✨ feat(scripts): 新增光泵磁力仪数据支持与混流解析

- 新增混流解析函数 `parse_mixed_stream()`，支持标准包与光泵包交替出现的二进制文件
- 新增光泵磁力仪模拟器 `OpticMagSimulatorThread`，以可配置频率发送BCD帧
- 新增光泵磁场显示标签页，支持文件模式与实时模式下的磁场曲线绘制
- 新增 `flash_counter` 模块，用于NOFX模式下文件序号持久化

♻️ refactor(data_storage): 重构数据存储目录与文件命名策略

- 会话目录改为按GPS日期命名（YYYYMMDD），无GPS时使用NOFX目录
- 文件命名改为基于GPS时间（HHMMSS）或Flash计数器（C开头），消除序号文件依赖
- 移除 `config_manager` 依赖和 `PARAM.TXT` 序号文件读写逻辑
- 新增 `GPS_ParseGPRMC()` 解析函数，提取日期字段用于目录命名

🐛 fix(ltc2508_driver): 修复DMA启动失败时资源泄漏问题

- SPI2/SPI3 DMA启动失败时主动停止已启动的DMA，防止资源泄漏
- 将SPI1的dummy发送缓冲区改为static，确保DMA传输期间数据有效

🐛 fix(rs485_driver): 修复DMA发送缓冲区可能被覆盖的问题

- 引入静态发送缓冲区 `s_tx_buf`，隔离调用方数据与DMA传输，防止TIM2 ISR覆盖

♻️ refactor(ATEMParse): 重构数据结构定义与解析逻辑

- 移除硬编码的V1/V2 dtype，改为动态构建 `make_dtype()` 函数
- 新增数据格式选项（GPS经纬度/光泵），支持灵活配置
- 新增文件模式下的分页浏览功能（滑块/上一页/下一页）
- 优化实时模式下的光泵数据显示与表格列过滤

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

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
 

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);

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 */

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;

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）
+// 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       1       // 系统监控开关
+#define ENABLE_SYSTEM_MONITOR       CFG_ENABLE_SYSTEM_MONITOR
-#define DEBUG_OUTPUT_INTERVAL_MS    30000    // 调试输出间隔(毫秒)
+#define DEBUG_OUTPUT_INTERVAL_MS    CFG_DEBUG_OUTPUT_INTERVAL_MS
-#define MONITOR_SAVE_INTERVAL_MS    30000   // 监控状态保存间隔(毫秒) - 30秒
+#define MONITOR_SAVE_INTERVAL_MS    CFG_MONITOR_SAVE_INTERVAL_MS
-
-// 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
 /* 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)
+    if (LTC2508_GetReadyBuffer(&ready_buffer) != LTC2508_OK || ready_buffer == NULL) return;
-    {
+
-        // 检查存储缓冲区是否可用（用于决定是否存储数据）
+    // 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,
-            can_store_data = DataStorage_IsBufferAvailable(&g_data_storage, max_packet_size);
+                             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）
+        if (optic_fresh) {
-          // float lat = gps_valid ? (float)current_gps_data.position.latitude : 0.0f;
+            PackCorrectedDataWithOptic(&g_corrected_packet_with_optic,
-          // float lon = gps_valid ? (float)current_gps_data.position.longitude : 0.0f;
+                correction_result.corrected_x, correction_result.corrected_y,
-          // float alt = gps_valid ? (float)current_gps_data.position.altitude : 0.0f;
+                correction_result.corrected_z, gps_time, lat, lon, alt, optic_val);
-          float lat = (float)current_gps_data.position.latitude;
+            send_ptr  = (const uint8_t *)&g_corrected_packet_with_optic;
-          float lon = (float)current_gps_data.position.longitude;
+            send_size = sizeof(CorrectedDataPacketWithOptic_t);
-          float alt = (float)current_gps_data.position.altitude;
+        } else {
-          uint32_t gps_time = gps_valid ? (current_gps_data.time.hour * 10000 + 
-                                           current_gps_data.time.minute * 100 + 
-                                           current_gps_data.time.second) : 0;
-          
             PackCorrectedDataWithGPS(&g_corrected_packet_with_gps,
-                           correction_result.corrected_x,
+                correction_result.corrected_x, correction_result.corrected_y,
-                           correction_result.corrected_y,
+                correction_result.corrected_z, gps_time, lat, lon, alt);
-                           correction_result.corrected_z,
+            send_ptr  = (const uint8_t *)&g_corrected_packet_with_gps;
-                           gps_time,
+            send_size = sizeof(CorrectedDataPacketWithGPS_t);
-                           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));
         }
 
     } else {
 
-          // 4b. 校正失败或未启用，使用原始数据
+        if (optic_fresh) {
-          // float lat = gps_valid ? (float)current_gps_data.position.latitude : 0.0f;
+            PackDataWithOptic(&g_data_packet_with_optic,
-          // float lon = gps_valid ? (float)current_gps_data.position.longitude : 0.0f;
+                raw_adc[0], raw_adc[1], raw_adc[2],
-          // float alt = gps_valid ? (float)current_gps_data.position.altitude : 0.0f;
+                gps_time, lat, lon, alt, optic_val);
-          float lat = (float)current_gps_data.position.latitude;
+            send_ptr  = (const uint8_t *)&g_data_packet_with_optic;
-          float lon = (float)current_gps_data.position.longitude;
+            send_size = sizeof(DataPacketWithOptic_t);
-          float alt = (float)current_gps_data.position.altitude;
+        } else {
-          uint32_t gps_time = gps_valid ? (current_gps_data.time.hour * 10000 + 
+            PackData(&g_data_packet,
-                                           current_gps_data.time.minute * 100 + 
+                raw_adc[0], raw_adc[1], raw_adc[2],
-                                           current_gps_data.time.second) : 0;
+                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);
+    // 4. 发送到RS485串口
-
-          // 发送原始数据包到串口（运行时配置）
     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) {
+            DataStorage_WriteRawBytes(&g_data_storage, send_ptr, send_size);
-              // 存储校正后的数据（带GPS信息）
-              DataStorage_WriteCorrectedData(&g_data_storage, (CorrectedDataPacket_t*)&g_corrected_packet_with_gps);
         } 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 {
-
-    }
 }
 
 /**
@@ -411,6 +399,7 @@ static HAL_StatusTypeDef MountFileSystemForSampling(void)
   extern FATFS SDFatFS;
   extern char SDPath[4];
   extern SD_HandleTypeDef hsd;
+  BYTE work[_MAX_SS];
   
   if (g_fatfs_mounted_for_sampling) {
     return HAL_OK; // 已经挂载
@@ -422,22 +411,42 @@ static HAL_StatusTypeDef MountFileSystemForSampling(void)
     return HAL_ERROR;
   }
   
-//  FRESULT format_result = f_mkfs(SDPath, FM_FAT32, 0, NULL, 0);
+  // 目标格式参数：FAT32，簇大小32768字节（512字节/扇区 × 64扇区/簇）
+  #define TARGET_CLUSTER_SIZE_BYTES  32768U
+  #define TARGET_SECTOR_SIZE_BYTES   512U
+  #define TARGET_SECTORS_PER_CLUSTER (TARGET_CLUSTER_SIZE_BYTES / TARGET_SECTOR_SIZE_BYTES)  // 64
 
   // 尝试挂载文件系统
   FRESULT mount_result = f_mount(&SDFatFS, SDPath, 1);
   
-  if (mount_result != FR_OK) {
+  uint8_t need_format = 0;
-    if (mount_result == FR_NO_FILESYSTEM)
-    {
-      DebugOutput_SendString("No filesystem found, formatting...\r\n");
 
-      // 格式化为FAT32
+  if (mount_result == FR_OK) {
-      FRESULT format_result = f_mkfs(SDPath, FM_FAT32, 0, NULL, 0);
+    // 挂载成功，验证文件系统类型和簇大小是否符合目标格式
+    if (SDFatFS.fs_type != FS_FAT32) {
+      DebugOutput_SendString("Not FAT32, reformatting...\r\n");
+      f_mount(NULL, SDPath, 0);
+      need_format = 1;
+    } else if (SDFatFS.csize != TARGET_SECTORS_PER_CLUSTER) {
+      DebugOutput_SendString("Cluster size mismatch, reformatting...\r\n");
+      f_mount(NULL, SDPath, 0);
+      need_format = 1;
+    }
+  } else if (mount_result == FR_NO_FILESYSTEM) {
+    DebugOutput_SendString("No filesystem found, formatting...\r\n");
+    need_format = 1;
+  } else {
+    DebugOutput_SendString("Mount failed with other error\r\n");
+    return HAL_ERROR;
+  }
+
+  if (need_format) {
+    FRESULT format_result = f_mkfs(SDPath, FM_FAT32, TARGET_CLUSTER_SIZE_BYTES, work, sizeof(work));
 
     if (format_result == FR_OK) {
       DebugOutput_SendString("Format successful, remounting...\r\n");
       mount_result = f_mount(&SDFatFS, SDPath, 1);
+
       if (mount_result != FR_OK) {
         DebugOutput_SendString("Remount after format failed\r\n");
         return HAL_ERROR;
@@ -446,10 +455,6 @@ static HAL_StatusTypeDef MountFileSystemForSampling(void)
       DebugOutput_SendString("Format failed\r\n");
       return HAL_ERROR;
     }
-    } else {
-      DebugOutput_SendString("Mount failed with other error\r\n");
-      return HAL_ERROR;
-    }
   }
   
   g_fatfs_mounted_for_sampling = 1;
@@ -519,6 +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
@@ -526,9 +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();
   
@@ -545,13 +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 CFG_LOAD_FROM_FILE
-      if (Config_Load() == HAL_OK) {
+      Config_Load();
-        DebugOutput_SendString("Config loaded from SD card\r\n");
+#endif
-      } else {
-        DebugOutput_SendString("Using default config\r\n");
-      }
-      
       // 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）
@@ -570,9 +575,10 @@ int main(void)
     }
   }
 
+// #define NEED_FORMAT_SD
 #ifdef NEED_FORMAT_SD
 //  Raw_Hardware_Test();
-//  SDNAND_ForceFormat_and_Mount();
+  SDNAND_ForceFormat_and_Mount();
   Run_SDNAND_SpeedTest_V2();
   while(1)
   {
@@ -794,8 +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);
   }
 }
 

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.
   */

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 */

STM_ATEM_F405_App.ioc

@@ -111,9 +111,10 @@ Mcu.IP0=DMA
 Mcu.IP1=FATFS
 Mcu.IP10=TIM2
 Mcu.IP11=USART1
-Mcu.IP12=USART3
+Mcu.IP12=USART2
-Mcu.IP13=USB_DEVICE
+Mcu.IP13=USART3
-Mcu.IP14=USB_OTG_FS
+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.Pin10=PB11
-Mcu.Pin11=PB15
+Mcu.Pin11=PB13
-Mcu.Pin12=PC7
+Mcu.Pin12=PB15
-Mcu.Pin13=PC8
+Mcu.Pin13=PC7
-Mcu.Pin14=PC9
+Mcu.Pin14=PC8
-Mcu.Pin15=PA8
+Mcu.Pin15=PC9
-Mcu.Pin16=PA9
+Mcu.Pin16=PA8
-Mcu.Pin17=PA10
+Mcu.Pin17=PA9
-Mcu.Pin18=PA11
+Mcu.Pin18=PA10
-Mcu.Pin19=PA12
+Mcu.Pin19=PA11
 Mcu.Pin2=PC3
-Mcu.Pin20=PA13
+Mcu.Pin20=PA12
-Mcu.Pin21=PA14
+Mcu.Pin21=PA13
-Mcu.Pin22=PC10
+Mcu.Pin22=PA14
-Mcu.Pin23=PC11
+Mcu.Pin23=PC10
-Mcu.Pin24=PC12
+Mcu.Pin24=PC11
-Mcu.Pin25=PD2
+Mcu.Pin25=PC12
-Mcu.Pin26=PB3
+Mcu.Pin26=PD2
-Mcu.Pin27=PB5
+Mcu.Pin27=PB3
-Mcu.Pin28=VP_FATFS_VS_SDIO
+Mcu.Pin28=PB5
-Mcu.Pin29=VP_SYS_VS_Systick
+Mcu.Pin29=VP_FATFS_VS_SDIO
 Mcu.Pin3=PA1
-Mcu.Pin30=VP_TIM2_VS_ClockSourceINT
+Mcu.Pin30=VP_SYS_VS_Systick
-Mcu.Pin31=VP_USB_DEVICE_VS_USB_DEVICE_MSC_FS
+Mcu.Pin31=VP_TIM2_VS_ClockSourceINT
+Mcu.Pin32=VP_USB_DEVICE_VS_USB_DEVICE_MSC_FS
 Mcu.Pin4=PA2
-Mcu.Pin5=PA5
+Mcu.Pin5=PA3
-Mcu.Pin6=PA6
+Mcu.Pin6=PA5
-Mcu.Pin7=PA7
+Mcu.Pin7=PA6
-Mcu.Pin8=PB10
+Mcu.Pin8=PA7
-Mcu.Pin9=PB11
+Mcu.Pin9=PB10
-Mcu.PinsNb=32
+Mcu.PinsNb=33
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F405RGTx
@@ -175,7 +177,7 @@ NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.EXTI1_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
 NVIC.ForceEnableDMAVector=true
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
-NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
+NVIC.MemoryManagement_IRQn=true\:0\:0\:true\:false\:true\:false\:false\:false
 NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.OTG_FS_IRQn=true\:11\:0\:true\:false\:true\:false\:true\:true
 NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
@@ -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.Mode=Asynchronous
-PA2.GPIO_Label=ADC_SYNC
+PA2.Signal=USART2_TX
-PA2.Locked=true
+PA3.Mode=Asynchronous
-PA2.Signal=GPIO_Output
+PA3.Signal=USART2_RX
 PA5.Mode=Full_Duplex_Master
 PA5.Signal=SPI1_SCK
 PA6.Mode=Full_Duplex_Master
@@ -289,8 +292,8 @@ ProjectManager.MainLocation=Core/Src
 ProjectManager.NoMain=false
 ProjectManager.PreviousToolchain=
 ProjectManager.ProjectBuild=false
-ProjectManager.ProjectFileName=STM_ATEM_F405.ioc
+ProjectManager.ProjectFileName=STM_ATEM_F405_App.ioc
-ProjectManager.ProjectName=STM_ATEM_F405
+ProjectManager.ProjectName=STM_ATEM_F405_App
 ProjectManager.ProjectStructure=
 ProjectManager.RegisterCallBack=
 ProjectManager.StackSize=0x1000
@@ -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

Scripts/atem_parse.py

@@ -1,686 +0,0 @@
-import sys
-import time
-import numpy as np
-import pandas as pd
-import serial
-import serial.tools.list_ports
-from PyQt6.QtWidgets import (QApplication, QMainWindow, QWidget, QVBoxLayout, 
-                             QHBoxLayout, QPushButton, QFileDialog, QTableView, 
-                             QLabel, QRadioButton, QButtonGroup, QTabWidget, 
-                             QMessageBox, QHeaderView, QCheckBox, QComboBox, QSplitter)
-from PyQt6.QtCore import Qt, QAbstractTableModel, QThread, pyqtSignal, QTimer
-import pyqtgraph as pg
-
-# ==========================================
-# 1. 数据结构定义 (移除了 timestamp)
-# ==========================================
-RAW_DTYPE_V1 = np.dtype([
-    ('start_byte', '<u4'), 
-    ('adc1', '<i4'), ('adc2', '<i4'), ('adc3', '<i4'), 
-    ('checksum', '<u2'), ('end_byte', '<u2')
-])
-CORRECTED_DTYPE_V1 = np.dtype([
-    ('start_byte', '<u4'), 
-    ('corr_x', '<f4'), ('corr_y', '<f4'), ('corr_z', '<f4'), 
-    ('checksum', '<u2'), ('end_byte', '<u2')
-])
-
-# ⚠️ 注意: 移除了 timestamp，保留了 gps_altitude
-RAW_DTYPE_V2 = np.dtype([
-    ('start_byte', '<u4'), 
-    ('adc1', '<i4'), ('adc2', '<i4'), ('adc3', '<i4'), 
-    ('gps_time', '<u4'), ('gps_latitude', '<f4'), ('gps_longitude', '<f4'), 
-    ('gps_altitude', '<f4') 
-])
-CORRECTED_DTYPE_V2 = np.dtype([
-    ('start_byte', '<u4'), 
-    ('corr_x', '<f4'), ('corr_y', '<f4'), ('corr_z', '<f4'), 
-    ('gps_time', '<u4'), ('gps_latitude', '<f4'), ('gps_longitude', '<f4'), 
-    ('gps_altitude', '<f4')
-])
-
-# ==========================================
-# 2. 高性能表格模型
-# ==========================================
-class BigDataModel(QAbstractTableModel):
-    def __init__(self, data):
-        super(BigDataModel, self).__init__()
-        self._data = data
-
-    def rowCount(self, parent=None):
-        return self._data.shape[0]
-
-    def columnCount(self, parent=None):
-        return self._data.shape[1]
-
-    def data(self, index, role=Qt.ItemDataRole.DisplayRole):
-        if index.isValid() and role == Qt.ItemDataRole.DisplayRole:
-            val = self._data.iloc[index.row(), index.column()]
-            if isinstance(val, (float, np.floating)):
-                return f"{val:.6f}"
-            return str(val)
-        return None
-
-    def headerData(self, col, orientation, role):
-        if orientation == Qt.Orientation.Horizontal and role == Qt.ItemDataRole.DisplayRole:
-            return self._data.columns[col]
-        return None
-
-# ==========================================
-# 3. 后台线程：串口数据接收 (带异常安全关闭)
-# ==========================================
-class SerialReaderThread(QThread):
-    data_received = pyqtSignal(np.ndarray)
-    error_occurred = pyqtSignal(str)
-
-    def __init__(self, port, baudrate, dtype):
-        super().__init__()
-        self.port = port
-        self.baudrate = baudrate
-        self.dtype = dtype
-        self.is_running = False
-        self.serial_port = None
-
-    def run(self):
-        self.is_running = True
-        buffer = bytearray()
-        packet_size = self.dtype.itemsize
-        start_marker = b'\xff\xff\xff\xff'
-
-        try:
-            self.serial_port = serial.Serial(self.port, self.baudrate, timeout=1)
-            
-            while self.is_running:
-                if self.serial_port and self.serial_port.in_waiting > 0:
-                    data = self.serial_port.read(self.serial_port.in_waiting)
-                    buffer.extend(data)
-                    
-                    packets = []
-                    while True:
-                        idx = buffer.find(start_marker)
-                        if idx == -1:
-                            buffer = buffer[-3:] if len(buffer) >= 3 else buffer
-                            break
-                        
-                        if len(buffer) >= idx + packet_size:
-                            packet_bytes = buffer[idx : idx + packet_size]
-                            packets.append(packet_bytes)
-                            buffer = buffer[idx + packet_size :]
-                        else:
-                            buffer = buffer[idx:]
-                            break
-                            
-                    if packets:
-                        combined_bytes = b''.join(packets)
-                        parsed_arr = np.frombuffer(combined_bytes, dtype=self.dtype)
-                        self.data_received.emit(parsed_arr)
-
-        except Exception as e:
-            if self.is_running: 
-                self.error_occurred.emit(str(e))
-        finally:
-            self.stop()
-
-    def stop(self):
-        self.is_running = False
-        if self.serial_port:
-            try:
-                self.serial_port.cancel_read()
-            except Exception:
-                pass
-            try:
-                if self.serial_port.is_open:
-                    self.serial_port.close()
-            except Exception:
-                pass 
-            finally:
-                self.serial_port = None
-
-# ==========================================
-# 4. 后台线程：GPS 动态模拟输出 (10Hz)
-# ==========================================
-class GPSSimulatorThread(QThread):
-    error_occurred = pyqtSignal(str)
-
-    def __init__(self, port, baudrate):
-        super().__init__()
-        self.port = port
-        self.baudrate = baudrate
-        self.is_running = False
-        self.serial_port = None
-
-    def get_nmea_checksum(self, sentence):
-        calc_cksum = 0
-        for char in sentence:
-            calc_cksum ^= ord(char)
-        return f"{calc_cksum:02X}"
-
-    def run(self):
-        self.is_running = True
-        try:
-            self.serial_port = serial.Serial(self.port, self.baudrate, timeout=1)
-            
-            current_lat = 39.9042
-            current_lon = 116.3972
-            current_alt = 43.0  
-            
-            lat_step = 0.00001
-            lon_step = 0.00001
-            alt_step = 0.05     
-            
-            while self.is_running:
-                start_time = time.perf_counter()
-                
-                now = time.time()
-                gm_time = time.gmtime(now)
-                ms = int((now % 1) * 1000) 
-                time_str = time.strftime("%H%M%S", gm_time) + f".{ms:03d}"
-                date_str = time.strftime("%d%m%y", gm_time)
-                
-                current_lat += lat_step
-                current_lon += lon_step
-                current_alt += alt_step
-                
-                lat_deg = int(abs(current_lat))
-                lat_min = (abs(current_lat) - lat_deg) * 60
-                lat_str = f"{lat_deg:02d}{lat_min:07.4f}"
-                lat_dir = "N" if current_lat >= 0 else "S"
-                
-                lon_deg = int(abs(current_lon))
-                lon_min = (abs(current_lon) - lon_deg) * 60
-                lon_str = f"{lon_deg:03d}{lon_min:07.4f}"
-                lon_dir = "E" if current_lon >= 0 else "W"
-                
-                speed_knots = "19.4" 
-                course_true = "45.0" 
-                
-                gga_core = f"GPGGA,{time_str},{lat_str},{lat_dir},{lon_str},{lon_dir},1,08,1.0,{current_alt:.1f},M,0.0,M,,"
-                rmc_core = f"GPRMC,{time_str},A,{lat_str},{lat_dir},{lon_str},{lon_dir},{speed_knots},{course_true},{date_str},0.0,E"
-                
-                gga_sentence = f"${gga_core}*{self.get_nmea_checksum(gga_core)}\r\n"
-                rmc_sentence = f"${rmc_core}*{self.get_nmea_checksum(rmc_core)}\r\n"
-                
-                if self.serial_port and self.serial_port.is_open:
-                    self.serial_port.write(gga_sentence.encode('ascii'))
-                    self.serial_port.write(rmc_sentence.encode('ascii'))
-                
-                elapsed = time.perf_counter() - start_time
-                sleep_time = 0.1 - elapsed
-                if sleep_time > 0:
-                    time.sleep(sleep_time)
-
-        except Exception as e:
-            if self.is_running:
-                self.error_occurred.emit(str(e))
-        finally:
-            self.stop()
-
-    def stop(self):
-        self.is_running = False
-        if self.serial_port:
-            try:
-                self.serial_port.cancel_write()
-            except Exception:
-                pass
-            try:
-                if self.serial_port.is_open:
-                    self.serial_port.close()
-            except Exception:
-                pass 
-            finally:
-                self.serial_port = None
-
-# ==========================================
-# 5. 主窗口
-# ==========================================
-class DataAnalyzerUI(QMainWindow):
-    def __init__(self):
-        super().__init__()
-        self.setWindowTitle("🚀 高性能数据分析工具 (含经纬度地图与海拔曲线)")
-        self.resize(1300, 900)
-        
-        self.df = pd.DataFrame()
-        self.live_data_list = []
-        self.is_live_mode = False
-        self.curves = []
-        
-        self.last_fps_time = 0
-        self.frame_count = 0
-        self.last_packet_count = 0
-        self.current_packet_count = 0
-        
-        self.is_sim_running = False
-        self.sim_thread = None
-
-        pg.setConfigOptions(antialias=False)
-        self.init_ui()
-        
-        self.plot_timer = QTimer()
-        self.plot_timer.timeout.connect(self.update_live_plot)
-        
-    def init_ui(self):
-        main_widget = QWidget()
-        self.setCentralWidget(main_widget)
-        layout = QVBoxLayout(main_widget)
-        
-        # --- 第一排工具栏 ---
-        top_bar1 = QHBoxLayout()
-        self.ver_group = QButtonGroup(self)
-        self.rb_v2 = QRadioButton("V2 (带GPS与海拔)")
-        self.rb_v2.setChecked(True)
-        self.ver_group.addButton(self.rb_v2)
-        
-        self.mode_group = QButtonGroup(self)
-        self.rb_raw = QRadioButton("原始数据 (Raw)")
-        self.rb_corr = QRadioButton("校正数据 (Corr)")
-        self.rb_raw.setChecked(True)
-        self.mode_group.addButton(self.rb_raw)
-        self.mode_group.addButton(self.rb_corr)
-        
-        btn_load = QPushButton("📂 打开文件")
-        btn_load.clicked.connect(self.load_file)
-        btn_export = QPushButton("💾 导出CSV")
-        btn_export.clicked.connect(self.export_csv)
-        
-        self.chk_mouse_mode = QCheckBox("🔍 鼠标框选放大")
-        self.chk_mouse_mode.stateChanged.connect(self.toggle_mouse_mode)
-        
-        btn_autoscale = QPushButton("⟲ 复位视图")
-        btn_autoscale.clicked.connect(self.reset_view)
-
-        top_bar1.addWidget(QLabel("版本:"))
-        top_bar1.addWidget(self.rb_v2)
-        top_bar1.addSpacing(15)
-        top_bar1.addWidget(QLabel("模式:"))
-        top_bar1.addWidget(self.rb_raw)
-        top_bar1.addWidget(self.rb_corr)
-        top_bar1.addSpacing(15)
-        top_bar1.addWidget(btn_load)
-        top_bar1.addWidget(btn_export)
-        top_bar1.addStretch()
-        top_bar1.addWidget(self.chk_mouse_mode) 
-        top_bar1.addWidget(btn_autoscale)
-        
-        # --- 第二排工具栏 ---
-        top_bar2 = QHBoxLayout()
-        self.cb_ports = QComboBox()
-        self.cb_baudrate = QComboBox()
-        self.cb_baudrate.addItems(["9600", "115200", "230400", "460800", "921600", "2000000"])
-        self.cb_baudrate.setCurrentText("115200")
-        btn_refresh_ports = QPushButton("🔄 刷新端口")
-        btn_refresh_ports.clicked.connect(self.refresh_ports)
-        self.btn_toggle_serial = QPushButton("▶ 打开接收串口")
-        self.btn_toggle_serial.setStyleSheet("background-color: #4CAF50; color: white; font-weight: bold;")
-        self.btn_toggle_serial.clicked.connect(self.toggle_serial)
-
-        top_bar2.addWidget(QLabel("🔌 接收串口:"))
-        top_bar2.addWidget(self.cb_ports)
-        top_bar2.addWidget(btn_refresh_ports)
-        top_bar2.addWidget(QLabel("波特率:"))
-        top_bar2.addWidget(self.cb_baudrate)
-        top_bar2.addWidget(self.btn_toggle_serial)
-        top_bar2.addStretch()
-
-        # --- 第三排工具栏 (GPS 模拟器) ---
-        top_bar3 = QHBoxLayout()
-        self.cb_sim_ports = QComboBox()
-        self.cb_sim_baudrate = QComboBox()
-        self.cb_sim_baudrate.addItems(["9600", "115200", "230400", "460800", "921600"])
-        self.cb_sim_baudrate.setCurrentText("115200")
-        self.btn_toggle_sim = QPushButton("🛰 开启GPS动态模拟 (10Hz)")
-        self.btn_toggle_sim.setStyleSheet("background-color: #FF9800; color: white; font-weight: bold;")
-        self.btn_toggle_sim.clicked.connect(self.toggle_gps_sim)
-        
-        top_bar3.addWidget(QLabel("📡 输出串口:"))
-        top_bar3.addWidget(self.cb_sim_ports)
-        top_bar3.addWidget(QLabel("波特率:"))
-        top_bar3.addWidget(self.cb_sim_baudrate)
-        top_bar3.addWidget(self.btn_toggle_sim)
-        top_bar3.addStretch()
-
-        layout.addLayout(top_bar1)
-        layout.addLayout(top_bar2)
-        layout.addLayout(top_bar3)
-        self.refresh_ports()
-        
-        # --- 监控栏 ---
-        info_layout = QHBoxLayout()
-        self.lbl_info = QLabel("请加载文件或打开串口接收数据...")
-        self.lbl_info.setStyleSheet("color: blue; font-weight: bold;")
-        self.lbl_fps = QLabel("📈 绘图帧率: -- FPS | 📥 接收率: -- 包/秒")
-        self.lbl_fps.setStyleSheet("color: #E91E63; font-weight: bold;") 
-        info_layout.addWidget(self.lbl_info)
-        info_layout.addStretch()
-        info_layout.addWidget(self.lbl_fps)
-        layout.addLayout(info_layout)
-        
-        # ==========================================
-        # 多标签内容区域设置
-        # ==========================================
-        self.tabs = QTabWidget()
-        layout.addWidget(self.tabs)
-        
-        # [Tab 1] 主波形图
-        self.plot_widget = pg.PlotWidget()
-        self.plot_widget.setBackground('w')
-        self.plot_widget.showGrid(x=True, y=True, alpha=0.3)
-        self.plot_widget.addLegend()
-        self.plot_widget.setLabel('bottom', 'Data Points (Index)') # 更新了标签
-        self.plot_widget.setLabel('left', 'Value')
-        self.vb = self.plot_widget.plotItem.vb
-        self.tabs.addTab(self.plot_widget, "📈 波形图 (Plot)")
-        
-        # [Tab 2] GPS 轨迹与海拔视图
-        traj_container = QWidget()
-        traj_layout = QVBoxLayout(traj_container)
-        traj_splitter = QSplitter(Qt.Orientation.Vertical)
-        
-        self.traj_plot = pg.PlotWidget(title="🗺️ 实时轨迹 (经度 vs 纬度)")
-        self.traj_plot.setBackground('w')
-        self.traj_plot.showGrid(x=True, y=True, alpha=0.5)
-        self.traj_plot.setLabel('bottom', 'Longitude (经度)')
-        self.traj_plot.setLabel('left', 'Latitude (纬度)')
-        self.traj_curve = self.traj_plot.plot(pen=pg.mkPen('b', width=2), symbol='o', symbolSize=3, symbolBrush='b')
-        
-        self.alt_plot = pg.PlotWidget(title="⛰️ 海拔高度 (Altitude)")
-        self.alt_plot.setBackground('w')
-        self.alt_plot.showGrid(x=True, y=True, alpha=0.5)
-        self.alt_plot.setLabel('bottom', 'Data Points (Index)') # 更新了标签
-        self.alt_plot.setLabel('left', 'Altitude (m)')
-        self.alt_curve = self.alt_plot.plot(pen=pg.mkPen('g', width=2))
-        
-        traj_splitter.addWidget(self.traj_plot)
-        traj_splitter.addWidget(self.alt_plot)
-        traj_layout.addWidget(traj_splitter)
-        self.tabs.addTab(traj_container, "🗺️ 轨迹与海拔 (Trajectory)")
-        
-        # [Tab 3] 数据表格
-        self.table_view = QTableView()
-        self.table_view.setAlternatingRowColors(True)
-        self.table_view.horizontalHeader().setSectionResizeMode(QHeaderView.ResizeMode.Interactive)
-        self.tabs.addTab(self.table_view, "🔢 数据表 (Table)")
-
-    def get_current_dtype(self):
-        is_v2 = self.rb_v2.isChecked()
-        is_raw = self.rb_raw.isChecked()
-        if is_v2:
-            return RAW_DTYPE_V2 if is_raw else CORRECTED_DTYPE_V2
-        return RAW_DTYPE_V1 if is_raw else CORRECTED_DTYPE_V1
-
-    def get_column_config(self):
-        is_v2 = self.rb_v2.isChecked()
-        is_raw = self.rb_raw.isChecked()
-        
-        # 这里移除了 timestamp
-        if is_raw:
-            base_cols = ['adc1', 'adc2', 'adc3']
-            labels = ['ADC 1', 'ADC 2', 'ADC 3']
-            data_cols = ['adc1', 'adc2', 'adc3']
-        else:
-            base_cols = ['corr_x', 'corr_y', 'corr_z']
-            labels = ['X Axis', 'Y Axis', 'Z Axis']
-            data_cols = ['corr_x', 'corr_y', 'corr_z']
-
-        cols = base_cols + ['gps_time', 'gps_latitude', 'gps_longitude', 'gps_altitude'] if is_v2 else base_cols + ['checksum']
-        return cols, data_cols, labels
-
-    def load_file(self):
-        if self.is_live_mode:
-            QMessageBox.warning(self, "警告", "请先关闭串口后再加载文件。")
-            return
-
-        file_name, _ = QFileDialog.getOpenFileName(self, "选择文件", "", "Data (*.dat);;All (*)")
-        if not file_name: return
-            
-        try:
-            dtype = self.get_current_dtype()
-            raw_data = np.fromfile(file_name, dtype=dtype)
-            if len(raw_data) == 0: return
-
-            self.df = pd.DataFrame(raw_data)
-            cols, data_cols, labels = self.get_column_config()
-
-            self.lbl_info.setText(f"文件加载成功 | {len(self.df)} 行 | 版本: {'V2' if self.rb_v2.isChecked() else 'V1'}")
-            self.lbl_fps.setText("📈 绘图帧率: -- FPS | 📥 接收率: -- 包/秒")
-            self.refresh_table(cols)
-            self.plot_static_data(data_cols, labels)
-
-        except Exception as e:
-            QMessageBox.critical(self, "解析错误", str(e))
-
-    def refresh_table(self, cols):
-        display_df = self.df[cols] if not self.df.empty else pd.DataFrame(columns=cols)
-        self.model = BigDataModel(display_df)
-        self.table_view.setModel(self.model)
-        self.table_view.resizeColumnsToContents()
-
-    def plot_static_data(self, data_cols, labels):
-        # 1. 主波形图静态渲染
-        self.plot_widget.clear()
-        self.curves.clear()
-        colors = ['#FF0000', '#00AA00', '#0000FF']
-        
-        # 移除了 timestamp，改为使用数据点索引
-        x_data = np.arange(len(self.df))
-        
-        for i, col in enumerate(data_cols):
-            y_data = self.df[col].values
-            curve = pg.PlotCurveItem(x=x_data, y=y_data, pen=pg.mkPen(color=colors[i], width=1.5),
-                                     name=labels[i], skipFiniteCheck=True, autoDownsample=True, clipToView=True)
-            self.plot_widget.addItem(curve)
-        
-        self.plot_widget.setLabel('bottom', 'Data Points (Index)')
-        self.reset_view()
-
-        # 2. 轨迹和海拔静态渲染
-        if self.rb_v2.isChecked() and 'gps_longitude' in self.df.columns:
-            lons = self.df['gps_longitude'].values
-            lats = self.df['gps_latitude'].values
-            alts = self.df['gps_altitude'].values if 'gps_altitude' in self.df.columns else np.zeros_like(lons)
-            
-            valid_idx = (lons != 0.0) & (lats != 0.0)
-            if np.any(valid_idx):
-                self.traj_curve.setData(lons[valid_idx], lats[valid_idx])
-            else:
-                self.traj_curve.setData(lons, lats)
-                
-            self.alt_curve.setData(alts)
-            self.traj_plot.autoRange()
-            self.alt_plot.autoRange()
-        else:
-            self.traj_curve.setData([], [])
-            self.alt_curve.setData([])
-
-    def refresh_ports(self):
-        self.cb_ports.clear()
-        self.cb_sim_ports.clear()
-        ports = serial.tools.list_ports.comports()
-        for p in ports:
-            port_name = f"{p.device} - {p.description}"
-            self.cb_ports.addItem(port_name, p.device)
-            self.cb_sim_ports.addItem(port_name, p.device)
-
-    def toggle_serial(self):
-        if not self.is_live_mode:
-            port = self.cb_ports.currentData()
-            if not port:
-                QMessageBox.warning(self, "提示", "未找到有效串口")
-                return
-                
-            baud = int(self.cb_baudrate.currentText())
-            dtype = self.get_current_dtype()
-
-            self.df = pd.DataFrame()
-            self.live_data_list = []
-            
-            self.plot_widget.clear()
-            self.curves.clear()
-            self.traj_curve.setData([], [])
-            self.alt_curve.setData([])
-            
-            self.plot_widget.setLabel('bottom', 'Latest Points (Index)')
-            
-            colors = ['#FF0000', '#00AA00', '#0000FF']
-            _, _, labels = self.get_column_config()
-            for i in range(len(labels)):
-                curve = pg.PlotCurveItem(pen=pg.mkPen(color=colors[i], width=1.5), name=labels[i])
-                self.plot_widget.addItem(curve)
-                self.curves.append(curve)
-
-            self.current_packet_count = 0
-            self.last_packet_count = 0
-            self.frame_count = 0
-            self.last_fps_time = time.perf_counter()
-            self.lbl_fps.setText("📈 绘图帧率: 计算中... | 📥 接收率: 计算中...")
-
-            self.serial_thread = SerialReaderThread(port, baud, dtype)
-            self.serial_thread.data_received.connect(self.on_live_data_received)
-            self.serial_thread.error_occurred.connect(self.on_serial_error)
-            self.serial_thread.start()
-
-            self.plot_timer.start(50) 
-
-            self.is_live_mode = True
-            self.btn_toggle_serial.setText("⏹ 关闭串口停止接收")
-            self.btn_toggle_serial.setStyleSheet("background-color: #f44336; color: white; font-weight: bold;")
-            
-            self.rb_v2.setEnabled(False)
-            self.rb_raw.setEnabled(False)
-            self.rb_corr.setEnabled(False)
-            
-        else:
-            self.serial_thread.stop()
-            self.serial_thread.wait()
-            self.plot_timer.stop()
-            
-            self.is_live_mode = False
-            self.btn_toggle_serial.setText("▶ 打开接收串口")
-            self.btn_toggle_serial.setStyleSheet("background-color: #4CAF50; color: white; font-weight: bold;")
-            self.lbl_fps.setText("📈 绘图帧率: -- FPS | 📥 接收率: -- 包/秒")
-            
-            self.rb_v2.setEnabled(True)
-            self.rb_raw.setEnabled(True)
-            self.rb_corr.setEnabled(True)
-            
-            if self.live_data_list:
-                full_array = np.concatenate(self.live_data_list)
-                self.df = pd.DataFrame(full_array)
-                cols, _, _ = self.get_column_config()
-                self.refresh_table(cols)
-                self.lbl_info.setText(f"串口采集完毕。总计收集 {len(self.df)} 行数据。")
-
-    def on_live_data_received(self, data_array):
-        self.live_data_list.append(data_array)
-        self.current_packet_count += len(data_array)
-        self.lbl_info.setText(f"🟢 正在接收数据... 已接收: {self.current_packet_count} 帧")
-
-    def update_live_plot(self):
-        self.frame_count += 1
-        current_time = time.perf_counter()
-        elapsed = current_time - self.last_fps_time
-        
-        if elapsed >= 1.0:
-            fps = self.frame_count / elapsed
-            pps = (self.current_packet_count - self.last_packet_count) / elapsed
-            self.lbl_fps.setText(f"📈 绘图帧率: {fps:.1f} FPS | 📥 接收率: {pps:.0f} 包/秒")
-            
-            self.last_fps_time = current_time
-            self.frame_count = 0
-            self.last_packet_count = self.current_packet_count
-
-        if not self.live_data_list:
-            return
-            
-        MAX_POINTS = 5000 
-        recent_chunks = []
-        point_count = 0
-        for arr in reversed(self.live_data_list):
-            recent_chunks.append(arr)
-            point_count += len(arr)
-            if point_count >= MAX_POINTS:
-                break
-                
-        recent_data = np.concatenate(recent_chunks[::-1])
-        if len(recent_data) > MAX_POINTS:
-            recent_data = recent_data[-MAX_POINTS:]
-
-        # 1. 更新主波形图 (自动以接收点索引作为 X 轴)
-        _, data_cols, _ = self.get_column_config()
-        for i, col in enumerate(data_cols):
-            y_data = recent_data[col]#  / 429496729.0
-            self.curves[i].setData(y_data)
-
-        # 2. 更新轨迹和海拔
-        if self.rb_v2.isChecked() and 'gps_longitude' in recent_data.dtype.names:
-            lons = recent_data['gps_longitude']
-            lats = recent_data['gps_latitude']
-            alts = recent_data['gps_altitude'] if 'gps_altitude' in recent_data.dtype.names else np.zeros_like(lons)
-            
-            valid_idx = (lons != 0.0) & (lats != 0.0)
-            if np.any(valid_idx):
-                self.traj_curve.setData(lons[valid_idx], lats[valid_idx])
-            else:
-                self.traj_curve.setData(lons, lats)
-                
-            self.alt_curve.setData(alts)
-
-    def on_serial_error(self, err_msg):
-        self.toggle_serial() 
-        QMessageBox.critical(self, "接收串口错误", f"发生错误：\n{err_msg}")
-
-    def toggle_gps_sim(self):
-        if not self.is_sim_running:
-            port = self.cb_sim_ports.currentData()
-            if not port:
-                QMessageBox.warning(self, "提示", "未找到有效的输出串口")
-                return
-            
-            if self.is_live_mode and port == self.cb_ports.currentData():
-                reply = QMessageBox.question(self, "警告", 
-                                             "模拟输出端口与当前接收端口相同，可能会导致端口冲突。确定要继续吗？",
-                                             QMessageBox.StandardButton.Yes | QMessageBox.StandardButton.No)
-                if reply == QMessageBox.StandardButton.No: return
-                
-            baud = int(self.cb_sim_baudrate.currentText())
-            self.sim_thread = GPSSimulatorThread(port, baud)
-            self.sim_thread.error_occurred.connect(self.on_sim_error)
-            self.sim_thread.start()
-            
-            self.is_sim_running = True
-            self.btn_toggle_sim.setText("⏹ 关闭GPS动态模拟")
-            self.btn_toggle_sim.setStyleSheet("background-color: #f44336; color: white; font-weight: bold;")
-        else:
-            self.sim_thread.stop()
-            self.sim_thread.wait()
-            
-            self.is_sim_running = False
-            self.btn_toggle_sim.setText("🛰 开启GPS动态模拟 (10Hz)")
-            self.btn_toggle_sim.setStyleSheet("background-color: #FF9800; color: white; font-weight: bold;")
-
-    def on_sim_error(self, err_msg):
-        self.toggle_gps_sim() 
-        QMessageBox.critical(self, "输出串口错误", f"模拟器串口发生错误：\n{err_msg}")
-
-    def toggle_mouse_mode(self, state):
-        mode = self.vb.RectMode if state == 2 else self.vb.PanMode
-        self.vb.setMouseMode(mode)
-        self.traj_plot.plotItem.vb.setMouseMode(mode)
-        self.alt_plot.plotItem.vb.setMouseMode(mode)
-
-    def reset_view(self):
-        self.plot_widget.autoRange()
-        self.traj_plot.autoRange()
-        self.alt_plot.autoRange()
-
-    def export_csv(self):
-        if self.df.empty: return
-        path, _ = QFileDialog.getSaveFileName(self, "保存", "export.csv", "CSV (*.csv)")
-        if path:
-            self.df.to_csv(path, index=False)
-            QMessageBox.information(self, "完成", "导出成功")
-
-if __name__ == "__main__":
-    app = QApplication(sys.argv)
-    w = DataAnalyzerUI()
-    w.show()
-    sys.exit(app.exec())

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     0
+
+// 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

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_UART_OUTPUT_ENABLED     CFG_UART_OUTPUT_ENABLED
-#define DEFAULT_STORAGE_ENABLED         0
+#define DEFAULT_STORAGE_ENABLED         CFG_STORAGE_ENABLED
 #define CONFIG_VERSION                  0x00010000  // 版本 1.0.0
 
 // 函数声明

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;
-    
+    packet->start_byte = PACKET_TYPE_STANDARD;
-    // 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->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;
+    FILL_GPS_POSITION(packet, latitude, longitude, altitude);
-    packet->gps_longitude = longitude;
-    packet->gps_altitude = 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;
-    
+    return (packet->start_byte == PACKET_TYPE_STANDARD) ? 1 : 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
 }
 
 uint8_t ValidateCorrectedPacket(const CorrectedDataPacket_t *packet)
 {
     if (packet == NULL) return 0;
-    
+    return (packet->start_byte == PACKET_TYPE_STANDARD) ? 1 : 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
 }

User/data_packet.h

@@ -2,59 +2,109 @@
 #define DATA_PACKET_H
 
 #include <stdint.h>
+#include "app_config.h"
 
-#define PACKET_START_BYTE 0xFFFFFFFF
+// 帧同步魔数（高3字节固定），低字节为类型标志
-#define PACKET_END_BYTE   0x0000
+#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 start_byte;    // PACKET_TYPE_STANDARD
-    // uint32_t timestamp;         // 系统时间戳 (4字节)
+    int32_t  adc_data1;
-    int32_t adc_data1;          // ADC1 数据 (4字节)
+    int32_t  adc_data2;
-    int32_t adc_data2;          // ADC2 数据 (4字节)
+    int32_t  adc_data3;
-    int32_t adc_data3;          // ADC3 数据 (4字节)
+    uint32_t gps_time;      // HHMMSS格式，始终存在
-    uint32_t gps_time;          // GPS时间戳 (4字节) HHMMSS格式
+#ifdef ENABLE_GPS_POSITION
-    float gps_latitude;         // GPS纬度 (4字节)
+    float    gps_latitude;
-    float gps_longitude;        // GPS经度 (4字节)
+    float    gps_longitude;
-    float gps_altitude;         // GPS海拔 (4字节)
+    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 start_byte;    // PACKET_TYPE_WITH_OPTIC
-    // uint32_t timestamp;         // 系统时间戳 (4字节)
+    int32_t  adc_data1;
-    float corrected_x;          // 校正后X轴数据 (4字节)
+    int32_t  adc_data2;
-    float corrected_y;          // 校正后Y轴数据 (4字节)
+    int32_t  adc_data3;
-    float corrected_z;          // 校正后Z轴数据 (4字节)
+    uint32_t gps_time;
-    uint32_t gps_time;          // GPS时间戳 (4字节) HHMMSS格式
+#ifdef ENABLE_GPS_POSITION
-    float gps_latitude;         // GPS纬度 (4字节)
+    float    gps_latitude;
-    float gps_longitude;        // GPS经度 (4字节)
+    float    gps_longitude;
-    float gps_altitude;         // GPS海拔 (4字节)
+    float    gps_altitude;
+#endif
+    uint32_t optical_mag;   // 单位 0.001 nT，例如 123456789 = 123456.789 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）
+// 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;        // 包头 (4字节) = 0xFFFFFFFF
+    uint32_t start_byte;    // PACKET_TYPE_WITH_OPTIC
-    // uint32_t timestamp;         // 系统时间戳 (4字节)
+    float    corrected_x;
-    float corrected_x;          // 校正后X轴数据 (4字节)
+    float    corrected_y;
-    float corrected_y;          // 校正后Y轴数据 (4字节)
+    float    corrected_z;
-    float corrected_z;          // 校正后Z轴数据 (4字节)
+    uint32_t gps_time;
-    uint32_t gps_time;          // GPS时间戳 (4字节) HHMMSS格式
+#ifdef ENABLE_GPS_POSITION
-    float gps_latitude;         // GPS纬度 (4字节)
+    float    gps_latitude;
-    float gps_longitude;        // GPS经度 (4字节)
+    float    gps_longitude;
-    float gps_altitude;         // GPS海拔 (4字节)
+    float    gps_altitude;
-} CorrectedDataPacketWithGPS_t;
+#endif
+    uint32_t optical_mag;   // 单位 0.001 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

User/data_storage.c

@@ -1,6 +1,5 @@
 #include "data_storage.h"
 #include "system_monitor.h"
-#include "config_manager.h"
 #include <string.h>
 #include <stdio.h>
 #include <stdlib.h>
@@ -31,10 +30,12 @@ HAL_StatusTypeDef DataStorage_Init(DataStorageHandle_t *handle)
     handle->flush_buffer = 1;
     handle->flush_in_progress = 0;
     
-    // 创建新的会话文件夹（每次上电创建新文件夹）
+    // 读取Flash计数器，计算本次会话起始值并立即写回
-    if (DataStorage_CreateSessionFolder(handle) != HAL_OK) {
+    // 策略：上电读取存储值+1000作为本次起始，立即写入，防止异常断电重复使用同一区间
-        return HAL_ERROR;
+    uint32_t flash_base = 0;
-    }
+    FlashCounter_Init(&flash_base);
+    handle->file_counter = flash_base + 1000;
+    FlashCounter_Write(handle->file_counter);
 
     handle->stats.state = DATA_STORAGE_IDLE;
     handle->initialized = 1;
@@ -113,6 +114,41 @@ 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
@@ -178,24 +214,47 @@ HAL_StatusTypeDef DataStorage_CreateNewFile(DataStorageHandle_t *handle)
         return HAL_ERROR;
     }
 
-    // 生成文件名 (基于时间戳)，文件存储在当前会话文件夹中
+    GPS_Data_t gps;
-    uint32_t timestamp = HAL_GetTick();
+    GPS_GetData(&gps);
-    snprintf(handle->stats.current_filename, sizeof(handle->stats.current_filename),
+
-             "%s%s%08lX.dat", handle->current_session_path, DATA_STORAGE_FILE_PREFIX, timestamp);
+    if (gps.data_valid) {
+        // GPS有效：用 HHMMSS 命名，同秒冲突时追加 _1 _2 ...
+        char base[DATA_STORAGE_MAX_PATH_LEN];
+        snprintf(base, sizeof(base), "%s/%02u%02u%02u",
+                 handle->current_session_path,
+                 gps.time.hour, gps.time.minute, gps.time.second);
+
+        FILINFO fno;
+        snprintf(handle->stats.current_filename,
+                 sizeof(handle->stats.current_filename), "%s.dat", base);
+
+        if (f_stat(handle->stats.current_filename, &fno) == FR_OK) {
+            for (int i = 1; i <= 99; i++) {
+                snprintf(handle->stats.current_filename,
+                         sizeof(handle->stats.current_filename),
+                         "%s_%d.dat", base, i);
+                if (f_stat(handle->stats.current_filename, &fno) != FR_OK) break;
+            }
+        }
+    } else {
+        // 无GPS：用Flash计数器命名 C0001000.dat
+        snprintf(handle->stats.current_filename,
+                 sizeof(handle->stats.current_filename),
+                 "%s/C%08lu.dat",
+                 handle->current_session_path, handle->file_counter++);
+    }
 
-    // 创建并打开文件
     FRESULT res = f_open(&handle->file, handle->stats.current_filename,
                          FA_CREATE_ALWAYS | FA_WRITE);
-    
     if (res != FR_OK) {
         handle->stats.error_count++;
-        SystemMonitor_ReportSDWriteError();  // 报告文件创建错误
+        SystemMonitor_ReportSDWriteError();
         return HAL_ERROR;
     }
 
     handle->stats.file_count++;
     handle->stats.current_file_size = 0;
-    SystemMonitor_ReportSDFileCreated();  // 报告文件创建成功
+    SystemMonitor_ReportSDFileCreated();
 
     return HAL_OK;
 }
@@ -230,6 +289,12 @@ HAL_StatusTypeDef DataStorage_StartRecording(DataStorageHandle_t *handle)
         return HAL_OK; // 已经在记录中
     }
 
+    // 每次开始录制时确定会话目录（此时GPS可能已定位）
+    if (DataStorage_CreateSessionFolder(handle) != HAL_OK) {
+        handle->stats.state = DATA_STORAGE_ERROR;
+        return HAL_ERROR;
+    }
+
     // 创建新文件
     if (DataStorage_CreateNewFile(handle) != HAL_OK) {
         handle->stats.state = DATA_STORAGE_ERROR;
@@ -417,108 +482,32 @@ HAL_StatusTypeDef DataStorage_CreateSessionFolder(DataStorageHandle_t *handle)
         return HAL_ERROR;
     }
 
-    // 从配置管理器获取并递增会话序号
+    // 创建基础数据目录
-    uint32_t session_number = Config_IncrementSessionNumber();
-    
-    // 生成会话文件夹名（基于序号）
-    snprintf(handle->current_session_path, sizeof(handle->current_session_path),
-             "%s/%s%06lu", DATA_STORAGE_BASE_PATH, DATA_STORAGE_FOLDER_PREFIX, session_number);
-    
-    // 创建基础数据目录（如果不存在）
     FRESULT res = f_mkdir(DATA_STORAGE_BASE_PATH);
     if (res != FR_OK && res != FR_EXIST) {
         return HAL_ERROR;
     }
 
-    // 创建会话文件夹
+    GPS_Data_t gps;
+    GPS_GetData(&gps);
+
+    if (gps.date_valid) {
+        // GPS日期有效：目录格式 0:/DATA/YYYYMMDD
+        snprintf(handle->current_session_path, sizeof(handle->current_session_path),
+                 "%s/%04u%02u%02u",
+                 DATA_STORAGE_BASE_PATH,
+                 gps.date.year, gps.date.month, gps.date.day);
+    } else {
+        // 无GPS日期：统一放入 NOFX 目录
+        snprintf(handle->current_session_path, sizeof(handle->current_session_path),
+                 "%s", DATA_STORAGE_NOFX_DIR);
+    }
+
     res = f_mkdir(handle->current_session_path);
     if (res != FR_OK && res != FR_EXIST) {
         return HAL_ERROR;
     }
 
-    // 保存更新后的配置（包含新的会话序号）
-    if (Config_Save() != HAL_OK) {
-        // 即使保存失败，也继续使用该文件夹
-        // 这不是致命错误
-    }
-    
     return HAL_OK;
 }
 
-/**
-  * @brief 从文件加载会话序号
-  * @param session_number: 用于存储序号的指针
-  * @retval HAL_StatusTypeDef
-  */
-HAL_StatusTypeDef DataStorage_LoadSessionNumber(uint32_t *session_number)
-{
-    if (session_number == NULL) {
-        return HAL_ERROR;
-    }
-    
-    FIL file;
-    FRESULT res;
-    UINT bytes_read;
-    char buffer[16];
-    
-    // 打开PARAM.TXT文件
-    res = f_open(&file, DATA_STORAGE_PARAM_FILE, FA_READ);
-    if (res != FR_OK) {
-        // 文件不存在，返回初始序号0
-        *session_number = 0;
-        return HAL_OK;
-    }
-    
-    // 读取序号
-    res = f_read(&file, buffer, sizeof(buffer) - 1, &bytes_read);
-    if (res != FR_OK) {
-        f_close(&file);
-        *session_number = 0;
-        return HAL_OK;
-    }
-    
-    // 添加字符串结束符
-    buffer[bytes_read] = '\0';
-    
-    // 关闭文件
-    f_close(&file);
-    
-    // 转换为数字
-    *session_number = (uint32_t)atoi(buffer);
-    
-    return HAL_OK;
-}
-
-/**
-  * @brief 保存会话序号到文件
-  * @param session_number: 要保存的序号
-  * @retval HAL_StatusTypeDef
-  */
-HAL_StatusTypeDef DataStorage_SaveSessionNumber(uint32_t session_number)
-{
-    FIL file;
-    FRESULT res;
-    UINT bytes_written;
-    char buffer[16];
-    
-    // 创建或覆盖PARAM.TXT文件
-    res = f_open(&file, DATA_STORAGE_PARAM_FILE, FA_CREATE_ALWAYS | FA_WRITE);
-    if (res != FR_OK) {
-        return HAL_ERROR;
-    }
-    
-    // 将序号转换为字符串
-    snprintf(buffer, sizeof(buffer), "%lu", session_number);
-    
-    // 写入序号
-    res = f_write(&file, buffer, strlen(buffer), &bytes_written);
-    if (res != FR_OK || bytes_written != strlen(buffer)) {
-        f_close(&file);
-        return HAL_ERROR;
-    }
-    
-    // 关闭文件
-    f_close(&file);
-    
-    return HAL_OK;
-}

User/data_storage.h

@@ -2,19 +2,20 @@
 #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 "flash_counter.h"
+#include "gps_driver.h"
 #include <stdint.h>
 
-// 数据存储配置
+// 数据存储配置（数值由 app_config.h 中 CFG_* 统一管理）
-#define DATA_STORAGE_BUFFER_SIZE    32768           // 缓冲区大小(字节)
+#define DATA_STORAGE_BUFFER_SIZE    CFG_STORAGE_BUFFER_SIZE
-#define DATA_STORAGE_FILE_MAX_SIZE  (100*1024*1024)  // 单个文件最大100MB
+#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_NOFX_DIR       "0:/DATA/NOFX"  // 无GPS定位时的目录
-#define DATA_STORAGE_FOLDER_PREFIX  "SESSION_"      // 文件夹名前缀
-#define DATA_STORAGE_PARAM_FILE     "0:/PARAM.TXT"  // 记录会话序号的文件
 #define DATA_STORAGE_MAX_PATH_LEN   128             // 最大路径长度
 
 // 缓冲区状态
@@ -60,6 +61,7 @@ typedef struct {
     uint8_t initialized;
     uint8_t flush_in_progress;      // 刷新进行中标志
     char current_session_path[DATA_STORAGE_MAX_PATH_LEN];  // 当前会话文件夹路径
+    uint32_t file_counter;          // NOFX模式下的文件序号（从Flash读取后+1000）
 } DataStorageHandle_t;
 
 // 函数声明
@@ -75,10 +77,6 @@ HAL_StatusTypeDef DataStorage_CreateNewFile(DataStorageHandle_t *handle);
 // 文件夹管理函数
 HAL_StatusTypeDef DataStorage_CreateSessionFolder(DataStorageHandle_t *handle);
 
-// 序号管理函数
-HAL_StatusTypeDef DataStorage_LoadSessionNumber(uint32_t *session_number);
-HAL_StatusTypeDef DataStorage_SaveSessionNumber(uint32_t session_number);
-
 // 双缓冲区管理函数
 HAL_StatusTypeDef DataStorage_SwitchBuffer(DataStorageHandle_t *handle);
 HAL_StatusTypeDef DataStorage_FlushBuffer(DataStorageHandle_t *handle, uint8_t buffer_index);
@@ -87,4 +85,7 @@ 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

User/flash_counter.c

@@ -0,0 +1,59 @@
+#include "flash_counter.h"
+
+typedef struct __attribute__((packed)) {
+    uint32_t magic;
+    uint32_t counter;
+    uint32_t checksum;  // magic ^ counter，用于检测 Flash 损坏
+} FlashCounterData_t;
+
+HAL_StatusTypeDef FlashCounter_Init(uint32_t *counter)
+{
+    const FlashCounterData_t *p = (const FlashCounterData_t *)FLASH_COUNTER_ADDR;
+
+    if (p->magic == FLASH_COUNTER_MAGIC &&
+        (p->magic ^ p->counter) == p->checksum) {
+        *counter = p->counter;
+    } else {
+        // 未初始化或校验失败，视为 0
+        *counter = 0;
+    }
+    return HAL_OK;
+}
+
+HAL_StatusTypeDef FlashCounter_Write(uint32_t counter)
+{
+    FLASH_EraseInitTypeDef erase = {
+        .TypeErase    = FLASH_TYPEERASE_SECTORS,
+        .Sector       = FLASH_COUNTER_SECTOR,
+        .NbSectors    = 1,
+        .VoltageRange = FLASH_VOLTAGE_RANGE_3,  // 2.7 ~ 3.6 V
+    };
+    uint32_t sector_error = 0;
+
+    HAL_FLASH_Unlock();
+
+    if (HAL_FLASHEx_Erase(&erase, &sector_error) != HAL_OK) {
+        HAL_FLASH_Lock();
+        return HAL_ERROR;
+    }
+
+    FlashCounterData_t data = {
+        .magic    = FLASH_COUNTER_MAGIC,
+        .counter  = counter,
+        .checksum = FLASH_COUNTER_MAGIC ^ counter,
+    };
+
+    uint32_t addr  = FLASH_COUNTER_ADDR;
+    uint32_t *word = (uint32_t *)&data;
+
+    for (uint8_t i = 0; i < sizeof(FlashCounterData_t) / 4; i++) {
+        if (HAL_FLASH_Program(FLASH_TYPEPROGRAM_WORD, addr, word[i]) != HAL_OK) {
+            HAL_FLASH_Lock();
+            return HAL_ERROR;
+        }
+        addr += 4;
+    }
+
+    HAL_FLASH_Lock();
+    return HAL_OK;
+}

User/flash_counter.h

@@ -0,0 +1,20 @@
+#ifndef FLASH_COUNTER_H
+#define FLASH_COUNTER_H
+
+#include "main.h"
+#include <stdint.h>
+
+// STM32F405 1MB Flash 最后一个扇区（Sector 11, 128KB）
+// 地址范围 0x080E0000 ~ 0x080FFFFF
+// 确保链接脚本 FLASH ORIGIN+LENGTH 不超过 0x080E0000
+#define FLASH_COUNTER_SECTOR    FLASH_SECTOR_11
+#define FLASH_COUNTER_ADDR      0x080E0000UL
+#define FLASH_COUNTER_MAGIC     0x5A5A1234UL
+
+// 从 Flash 读取计数器。首次使用（未写入）时 *counter = 0，返回 HAL_OK
+HAL_StatusTypeDef FlashCounter_Init(uint32_t *counter);
+
+// 将新计数器值擦除写入 Flash（约 1~2 ms）
+HAL_StatusTypeDef FlashCounter_Write(uint32_t counter);
+
+#endif // FLASH_COUNTER_H

User/gps_driver.c

@@ -26,6 +26,7 @@ static GPS_Data_t gps_data;                             // GPS数据
 /* Private function prototypes -----------------------------------------------*/
 static void GPS_ParseNMEA(char *nmea);
 static void GPS_ParseGPGGA(char *nmea);
+static void GPS_ParseGPRMC(char *nmea);
 static double GPS_ConvertToDecimal(const char *coord, char direction);
 
 /* Exported functions --------------------------------------------------------*/
@@ -147,6 +148,23 @@ void GPS_GetPositionString(char *buffer, uint16_t size)
     }
 }
 
+/**
+ * @brief  获取GPS日期字符串（格式 YYYYMMDD）
+ */
+void GPS_GetDateString(char *buffer, uint16_t size)
+{
+    if (buffer == NULL || size == 0) return;
+
+    if (gps_data.date_valid) {
+        snprintf(buffer, size, "%04u%02u%02u",
+                 gps_data.date.year,
+                 gps_data.date.month,
+                 gps_data.date.day);
+    } else {
+        buffer[0] = '\0';
+    }
+}
+
 /**
  * @brief  UART接收完成回调函数
  * @param  huart: UART句柄
@@ -209,11 +227,11 @@ static void GPS_ParseNMEA(char *nmea)
         return;
     }
     
-    // 检查是否为GPGGA或GNGGA语句
     if (strncmp(nmea, "$GPGGA", 6) == 0 || strncmp(nmea, "$GNGGA", 6) == 0) {
         GPS_ParseGPGGA(nmea);
+    } else if (strncmp(nmea, "$GPRMC", 6) == 0 || strncmp(nmea, "$GNRMC", 6) == 0) {
+        GPS_ParseGPRMC(nmea);
     }
-    // 可以添加其他NMEA语句的解析，如GPRMC等
 }
 
 /**
@@ -347,6 +365,50 @@ static void GPS_ParseGPGGA(char *nmea)
     }
 }
 
+/**
+ * @brief  解析 GPRMC / GNRMC 语句，提取日期字段
+ *
+ * GPRMC 格式:
+ *   $GPRMC,HHMMSS.ss,A,lat,N,lon,E,speed,course,DDMMYY,mv,mvE*CS
+ *   field 0: $GPRMC
+ *   field 1: 时间 HHMMSS.ss
+ *   field 2: 状态 A=有效 V=无效
+ *   field 9: 日期 DDMMYY  ← 目标字段
+ */
+static void GPS_ParseGPRMC(char *nmea)
+{
+    char *token;
+    char *saveptr;
+    int   field_index = 0;
+    uint8_t status_valid = 0;
+
+    token = strtok_r(nmea, ",", &saveptr);
+    while (token != NULL) {
+        switch (field_index) {
+            case 2:  // 状态
+                status_valid = (token[0] == 'A') ? 1 : 0;
+                break;
+
+            case 9:  // 日期 DDMMYY
+                if (status_valid && strlen(token) >= 6) {
+                    char dd[3] = {token[0], token[1], '\0'};
+                    char mm[3] = {token[2], token[3], '\0'};
+                    char yy[3] = {token[4], token[5], '\0'};
+                    gps_data.date.day   = (uint8_t)atoi(dd);
+                    gps_data.date.month = (uint8_t)atoi(mm);
+                    gps_data.date.year  = 2000u + (uint16_t)atoi(yy);
+                    gps_data.date_valid = 1;
+                }
+                break;
+
+            default:
+                break;
+        }
+        token = strtok_r(NULL, ",", &saveptr);
+        field_index++;
+    }
+}
+
 /**
  * @brief  将GPS坐标格式转换为十进制度
  * @param  coord: GPS坐标字符串 (ddmm.mmmm 或 dddmm.mmmm)

User/gps_driver.h

@@ -54,6 +54,15 @@ typedef struct {
     uint16_t millisec;  // 毫秒
 } GPS_Time_t;
 
+/**
+ * @brief GPS日期结构体（来自 GPRMC/GNRMC）
+ */
+typedef struct {
+    uint8_t  day;    // 日 (1~31)
+    uint8_t  month;  // 月 (1~12)
+    uint16_t year;   // 年 (完整年份，如 2025)
+} GPS_Date_t;
+
 /**
  * @brief GPS位置结构体
  */
@@ -72,9 +81,11 @@ typedef struct {
  * @brief GPS数据结构体
  */
 typedef struct {
-    GPS_Time_t time;            // GPS时间
+    GPS_Time_t time;            // GPS时间（来自GPGGA）
+    GPS_Date_t date;            // GPS日期（来自GPRMC）
     GPS_Position_t position;    // GPS位置
-    uint8_t data_valid;         // 数据有效标志 (1=有效, 0=无效)
+    uint8_t data_valid;         // 时间与位置有效（GPGGA fix > 0）
+    uint8_t date_valid;         // 日期有效（GPRMC 已收到且 status='A'）
     uint32_t last_update_tick;  // 最后更新时间戳
 } GPS_Data_t;
 
@@ -143,6 +154,14 @@ void GPS_UART_RxCpltCallback(UART_HandleTypeDef *huart);
  */
 void GPS_UART_IdleCallback(UART_HandleTypeDef *huart);
 
+/**
+ * @brief  获取GPS日期字符串（格式 YYYYMMDD，无定位时返回空字符串）
+ * @param  buffer: 输出缓冲区（至少9字节）
+ * @param  size:   缓冲区大小
+ * @retval None
+ */
+void GPS_GetDateString(char *buffer, uint16_t size);
+
 #ifdef __cplusplus
 }
 #endif

User/ltc2508_driver.c

@@ -91,30 +91,33 @@ LTC2508_StatusTypeDef LTC2508_TriggerDmaRead(void)
         current_buffer->dma_complete_count = 0;
         current_buffer->timestamp = HAL_GetTick();
         
-        // SPI2 和 SPI3 作为从机只接收
+        // SPI2 和 SPI3 作为从机只接收；必须在 SPI1（主机）启动时钟前挂好 DMA，否则从机会丢失前几个时钟
         if (HAL_SPI_Receive_DMA(g_hspi2, (uint8_t*)current_buffer->data[1], LTC2508_DATA_LEN) != HAL_OK)
         {
             current_buffer->state = LTC2508_BUFFER_EMPTY;
             g_ltc2508_stats.dma_error_count++;
             g_ltc2508_stats.error_count++;
             g_ltc2508_stats.last_error = LTC2508_ERROR_DMA;
-//            return LTC2508_ERROR_DMA;
+            return LTC2508_ERROR_DMA;
         }
 
         if (HAL_SPI_Receive_DMA(g_hspi3, (uint8_t*)current_buffer->data[2], LTC2508_DATA_LEN) != HAL_OK)
         {
             current_buffer->state = LTC2508_BUFFER_EMPTY;
+            HAL_SPI_DMAStop(g_hspi2);
             g_ltc2508_stats.dma_error_count++;
             g_ltc2508_stats.error_count++;
             g_ltc2508_stats.last_error = LTC2508_ERROR_DMA;
-//            return LTC2508_ERROR_DMA;
+            return LTC2508_ERROR_DMA;
         }
 
-        // SPI1 作为主机收发，先发一个 dummy 数据触发时钟
+        // static：DMA 传输异步完成，必须保证缓冲区生命周期覆盖整个传输过程
-        uint16_t dummy_tx[LTC2508_DATA_LEN] = {0}; // 可以是任意值
+        static uint16_t s_dummy_tx[LTC2508_DATA_LEN] = {0};
-        if (HAL_SPI_TransmitReceive_DMA(g_hspi1, (uint8_t*)dummy_tx, (uint8_t*)current_buffer->data[0], LTC2508_DATA_LEN) != HAL_OK)
+        if (HAL_SPI_TransmitReceive_DMA(g_hspi1, (uint8_t*)s_dummy_tx, (uint8_t*)current_buffer->data[0], LTC2508_DATA_LEN) != HAL_OK)
         {
             current_buffer->state = LTC2508_BUFFER_EMPTY;
+            HAL_SPI_DMAStop(g_hspi2);
+            HAL_SPI_DMAStop(g_hspi3);
             g_ltc2508_stats.dma_error_count++;
             g_ltc2508_stats.error_count++;
             g_ltc2508_stats.last_error = LTC2508_ERROR_DMA;

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);
+}

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 0.001 nT，忽略末位BCD数字，取前9位
+// 例如 123456789 表示 123456.789 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

User/rs485_driver.c

@@ -7,6 +7,11 @@ static GPIO_TypeDef* g_de_re_port = NULL;
 static uint16_t g_de_re_pin = 0;
 volatile uint8_t g_rs485_tx_busy = 0;
 
+/* DMA 异步读取期间此缓冲区必须保持有效；
+   静态副本隔离调用方的包结构体，防止下一 TIM2 ISR 覆盖源包时 DMA 仍在读取 */
+#define RS485_TX_BUF_SIZE  64
+static uint8_t s_tx_buf[RS485_TX_BUF_SIZE];
+
 void RS485_Init(UART_HandleTypeDef *huart, GPIO_TypeDef* de_re_port, uint16_t de_re_pin)
 {
     g_huart_485 = huart;
@@ -26,11 +31,15 @@ HAL_StatusTypeDef RS485_SendData(uint8_t *pData, uint16_t Size)
         return HAL_BUSY;  // 上一次传输未完成，返回忙状态
     }
 
+    if (Size > RS485_TX_BUF_SIZE) return HAL_ERROR;
+
+    memcpy(s_tx_buf, pData, Size);
+
     g_rs485_tx_busy = 1;  // 标记为忙状态
     HAL_GPIO_WritePin(g_de_re_port, g_de_re_pin, GPIO_PIN_SET); // 设置为发送模式
 
     // 使用DMA非阻塞发送
-    ret = HAL_UART_Transmit_DMA(g_huart_485, pData, Size);
+    ret = HAL_UART_Transmit_DMA(g_huart_485, s_tx_buf, Size);
     
     if (ret != HAL_OK)
     {