Air001若把PB6配置为SERVO引脚，会导致烧写程序困难

[StreakingJerry]

描述一下这个bug / Describe the bug

以下Arduino程序烧录后会导致刷写新程序异常困难，重复尝试十几次才能成功烧录一次。后来发现只要把舵机引脚PB6改为其他就可以正常刷写，说明程序对引脚的引用干扰了reset后boot模式的判断。如果无法修复的话建议直接禁用PB6作为输出功能使用，若使用则触发报错

复现步骤 / To Reproduce

··· #include <Servo.h>

Servo servo_x; Servo servo_y;

int pos_x = 0; int pos_y = 0; int ms_x = 1500; int ms_y = 1500; int step = 15; int deadband = 5;

int i; int xy[4]; int width = 168; int height = 224;

HardwareSerial Serial2(PA1, PA0); // RX, TX void setup() { servo_x.attach(PB6); servo_y.attach(PB2); Serial1.begin(9600); Serial2.begin(9600); Serial1.println("All Done"); }

void loop() { if (Serial2.available() > 5) { if (Serial2.read() == 254) { for (i = 0; i < 4; i++) { xy[i] = Serial2.read(); } if (Serial2.read() != 255) { Serial1.println("Error!"); } } // Serial1.println(xy[0]); //x1 // Serial1.println(xy[1]); //y1 // Serial1.println(xy[2]); //x2 // Serial1.println(xy[3]); //y2 // Serial1.println();

pos_x = (xy[0] + xy[2])/2;
pos_y = (xy[1] + xy[3])/2;

} if (pos_x - (width/2) > deadband) { ms_x += step; } else if ((width/2) - pos_x > deadband) { ms_x -= step; } if (ms_x > 2000) { ms_x = 2000; } if (ms_x < 1000) { ms_x = 1000; } Serial1.println(pos_x - (width/2));

// for (pos_x = 0; pos_x <= 180; pos_x += 1) { // goes from 0 degrees to 180 degrees // // in steps of 1 degree // servo_x.write(pos_x); // tell servo to go to position in variable 'pos' // delay(speed); // waits 15ms for the servo to reach the position // } // for (pos_x = 180; pos_x >= 0; pos_x -= 1) { // goes from 180 degrees to 0 degrees // servo_x.write(pos_x); // tell servo to go to position in variable 'pos' // delay(speed); // waits 15ms for the servo to reach the position // } // for (pos_y = 0; pos_y <= 180; pos_y += 1) { // goes from 0 degrees to 180 degrees // // in steps of 1 degree // servo_y.write(pos_y); // tell servo to go to position in variable 'pos' // delay(speed); // waits 15ms for the servo to reach the position // } // for (pos_y = 180; pos_y >= 0; pos_y -= 1) { // goes from 180 degrees to 0 degrees // servo_y.write(pos_y); // tell servo to go to position in variable 'pos' // delay(speed); // waits 15ms for the servo to reach the position // } }

···

如果正常，应该是什么样 / Expected behavior

正常烧写

截图 / Screenshots

连接开发板超时

日志 / Logs

无

系统 / System

WIN10

PACK包版本 / Version

0.4.5

验证

• [X] 检查过该问题，之前没有人提过 / Check that there isn't already an issue that reports the same bug to avoid creating a duplicate.
• [X] 提供了最小可复现工程或详细的复现步骤，确保开发者可以复现 / The provided reproduction is a minimal reproducible example of the bug.
• [X] 已经提供了完整的报错信息、日志、截图，没有经过删减。

[HalfSweet]

手动进入bootloader是否有效呢，还是手动也无法进入

[668477]

我最近一个项目的代码也把boot0引脚用作pwm的功能，按住boot按键再rest，没有发现难进入bootloader状态的情况。