获取GPS数据（时间戳始终使用，位置字段受ENABLE_GPS_POSITION控制）
    GPS_Data_t current_gps_data;
    uint8_t gps_valid = GPS_GetData(&current_gps_data);
+    uint32_t gps_time = gps_valid ? (current_gps_data.time.hour   * 10000u +
+                                     current_gps_data.time.minute * 100u   +
+                                     current_gps_data.time.second) : 0u;
+    float lat = (float)current_gps_data.position.latitude;
+    float lon = (float)current_gps_data.position.longitude;
+    float alt = (float)current_gps_data.position.altitude;
+
+    // 3. 决定发送哪种包（校正×是否有光泵 = 4种组合）
+    const uint8_t *send_ptr;
+    uint16_t       send_size;

-        // 3. 应用校正算法
    CorrectionResult_t correction_result;
-        uint8_t correction_applied = 0;
-
    if (g_correction_params.params_valid &&
        Apply_Correction(raw_adc[0], raw_adc[1], raw_adc[2],
                         &correction_result, &g_correction_params) == HAL_OK) {

-          // 4a. 打包校正后的数据（带GPS关键信息：仅经纬度）
-          // float lat = gps_valid ? (float)current_gps_data.position.latitude : 0.0f;
-          // float lon = gps_valid ? (float)current_gps_data.position.longitude : 0.0f;
-          // float alt = gps_valid ? (float)current_gps_data.position.altitude : 0.0f;
-          float lat = (float)current_gps_data.position.latitude;
-          float lon = (float)current_gps_data.position.longitude;
-          float alt = (float)current_gps_data.position.altitude;
-          uint32_t gps_time = gps_valid ? (current_gps_data.time.hour * 10000 + 
-                                           current_gps_data.time.minute * 100 + 
-                                           current_gps_data.time.second) : 0;
-          
+        if (optic_fresh) {
+            PackCorrectedDataWithOptic(&g_corrected_packet_with_optic,
+                correction_result.corrected_x, correction_result.corrected_y,
+                correction_result.corrected_z, gps_time, lat, lon, alt, optic_val);
+            send_ptr  = (const uint8_t *)&g_corrected_packet_with_optic;
+            send_size = sizeof(CorrectedDataPacketWithOptic_t);
+        } else {
            PackCorrectedDataWithGPS(&g_corrected_packet_with_gps,
-                           correction_result.corrected_x,
-                           correction_result.corrected_y,
-                           correction_result.corrected_z,
-                           gps_time,
-                           lat,
-                           lon,
-                          alt);
-
-          correction_applied = 1;
-
-          // 发送校正后的数据包到串口（运行时配置）
-          if (Config_IsUartOutputEnabled()) {
-              RS485_SendData((uint8_t*)&g_corrected_packet_with_gps, sizeof(CorrectedDataPacketWithGPS_t));
+                correction_result.corrected_x, correction_result.corrected_y,
+                correction_result.corrected_z, gps_time, lat, lon, alt);
+            send_ptr  = (const uint8_t *)&g_corrected_packet_with_gps;
+            send_size = sizeof(CorrectedDataPacketWithGPS_t);
        }

    } else {

-          // 4b. 校正失败或未启用，使用原始数据
-          // float lat = gps_valid ? (float)current_gps_data.position.latitude : 0.0f;
-          // float lon = gps_valid ? (float)current_gps_data.position.longitude : 0.0f;
-          // float alt = gps_valid ? (float)current_gps_data.position.altitude : 0.0f;
-          float lat = (float)current_gps_data.position.latitude;
-          float lon = (float)current_gps_data.position.longitude;
-          float alt = (float)current_gps_data.position.altitude;
-          uint32_t gps_time = gps_valid ? (current_gps_data.time.hour * 10000 + 
-                                           current_gps_data.time.minute * 100 + 
-                                           current_gps_data.time.second) : 0;
+        if (optic_fresh) {
+            PackDataWithOptic(&g_data_packet_with_optic,
+                raw_adc[0], raw_adc[1], raw_adc[2],
+                gps_time, lat, lon, alt, optic_val);
+            send_ptr  = (const uint8_t *)&g_data_packet_with_optic;
+            send_size = sizeof(DataPacketWithOptic_t);
+        } else {
+            PackData(&g_data_packet,
+                raw_adc[0], raw_adc[1], raw_adc[2],
+                gps_time, lat, lon, alt);
+            send_ptr  = (const uint8_t *)&g_data_packet;
+            send_size = sizeof(DataPacket_t);
+        }
+    }

-          PackData(&g_data_packet, raw_adc[0], raw_adc[1], raw_adc[2], gps_time, lat, lon, alt);
-
-          // 发送原始数据包到串口（运行时配置）
+    // 4. 发送到RS485串口
    if (Config_IsUartOutputEnabled()) {
-              RS485_SendData((uint8_t*)&g_data_packet, sizeof(DataPacket_t));
-          }
+        RS485_SendData((uint8_t *)send_ptr, send_size);
    }

-        // 6. 存储数据到SD卡 (如果启用记录且缓冲区可用，运行时配置)
+    // 5. 存储到SD卡（方案Y：直接写原始字节流，与串口格式一致）
    if (Config_IsStorageEnabled() && g_recording_enabled) {
        if (can_store_data) {
-            if (correction_applied) {
-              // 存储校正后的数据（带GPS信息）
-              DataStorage_WriteCorrectedData(&g_data_storage, (CorrectedDataPacket_t*)&g_corrected_packet_with_gps);
+            DataStorage_WriteRawBytes(&g_data_storage, send_ptr, send_size);
        } else {
-              // 存储原始数据
-              DataStorage_WriteData(&g_data_storage, &g_data_packet);
-            }
-          } else {
-            // 缓冲区满，数据被丢弃
 #if ENABLE_SYSTEM_MONITOR
            SystemMonitor_ReportDataDropped();
 #endif
        }
    }

-        // 7. 释放已处理的缓冲区
+    // 6. 释放已处理的缓冲区
    LTC2508_ReleaseBuffer(LTC2508_GetCurrentReadBuffer());
-    } else {
-
-    }
 }

 /**
@ -536,6 +524,7 @@ int main(void)
  MX_USART3_UART_Init();
  MX_TIM2_Init();
  MX_TIM1_Init();
+  MX_USART2_UART_Init();
  /* USER CODE BEGIN 2 */

  // 初始化系统监控
@ -543,9 +532,12 @@ int main(void)
  SystemMonitor_Init();
 #endif

-  // 初始化调试输出
+  // 初始化调试输出（含GPS）
  DebugOutput_Init();

+  // 初始化光泵磁力仪接收（USART2 RX，115200）
+  OpticMag_Init(&huart2);
+  
  // 初始化配置管理器（设置默认值）
  Config_Init();
  
@ -562,13 +554,9 @@ int main(void)
  if (!g_usb_connected) {
    // USB未连接，挂载文件系统用于数据采集
    if (MountFileSystemForSampling() == HAL_OK) {
-      // 从SD卡加载配置
-      if (Config_Load() == HAL_OK) {
-        DebugOutput_SendString("Config loaded from SD card\r\n");
-      } else {
-        DebugOutput_SendString("Using default config\r\n");
-      }
-      
+#if CFG_LOAD_FROM_FILE
+      Config_Load();
+#endif
      // 初始化数据存储
      if (DataStorage_Init(&g_data_storage) == HAL_OK) {
        // 开始数据记录（如果存储功能已启用）
@ -812,8 +800,21 @@ void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart)
 void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
 {
  if (huart == &huart3) {
-    // GPS数据接收回调
    GPS_UART_RxCpltCallback(huart);
+  } else if (huart == &huart2) {
+    OpticMag_UART_RxCpltCallback(huart);
+  }
+}
+
+/**
+ * @brief  UART错误回调函数
+ * @param  huart: UART句柄指针
+ * @retval None
+ */
+void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
+{
+  if (huart == &huart2) {
+    OpticMag_UART_ErrorCallback(huart);
  }
 }

--- a/Core/Src/stm32f4xx_it.c
+++ b/Core/Src/stm32f4xx_it.c
@ -25,6 +25,7 @@
 #include "ltc2508_driver.h"
 #include "rs485_driver.h"
 #include "gps_driver.h"
+#include "optic_mag_driver.h"
 /* USER CODE END Includes */

 /* Private typedef -----------------------------------------------------------*/
@ -69,12 +70,12 @@ extern DMA_HandleTypeDef hdma_spi3_rx;
 extern TIM_HandleTypeDef htim2;
 extern DMA_HandleTypeDef hdma_usart1_tx;
 extern UART_HandleTypeDef huart1;
+extern UART_HandleTypeDef huart2;
 extern UART_HandleTypeDef huart3;
 /* USER CODE BEGIN EV */
 extern SPI_HandleTypeDef hspi1;
 extern SPI_HandleTypeDef hspi2;
 extern SPI_HandleTypeDef hspi3;
-extern UART_HandleTypeDef huart1;
 /* USER CODE END EV */

 /******************************************************************************/
@ -285,6 +286,20 @@ void USART1_IRQHandler(void)
  /* USER CODE END USART1_IRQn 1 */
 }

+/**
+  * @brief This function handles USART2 global interrupt.
+  */
+void USART2_IRQHandler(void)
+{
+  /* USER CODE BEGIN USART2_IRQn 0 */
+
+  /* USER CODE END USART2_IRQn 0 */
+  HAL_UART_IRQHandler(&huart2);
+  /* USER CODE BEGIN USART2_IRQn 1 */
+
+  /* USER CODE END USART2_IRQn 1 */
+}
+
 /**
  * @brief This function handles USART3 global interrupt.
  */
--- a/Core/Src/usart.c
+++ b/Core/Src/usart.c
@ -25,6 +25,7 @@
 /* USER CODE END 0 */

 UART_HandleTypeDef huart1;
+UART_HandleTypeDef huart2;
 UART_HandleTypeDef huart3;
 DMA_HandleTypeDef hdma_usart1_tx;

@ -56,6 +57,35 @@ void MX_USART1_UART_Init(void)

  /* USER CODE END USART1_Init 2 */

+}
+/* USART2 init function */
+
+void MX_USART2_UART_Init(void)
+{
+
+  /* USER CODE BEGIN USART2_Init 0 */
+
+  /* USER CODE END USART2_Init 0 */
+
+  /* USER CODE BEGIN USART2_Init 1 */
+
+  /* USER CODE END USART2_Init 1 */
+  huart2.Instance = USART2;
+  huart2.Init.BaudRate = 115200;
+  huart2.Init.WordLength = UART_WORDLENGTH_8B;
+  huart2.Init.StopBits = UART_STOPBITS_1;
+  huart2.Init.Parity = UART_PARITY_NONE;
+  huart2.Init.Mode = UART_MODE_RX;
+  huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+  huart2.Init.OverSampling = UART_OVERSAMPLING_16;
+  if (HAL_UART_Init(&huart2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN USART2_Init 2 */
+
+  /* USER CODE END USART2_Init 2 */
+
 }
 /* USART3 init function */

@ -137,6 +167,40 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)

  /* USER CODE END USART1_MspInit 1 */
  }
+  else if(uartHandle->Instance==USART2)
+  {
+  /* USER CODE BEGIN USART2_MspInit 0 */
+
+  /* USER CODE END USART2_MspInit 0 */
+    /* USART2 clock enable */
+    __HAL_RCC_USART2_CLK_ENABLE();
+
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    /**USART2 GPIO Configuration
+    PA2     ------> USART2_TX
+    PA3     ------> USART2_RX
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_2|GPIO_PIN_3;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF7_USART2;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+    /* USART2 interrupt Init */
+    HAL_NVIC_SetPriority(USART2_IRQn, 7, 0);
+    HAL_NVIC_EnableIRQ(USART2_IRQn);
+  /* USER CODE BEGIN USART2_MspInit 1 */
+  /* 覆盖PA2为普通GPIO输出：CubeMX将其初始化为USART2_TX(AF7)，
+     此处重新配置以供其他功能使用，PA3(RX)保持AF7不变 */
+  GPIO_InitStruct.Pin       = GPIO_PIN_2;
+  GPIO_InitStruct.Mode      = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull      = GPIO_NOPULL;
+  GPIO_InitStruct.Speed     = GPIO_SPEED_FREQ_LOW;
+  GPIO_InitStruct.Alternate = 0;
+  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+  /* USER CODE END USART2_MspInit 1 */
+  }
  else if(uartHandle->Instance==USART3)
  {
  /* USER CODE BEGIN USART3_MspInit 0 */
@ -192,6 +256,26 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)

  /* USER CODE END USART1_MspDeInit 1 */
  }
+  else if(uartHandle->Instance==USART2)
+  {
+  /* USER CODE BEGIN USART2_MspDeInit 0 */
+
+  /* USER CODE END USART2_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_USART2_CLK_DISABLE();
+
+    /**USART2 GPIO Configuration
+    PA2     ------> USART2_TX
+    PA3     ------> USART2_RX
+    */
+    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_2|GPIO_PIN_3);
+
+    /* USART2 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(USART2_IRQn);
+  /* USER CODE BEGIN USART2_MspDeInit 1 */
+
+  /* USER CODE END USART2_MspDeInit 1 */
+  }
  else if(uartHandle->Instance==USART3)
  {
  /* USER CODE BEGIN USART3_MspDeInit 0 */
--- a/Doc/注意事项.jpg
+++ b/Doc/注意事项.jpg
--- a/STM_ATEM_F405.ioc
+++ b/STM_ATEM_F405.ioc
@ -111,9 +111,10 @@ Mcu.IP0=DMA
 Mcu.IP1=FATFS
 Mcu.IP10=TIM2
 Mcu.IP11=USART1
-Mcu.IP12=USART3
-Mcu.IP13=USB_DEVICE
-Mcu.IP14=USB_OTG_FS
+Mcu.IP12=USART2
+Mcu.IP13=USART3
+Mcu.IP14=USB_DEVICE
+Mcu.IP15=USB_OTG_FS
 Mcu.IP2=NVIC
 Mcu.IP3=RCC
 Mcu.IP4=SDIO
@ -122,42 +123,43 @@ Mcu.IP6=SPI2
 Mcu.IP7=SPI3
 Mcu.IP8=SYS
 Mcu.IP9=TIM1
-Mcu.IPNb=15
+Mcu.IPNb=16
 Mcu.Name=STM32F405RGTx
 Mcu.Package=LQFP64
 Mcu.Pin0=PH0-OSC_IN
 Mcu.Pin1=PH1-OSC_OUT
-Mcu.Pin10=PB13
-Mcu.Pin11=PB15
-Mcu.Pin12=PC7
-Mcu.Pin13=PC8
-Mcu.Pin14=PC9
-Mcu.Pin15=PA8
-Mcu.Pin16=PA9
-Mcu.Pin17=PA10
-Mcu.Pin18=PA11
-Mcu.Pin19=PA12
+Mcu.Pin10=PB11
+Mcu.Pin11=PB13
+Mcu.Pin12=PB15
+Mcu.Pin13=PC7
+Mcu.Pin14=PC8
+Mcu.Pin15=PC9
+Mcu.Pin16=PA8
+Mcu.Pin17=PA9
+Mcu.Pin18=PA10
+Mcu.Pin19=PA11
 Mcu.Pin2=PC3
-Mcu.Pin20=PA13
-Mcu.Pin21=PA14
-Mcu.Pin22=PC10
-Mcu.Pin23=PC11
-Mcu.Pin24=PC12
-Mcu.Pin25=PD2
-Mcu.Pin26=PB3
-Mcu.Pin27=PB5
-Mcu.Pin28=VP_FATFS_VS_SDIO
-Mcu.Pin29=VP_SYS_VS_Systick
+Mcu.Pin20=PA12
+Mcu.Pin21=PA13
+Mcu.Pin22=PA14
+Mcu.Pin23=PC10
+Mcu.Pin24=PC11
+Mcu.Pin25=PC12
+Mcu.Pin26=PD2
+Mcu.Pin27=PB3
+Mcu.Pin28=PB5
+Mcu.Pin29=VP_FATFS_VS_SDIO
 Mcu.Pin3=PA1
-Mcu.Pin30=VP_TIM2_VS_ClockSourceINT
-Mcu.Pin31=VP_USB_DEVICE_VS_USB_DEVICE_MSC_FS
+Mcu.Pin30=VP_SYS_VS_Systick
+Mcu.Pin31=VP_TIM2_VS_ClockSourceINT
+Mcu.Pin32=VP_USB_DEVICE_VS_USB_DEVICE_MSC_FS
 Mcu.Pin4=PA2
-Mcu.Pin5=PA5
-Mcu.Pin6=PA6
-Mcu.Pin7=PA7
-Mcu.Pin8=PB10
-Mcu.Pin9=PB11
-Mcu.PinsNb=32
+Mcu.Pin5=PA3
+Mcu.Pin6=PA5
+Mcu.Pin7=PA6
+Mcu.Pin8=PA7
+Mcu.Pin9=PB10
+Mcu.PinsNb=33
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F405RGTx
@ -185,6 +187,7 @@ NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.SysTick_IRQn=true\:0\:0\:true\:false\:true\:false\:true\:false
 NVIC.TIM2_IRQn=true\:3\:0\:true\:false\:true\:true\:true\:true
 NVIC.USART1_IRQn=true\:11\:0\:true\:false\:true\:true\:true\:true
+NVIC.USART2_IRQn=true\:7\:0\:true\:false\:true\:true\:true\:true
 NVIC.USART3_IRQn=true\:15\:0\:true\:false\:true\:true\:true\:true
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 PA1.GPIOParameters=GPIO_Label
@ -201,10 +204,10 @@ PA13.Mode=Serial_Wire
 PA13.Signal=SYS_JTMS-SWDIO
 PA14.Mode=Serial_Wire
 PA14.Signal=SYS_JTCK-SWCLK
-PA2.GPIOParameters=GPIO_Label
-PA2.GPIO_Label=ADC_SYNC
-PA2.Locked=true
-PA2.Signal=GPIO_Output
+PA2.Mode=Asynchronous
+PA2.Signal=USART2_TX
+PA3.Mode=Asynchronous
+PA3.Signal=USART2_RX
 PA5.Mode=Full_Duplex_Master
 PA5.Signal=SPI1_SCK
 PA6.Mode=Full_Duplex_Master
@ -299,7 +302,7 @@ ProjectManager.ToolChainLocation=
 ProjectManager.UAScriptAfterPath=
 ProjectManager.UAScriptBeforePath=
 ProjectManager.UnderRoot=true
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_SDIO_SD_Init-SDIO-false-HAL-true,5-MX_SPI1_Init-SPI1-false-HAL-true,6-MX_SPI2_Init-SPI2-false-HAL-true,7-MX_SPI3_Init-SPI3-false-HAL-true,8-MX_USART1_UART_Init-USART1-false-HAL-true,9-MX_FATFS_Init-FATFS-false-HAL-false,10-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false,11-MX_USART3_UART_Init-USART3-false-HAL-true,12-MX_TIM2_Init-TIM2-false-HAL-true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_SDIO_SD_Init-SDIO-false-HAL-true,5-MX_SPI1_Init-SPI1-false-HAL-true,6-MX_SPI2_Init-SPI2-false-HAL-true,7-MX_SPI3_Init-SPI3-false-HAL-true,8-MX_USART1_UART_Init-USART1-false-HAL-true,9-MX_FATFS_Init-FATFS-false-HAL-false,10-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false,11-MX_USART3_UART_Init-USART3-false-HAL-true,12-MX_TIM2_Init-TIM2-false-HAL-true,13-MX_TIM1_Init-TIM1-false-HAL-true,14-MX_USART2_UART_Init-USART2-false-HAL-true
 RCC.48MHZClocksFreq_Value=48000000
 RCC.AHBFreq_Value=168000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV4
@ -371,6 +374,9 @@ TIM2.Prescaler=83
 USART1.BaudRate=2000000
 USART1.IPParameters=VirtualMode,BaudRate
 USART1.VirtualMode=VM_ASYNC
+USART2.IPParameters=VirtualMode,Mode
+USART2.Mode=MODE_RX
+USART2.VirtualMode=VM_ASYNC
 USART3.BaudRate=115200
 USART3.IPParameters=VirtualMode,BaudRate
 USART3.VirtualMode=VM_ASYNC
--- a/User/app_config.h
+++ b/User/app_config.h
@ -0,0 +1,84 @@
+#ifndef APP_CONFIG_H
+#define APP_CONFIG_H
+
+// ============================================================
+// 系统编译期配置总入口
+// 所有可调参数集中在此文件，修改后重新编译生效。
+// 若需恢复 SD 卡运行时加载，将 CFG_LOAD_FROM_FILE 置 1，
+// 其余编译期值将作为加载失败时的 fallback 默认值。
+// ============================================================
+
+
+// ------------------------------------------------------------
+// 配置加载方式
+// ------------------------------------------------------------
+
+// 是否在启动时从 SD 卡 CONFIG.TXT 加载配置
+// 1 = 运行时加载（文件内容覆盖以下编译期值）
+// 0 = 仅使用以下编译期值，不读取文件（安全，可重复）
+#define CFG_LOAD_FROM_FILE          0
+
+
+// ------------------------------------------------------------
+// 数据输出控制
+// ------------------------------------------------------------
+
+// RS485 串口输出开关
+// 1 = 每帧 ADC 数据通过 USART1 以 2Mbps 发送
+// 0 = 禁用串口输出，降低功耗和 CPU 占用
+#define CFG_UART_OUTPUT_ENABLED     1
+
+// SD 卡数据存储开关
+// 1 = 每帧数据写入 SD 卡 DATA/SESSION_xxx/ 目录下的文件
+// 0 = 禁用存储，SD 卡仅用于 USB MSC 访问
+#define CFG_STORAGE_ENABLED         1
+
+
+// ------------------------------------------------------------
+// 功能模块开关
+// ------------------------------------------------------------
+
+// 系统监控统计模块
+// 1 = 启用：统计采样次数、丢帧数、SD 写入量、串口发送量，
+//           并定期输出到调试串口 / 写入 LOG.TXT
+// 0 = 禁用：相关代码被条件编译剔除，节省 Flash 和运行时开销
+#define CFG_ENABLE_SYSTEM_MONITOR   0
+
+// 数据包中包含 GPS 经纬度和海拔字段
+// 1 = 每帧包含 latitude(float) + longitude(float) + altitude(float)，包体增大 12 字节
+// 0 = 仅保留 GPS 时间戳（gps_time），包体更小，适合不需要位置信息的场景
+#define CFG_ENABLE_GPS_POSITION     0
+
+
+// ------------------------------------------------------------
+// 调试与监控定时参数
+// ------------------------------------------------------------
+
+// 调试信息通过 RS485 输出的时间间隔（毫秒）
+// 控制 DebugOutput_PrintSystemStats() 的调用频率
+// 建议范围：5000（5秒）~ 60000（1分钟）
+#define CFG_DEBUG_OUTPUT_INTERVAL_MS    30000
+
+// 监控统计数据写入 SD 卡 LOG.TXT 的时间间隔（毫秒）
+// 间隔越短日志越详细，但 SD 卡写入操作越频繁
+// 建议范围：10000（10秒）~ 300000（5分钟）
+#define CFG_MONITOR_SAVE_INTERVAL_MS    30000
+
+
+// ------------------------------------------------------------
+// SD 卡存储参数
+// ------------------------------------------------------------
+
+// SD 卡写入双缓冲区单个缓冲区大小（字节）
+// 更大的缓冲区可减少写入次数，提升吞吐量，但占用更多 RAM
+// STM32F405 RAM 为 192KB，建议不超过 65536（64KB）
+// 典型值：32768（32KB） / 65536（64KB）
+#define CFG_STORAGE_BUFFER_SIZE     32768
+
+// 单个数据文件的最大大小（字节），超过后自动创建新文件
+// 较小的文件便于传输和分析，较大的文件减少文件切换开销
+// 典型值：100MB / 500MB / 1024MB
+#define CFG_STORAGE_FILE_MAX_SIZE   (100 * 1024 * 1024)
+
+
+#endif // APP_CONFIG_H
--- a/User/config_manager.h
+++ b/User/config_manager.h
@ -2,6 +2,7 @@
 #define CONFIG_MANAGER_H

 #include "main.h"
+#include "app_config.h"
 #include <stdint.h>

 // 配置文件路径
@ -17,8 +18,8 @@ typedef struct {
 } SystemConfig_t;

 // 默认配置值
-#define DEFAULT_UART_OUTPUT_ENABLED     1
-#define DEFAULT_STORAGE_ENABLED         0
+#define DEFAULT_UART_OUTPUT_ENABLED     CFG_UART_OUTPUT_ENABLED
+#define DEFAULT_STORAGE_ENABLED         CFG_STORAGE_ENABLED
 #define CONFIG_VERSION                  0x00010000  // 版本 1.0.0

 // 函数声明
--- a/User/data_packet.c
+++ b/User/data_packet.c
@ -2,8 +2,8 @@
 #include "stddef.h"
 #include "stm32f4xx_hal.h"

-// CRC16-MODBUS算法实现
-uint16_t Calculate_CRC16(const uint8_t *data, uint16_t len) {
+uint16_t Calculate_CRC16(const uint8_t *data, uint16_t len)
+{
    uint16_t crc = 0xFFFF;
    for (uint16_t i = 0; i < len; i++) {
        crc ^= data[i];
@ -18,107 +18,91 @@ uint16_t Calculate_CRC16(const uint8_t *data, uint16_t len) {
    return crc;
 }

-void PackData(DataPacket_t *packet, int32_t adc1, int32_t adc2, int32_t adc3,
+// ─── 内部辅助宏：填充GPS位置字段（仅在宏开启时） ─────────────────────────────
+#ifdef ENABLE_GPS_POSITION
+#define FILL_GPS_POSITION(pkt, lat, lon, alt) \
+    do { (pkt)->gps_latitude = (lat); (pkt)->gps_longitude = (lon); (pkt)->gps_altitude = (alt); } while(0)
+#else
+#define FILL_GPS_POSITION(pkt, lat, lon, alt)  // 空操作
+#endif
+
+// ─── 原始ADC数据包 ────────────────────────────────────────────────────────────
+
+void PackData(DataPacket_t *packet,
+              int32_t adc1, int32_t adc2, int32_t adc3,
              uint32_t gps_time, float latitude, float longitude, float altitude)
 {
    if (packet == NULL) return;
-    
-    // 设置包头
-    packet->start_byte = PACKET_START_BYTE;
-    
-    // 设置时间戳
-//    packet->timestamp = HAL_GetTick();
-    
-    // 设置ADC数据
+    packet->start_byte = PACKET_TYPE_STANDARD;
    packet->adc_data1  = adc1;
    packet->adc_data2  = adc2;
    packet->adc_data3  = adc3;
-    
-    // 设置GPS数据
    packet->gps_time   = gps_time;
-    packet->gps_latitude = latitude;
-    packet->gps_longitude = longitude;
-    packet->gps_altitude = altitude;
+    FILL_GPS_POSITION(packet, latitude, longitude, altitude);
 }

+void PackDataWithOptic(DataPacketWithOptic_t *packet,
+                       int32_t adc1, int32_t adc2, int32_t adc3,
+                       uint32_t gps_time, float latitude, float longitude, float altitude,
+                       uint32_t optical_mag)
+{
+    if (packet == NULL) return;
+    packet->start_byte  = PACKET_TYPE_WITH_OPTIC;
+    packet->adc_data1   = adc1;
+    packet->adc_data2   = adc2;
+    packet->adc_data3   = adc3;
+    packet->gps_time    = gps_time;
+    FILL_GPS_POSITION(packet, latitude, longitude, altitude);
+    packet->optical_mag = optical_mag;
+}
+
+// ─── 校正数据包 ───────────────────────────────────────────────────────────────
+
+void PackCorrectedData(CorrectedDataPacket_t *packet,
+                       float x, float y, float z,
+                       uint32_t gps_time, float latitude, float longitude, float altitude)
+{
+    PackCorrectedDataWithGPS(packet, x, y, z, gps_time, latitude, longitude, altitude);
+}
+
+void PackCorrectedDataWithGPS(CorrectedDataPacketWithGPS_t *packet,
+                              float x, float y, float z,
+                              uint32_t gps_time, float latitude, float longitude, float altitude)
+{
+    if (packet == NULL) return;
+    packet->start_byte  = PACKET_TYPE_STANDARD;
+    packet->corrected_x = x;
+    packet->corrected_y = y;
+    packet->corrected_z = z;
+    packet->gps_time    = gps_time;
+    FILL_GPS_POSITION(packet, latitude, longitude, altitude);
+}
+
+void PackCorrectedDataWithOptic(CorrectedDataPacketWithOptic_t *packet,
+                                float x, float y, float z,
+                                uint32_t gps_time, float latitude, float longitude, float altitude,
+                                uint32_t optical_mag)
+{
+    if (packet == NULL) return;
+    packet->start_byte  = PACKET_TYPE_WITH_OPTIC;
+    packet->corrected_x = x;
+    packet->corrected_y = y;
+    packet->corrected_z = z;
+    packet->gps_time    = gps_time;
+    FILL_GPS_POSITION(packet, latitude, longitude, altitude);
+    packet->optical_mag = optical_mag;
+}
+
+// ─── 验证函数 ─────────────────────────────────────────────────────────────────
+
 uint8_t ValidatePacket(const DataPacket_t *packet)
 {
    if (packet == NULL) return 0;
-    
-    // 检查包头
-    if (packet->start_byte != PACKET_START_BYTE) return 0;
-    
-    // 精简版数据包无校验和，仅检查包头
-    return 1; // 包头正确，认为有效
+    return (packet->start_byte == PACKET_TYPE_STANDARD) ? 1 : 0;
 }

 uint8_t ValidateCorrectedPacket(const CorrectedDataPacket_t *packet)
 {
    if (packet == NULL) return 0;
-    
-    // 检查包头
-    if (packet->start_byte != PACKET_START_BYTE) return 0;
-    
-    // 精简版数据包无校验和，仅检查包头
-    return 1; // 包头正确，认为有效
-}
-
-void PackCorrectedData(CorrectedDataPacket_t *packet, float x, float y, float z,
-                       uint32_t gps_time, float latitude, float longitude, float altitude)
-{
-    if (packet == NULL) return;
-    
-    // 设置包头
-    packet->start_byte = PACKET_START_BYTE;
-    
-    // 设置时间戳
-    // packet->timestamp = HAL_GetTick();
-    
-    // 设置校正后数据
-    packet->corrected_x = x;
-    packet->corrected_y = y;
-    packet->corrected_z = z;
-    
-    // 设置GPS数据
-    packet->gps_time = gps_time;
-    packet->gps_latitude = latitude;
-    packet->gps_longitude = longitude;
-    packet->gps_altitude = altitude;
-}
-
-void PackCorrectedDataWithGPS(CorrectedDataPacketWithGPS_t *packet, float x, float y, float z,
-                              uint32_t gps_time, float latitude, float longitude, float altitude)
-{
-    if (packet == NULL) return;
-    
-    // 设置包头
-    packet->start_byte = PACKET_START_BYTE;
-    
-    // 设置时间戳
-    // packet->timestamp = HAL_GetTick();
-    
-    // 设置校正后数据
-    packet->corrected_x = x;
-    packet->corrected_y = y;
-    packet->corrected_z = z;
-    
-    // 设置GPS数据
-    packet->gps_time = gps_time;
-    packet->gps_latitude = latitude;
-    packet->gps_longitude = longitude;
-    packet->gps_altitude = altitude;
-}
-
-uint8_t ValidateCorrectedPacketWithGPS(const CorrectedDataPacketWithGPS_t *packet)
-{
-    if (packet == NULL) return 0;
-    
-    // 检查包头
-    if (packet->start_byte != PACKET_START_BYTE) return 0;
-    
-    // 精简版数据包无校验和，仅检查包头
-    // 可以添加简单的数据合理性检查
-    // 例如：检查GPS坐标是否在有效范围内等
-    
-    return 1; // 包头正确，认为有效
+    return (packet->start_byte == PACKET_TYPE_STANDARD) ? 1 : 0;
 }
--- a/User/data_packet.h
+++ b/User/data_packet.h
@ -2,59 +2,109 @@
 #define DATA_PACKET_H

 #include <stdint.h>
+#include "app_config.h"

-#define PACKET_START_BYTE 0xFFFFFFFF
-#define PACKET_END_BYTE   0x0000
+// 帧同步魔数（高3字节固定），低字节为类型标志
+#define PACKET_TYPE_STANDARD    0xFFFFFFFFUL  // 标准包（无光泵）
+#define PACKET_TYPE_WITH_OPTIC  0xFFFFFFFEUL  // 扩展包（含光泵，末尾追加 optical_mag）
+#define PACKET_SYNC_MASK        0xFFFFFF00UL  // 同步检测掩码
+
+// 兼容旧代码
+#define PACKET_START_BYTE       PACKET_TYPE_STANDARD
+
+// GPS位置字段由 app_config.h 中 CFG_ENABLE_GPS_POSITION 控制
+#if CFG_ENABLE_GPS_POSITION
+#define ENABLE_GPS_POSITION
+#endif
+
+// ─── 原始ADC数据包 ────────────────────────────────────────────────────────────

-// 数据包结构（精简版 - 有包头无校验和，含GPS）
 typedef struct __attribute__((packed)) {
-    uint32_t start_byte;        // 包头 (4字节) = 0xFFFFFFFF
-    // uint32_t timestamp;         // 系统时间戳 (4字节)
-    int32_t adc_data1;          // ADC1 数据 (4字节)
-    int32_t adc_data2;          // ADC2 数据 (4字节)
-    int32_t adc_data3;          // ADC3 数据 (4字节)
-    uint32_t gps_time;          // GPS时间戳 (4字节) HHMMSS格式
-    float gps_latitude;         // GPS纬度 (4字节)
-    float gps_longitude;        // GPS经度 (4字节)
-    float gps_altitude;         // GPS海拔 (4字节)
+    uint32_t start_byte;    // PACKET_TYPE_STANDARD
+    int32_t  adc_data1;
+    int32_t  adc_data2;
+    int32_t  adc_data3;
+    uint32_t gps_time;      // HHMMSS格式，始终存在
+#ifdef ENABLE_GPS_POSITION
+    float    gps_latitude;
+    float    gps_longitude;
+    float    gps_altitude;
+#endif
 } DataPacket_t;

-// 校正后数据包结构（精简版 - 有包头无校验和，含GPS）
 typedef struct __attribute__((packed)) {
-    uint32_t start_byte;        // 包头 (4字节) = 0xFFFFFFFF
-    // uint32_t timestamp;         // 系统时间戳 (4字节)
-    float corrected_x;          // 校正后X轴数据 (4字节)
-    float corrected_y;          // 校正后Y轴数据 (4字节)
-    float corrected_z;          // 校正后Z轴数据 (4字节)
-    uint32_t gps_time;          // GPS时间戳 (4字节) HHMMSS格式
-    float gps_latitude;         // GPS纬度 (4字节)
-    float gps_longitude;        // GPS经度 (4字节)
-    float gps_altitude;         // GPS海拔 (4字节)
+    uint32_t start_byte;    // PACKET_TYPE_WITH_OPTIC
+    int32_t  adc_data1;
+    int32_t  adc_data2;
+    int32_t  adc_data3;
+    uint32_t gps_time;
+#ifdef ENABLE_GPS_POSITION
+    float    gps_latitude;
+    float    gps_longitude;
+    float    gps_altitude;
+#endif
+    uint32_t optical_mag;   // 单位 0.0001 nT，例如 123456789 = 12345.6789 nT
+} DataPacketWithOptic_t;
+
+// ─── 校正数据包 ───────────────────────────────────────────────────────────────
+
+typedef struct __attribute__((packed)) {
+    uint32_t start_byte;    // PACKET_TYPE_STANDARD
+    float    corrected_x;
+    float    corrected_y;
+    float    corrected_z;
+    uint32_t gps_time;
+#ifdef ENABLE_GPS_POSITION
+    float    gps_latitude;
+    float    gps_longitude;
+    float    gps_altitude;
+#endif
 } CorrectedDataPacket_t;

-// 带GPS信息的校正数据包结构（精简版 - 有包头无校验和）
-typedef struct __attribute__((packed)) {
-    uint32_t start_byte;        // 包头 (4字节) = 0xFFFFFFFF
-    // uint32_t timestamp;         // 系统时间戳 (4字节)
-    float corrected_x;          // 校正后X轴数据 (4字节)
-    float corrected_y;          // 校正后Y轴数据 (4字节)
-    float corrected_z;          // 校正后Z轴数据 (4字节)
-    uint32_t gps_time;          // GPS时间戳 (4字节) HHMMSS格式
-    float gps_latitude;         // GPS纬度 (4字节)
-    float gps_longitude;        // GPS经度 (4字节)
-    float gps_altitude;         // GPS海拔 (4字节)
-} CorrectedDataPacketWithGPS_t;
+// 与 CorrectedDataPacket_t 相同，保留别名兼容旧代码
+typedef CorrectedDataPacket_t CorrectedDataPacketWithGPS_t;
+
+typedef struct __attribute__((packed)) {
+    uint32_t start_byte;    // PACKET_TYPE_WITH_OPTIC
+    float    corrected_x;
+    float    corrected_y;
+    float    corrected_z;
+    uint32_t gps_time;
+#ifdef ENABLE_GPS_POSITION
+    float    gps_latitude;
+    float    gps_longitude;
+    float    gps_altitude;
+#endif
+    uint32_t optical_mag;   // 单位 0.0001 nT
+} CorrectedDataPacketWithOptic_t;
+
+// ─── 函数声明 ─────────────────────────────────────────────────────────────────

-// 函数声明
 uint16_t Calculate_CRC16(const uint8_t *data, uint16_t len);
-void PackData(DataPacket_t *packet, int32_t adc1, int32_t adc2, int32_t adc3, 
+
+void PackData(DataPacket_t *packet,
+              int32_t adc1, int32_t adc2, int32_t adc3,
              uint32_t gps_time, float latitude, float longitude, float altitude);
-void PackCorrectedData(CorrectedDataPacket_t *packet, float x, float y, float z,
+
+void PackDataWithOptic(DataPacketWithOptic_t *packet,
+                       int32_t adc1, int32_t adc2, int32_t adc3,
+                       uint32_t gps_time, float latitude, float longitude, float altitude,
+                       uint32_t optical_mag);
+
+void PackCorrectedData(CorrectedDataPacket_t *packet,
+                       float x, float y, float z,
                       uint32_t gps_time, float latitude, float longitude, float altitude);
-void PackCorrectedDataWithGPS(CorrectedDataPacketWithGPS_t *packet, float x, float y, float z, 
-                              uint32_t gps_time, float latitude, float , float altitude);
+
+void PackCorrectedDataWithGPS(CorrectedDataPacketWithGPS_t *packet,
+                              float x, float y, float z,
+                              uint32_t gps_time, float latitude, float longitude, float altitude);
+
+void PackCorrectedDataWithOptic(CorrectedDataPacketWithOptic_t *packet,
+                                float x, float y, float z,
+                                uint32_t gps_time, float latitude, float longitude, float altitude,
+                                uint32_t optical_mag);
+
 uint8_t ValidatePacket(const DataPacket_t *packet);
 uint8_t ValidateCorrectedPacket(const CorrectedDataPacket_t *packet);
-uint8_t ValidateCorrectedPacketWithGPS(const CorrectedDataPacketWithGPS_t *packet);

 #endif // DATA_PACKET_H
--- a/User/data_storage.c
+++ b/User/data_storage.c
@ -113,6 +113,41 @@ HAL_StatusTypeDef DataStorage_WriteData(DataStorageHandle_t *handle, const DataP
    return HAL_OK;
 }

+/**
+  * @brief 通用字节流写入，支持任意包长度（方案Y混流存储）
+  * @param handle: 数据存储句柄指针
+  * @param data:   数据缓冲区指针
+  * @param size:   写入字节数
+  * @retval HAL_StatusTypeDef
+  */
+HAL_StatusTypeDef DataStorage_WriteRawBytes(DataStorageHandle_t *handle, const uint8_t *data, uint16_t size)
+{
+    if (handle == NULL || data == NULL || !handle->initialized || size == 0) {
+        return HAL_ERROR;
+    }
+
+    if (handle->stats.state != DATA_STORAGE_RECORDING) {
+        return HAL_ERROR;
+    }
+
+    DataBuffer_t *active_buf = &handle->buffers[handle->active_buffer];
+
+    if (active_buf->index + size > DATA_STORAGE_BUFFER_SIZE) {
+        if (DataStorage_SwitchBuffer(handle) != HAL_OK) {
+            handle->stats.error_count++;
+            return HAL_ERROR;
+        }
+        active_buf = &handle->buffers[handle->active_buffer];
+    }
+
+    memcpy(&active_buf->data[active_buf->index], data, size);
+    active_buf->index += size;
+    active_buf->state = BUFFER_WRITING;
+    handle->stats.total_samples++;
+
+    return HAL_OK;
+}
+
 /**
  * @brief 写入校正后的数据包到存储
  * @param handle: 数据存储句柄指针
--- a/User/data_storage.h
+++ b/User/data_storage.h
@ -2,15 +2,16 @@
 #define DATA_STORAGE_H

 #include "main.h"
+#include "app_config.h"
 #include "fatfs.h"
 #include "ff.h"
 #include "data_packet.h"
 #include "correction.h"
 #include <stdint.h>

-// 数据存储配置
-#define DATA_STORAGE_BUFFER_SIZE    32768           // 缓冲区大小(字节)
-#define DATA_STORAGE_FILE_MAX_SIZE  (100*1024*1024)  // 单个文件最大100MB
+// 数据存储配置（数值由 app_config.h 中 CFG_* 统一管理）
+#define DATA_STORAGE_BUFFER_SIZE    CFG_STORAGE_BUFFER_SIZE
+#define DATA_STORAGE_FILE_MAX_SIZE  CFG_STORAGE_FILE_MAX_SIZE
 #define DATA_STORAGE_BASE_PATH      "0:/DATA"       // 数据存储基础路径
 #define DATA_STORAGE_FILE_PREFIX    "/ADC_DATA_"    // 文件名前缀
 #define DATA_STORAGE_FOLDER_PREFIX  "SESSION_"      // 文件夹名前缀
@ -87,4 +88,7 @@ void DataStorage_ProcessBackgroundTasks(DataStorageHandle_t *handle);
 // 缓冲区可用性检查函数
 uint8_t DataStorage_IsBufferAvailable(DataStorageHandle_t *handle, uint32_t required_size);

+// 通用字节流写入（支持任意包类型，方案Y混流存储）
+HAL_StatusTypeDef DataStorage_WriteRawBytes(DataStorageHandle_t *handle, const uint8_t *data, uint16_t size);
+
 #endif // DATA_STORAGE_H
--- a/User/optic_mag_driver.c
+++ b/User/optic_mag_driver.c
@ -0,0 +1,70 @@
+#include "optic_mag_driver.h"
+
+volatile uint32_t g_optic_mag_value = 0;
+volatile uint8_t  g_optic_mag_fresh = 0;
+
+typedef enum {
+    OPTIC_STATE_IDLE = 0,
+    OPTIC_STATE_COLLECTING,
+    OPTIC_STATE_WAIT_END,
+} OpticState_t;
+
+static UART_HandleTypeDef *s_huart;
+static uint8_t             s_rx_byte;
+static uint8_t             s_bcd_buf[OPTIC_MAG_DATA_BYTES];
+static uint8_t             s_data_count;
+static OpticState_t        s_state;
+
+void OpticMag_Init(UART_HandleTypeDef *huart)
+{
+    s_huart      = huart;
+    s_state      = OPTIC_STATE_IDLE;
+    s_data_count = 0;
+    HAL_UART_Receive_IT(s_huart, &s_rx_byte, 1);
+}
+
+void OpticMag_UART_RxCpltCallback(UART_HandleTypeDef *huart)
+{
+    if (huart != s_huart) return;
+
+    uint8_t byte = s_rx_byte;
+
+    switch (s_state) {
+        case OPTIC_STATE_IDLE:
+            if (byte == OPTIC_MAG_FRAME_START) {
+                s_data_count = 0;
+                s_state = OPTIC_STATE_COLLECTING;
+            }
+            break;
+
+        case OPTIC_STATE_COLLECTING:
+            s_bcd_buf[s_data_count++] = byte;
+            if (s_data_count == OPTIC_MAG_DATA_BYTES) {
+                s_state = OPTIC_STATE_WAIT_END;
+            }
+            break;
+
+        case OPTIC_STATE_WAIT_END:
+            if (byte == OPTIC_MAG_FRAME_END) {
+                // 取前9位BCD数字（忽略第10位），每字节低nibble为有效数字
+                uint32_t value = 0;
+                for (uint8_t i = 0; i < 9; i++) {
+                    value = value * 10u + (s_bcd_buf[i] & 0x0Fu);
+                }
+                g_optic_mag_value = value;
+                g_optic_mag_fresh = 1;
+            }
+            // 无论结束字节是否合法，均回到IDLE（非法帧直接丢弃）
+            s_state = OPTIC_STATE_IDLE;
+            break;
+    }
+
+    HAL_UART_Receive_IT(s_huart, &s_rx_byte, 1);
+}
+
+void OpticMag_UART_ErrorCallback(UART_HandleTypeDef *huart)
+{
+    if (huart != s_huart) return;
+    s_state = OPTIC_STATE_IDLE;
+    HAL_UART_Receive_IT(s_huart, &s_rx_byte, 1);
+}
--- a/User/optic_mag_driver.h
+++ b/User/optic_mag_driver.h
@ -0,0 +1,20 @@
+#ifndef OPTIC_MAG_DRIVER_H
+#define OPTIC_MAG_DRIVER_H
+
+#include "main.h"
+#include <stdint.h>
+
+#define OPTIC_MAG_FRAME_START   0x5A
+#define OPTIC_MAG_FRAME_END     0xA5
+#define OPTIC_MAG_DATA_BYTES    10
+
+// 单位 0.0001 nT，忽略末位BCD数字，取前9位
+// 例如 123456789 表示 12345.6789 nT
+extern volatile uint32_t g_optic_mag_value;
+extern volatile uint8_t  g_optic_mag_fresh;
+
+void OpticMag_Init(UART_HandleTypeDef *huart);
+void OpticMag_UART_RxCpltCallback(UART_HandleTypeDef *huart);
+void OpticMag_UART_ErrorCallback(UART_HandleTypeDef *huart);
+
+#endif // OPTIC_MAG_DRIVER_H