add spi6

2026-07-23 19:25:09 +08:00 · 2025-11-05 15:01:47 +08:00
parent f51fe3cc4e
commit 3b3e6c764f
11 changed files with 310 additions and 138 deletions
--- a/.idea/editor.xml
+++ b/.idea/editor.xml
@@ -268,7 +268,6 @@
    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BREAK_TEMPLATE_DECLARATION/@EntryValue" value="LINE_BREAK" type="string" />
    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/CASE_BLOCK_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/CONTINUOUS_LINE_INDENT/@EntryValue" value="Double" type="string" />
-    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/FREE_BLOCK_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_ACCESS_SPECIFIERS_FROM_CLASS/@EntryValue" value="false" type="bool" />
    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_CASE_FROM_SWITCH/@EntryValue" value="true" type="bool" />
    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_CLASS_MEMBERS_FROM_ACCESS_SPECIFIERS/@EntryValue" value="true" type="bool" />
--- a/.mxproject
+++ b/.mxproject
--- a/Core/Inc/spi.h
+++ b/Core/Inc/spi.h
@@ -36,12 +36,15 @@ extern SPI_HandleTypeDef hspi1;

 extern SPI_HandleTypeDef hspi2;

+extern SPI_HandleTypeDef hspi6;
+
 /* USER CODE BEGIN Private defines */

 /* USER CODE END Private defines */

 void MX_SPI1_Init(void);
 void MX_SPI2_Init(void);
+void MX_SPI6_Init(void);

 /* USER CODE BEGIN Prototypes */

--- a/Core/Src/freertos.c
+++ b/Core/Src/freertos.c
@@ -117,30 +117,20 @@ const osThreadAttr_t WS2812Task_attributes = {
 /* USER CODE END FunctionPrototypes */

 void StartDefaultTask(void *argument);
-
 void ShootTask(void *argument);
-
 void GimbalTask(void *argument);
-
 void ChassisTask(void *argument);
-
 void StartInitTask(void *argument);
-
 void VisionTask(void *argument);
-
 void CmdTask(void *argument);
-
 void RefereeTask(void *argument);
-
-extern void ws2812Task(void const *argument);
+extern void ws2812Task(void *argument);

 extern void MX_USB_DEVICE_Init(void);
-
 void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */

 /* Hook prototypes */
 void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName);
-
 void vApplicationMallocFailedHook(void);

 /* USER CODE BEGIN 4 */
@@ -229,6 +219,7 @@ void MX_FREERTOS_Init(void) {
  /* USER CODE BEGIN RTOS_EVENTS */
  /* add events, ... */
  /* USER CODE END RTOS_EVENTS */
+
 }

 /* USER CODE BEGIN Header_StartDefaultTask */
@@ -238,7 +229,8 @@ void MX_FREERTOS_Init(void) {
  * @retval None
  */
 /* USER CODE END Header_StartDefaultTask */
-__weak void StartDefaultTask(void *argument) {
+__weak void StartDefaultTask(void *argument)
+{
  /* init code for USB_DEVICE */
  MX_USB_DEVICE_Init();
  /* USER CODE BEGIN StartDefaultTask */
@@ -256,7 +248,8 @@ __weak void StartDefaultTask(void *argument) {
 * @retval None
 */
 /* USER CODE END Header_ShootTask */
-__weak void ShootTask(void *argument) {
+__weak void ShootTask(void *argument)
+{
  /* USER CODE BEGIN ShootTask */
  /* Infinite loop */
  for (;;) {
@@ -272,7 +265,8 @@ __weak void ShootTask(void *argument) {
 * @retval None
 */
 /* USER CODE END Header_GimbalTask */
-__weak void GimbalTask(void *argument) {
+__weak void GimbalTask(void *argument)
+{
  /* USER CODE BEGIN GimbalTask */
  /* Infinite loop */
  for (;;) {
@@ -288,7 +282,8 @@ __weak void GimbalTask(void *argument) {
 * @retval None
 */
 /* USER CODE END Header_ChassisTask */
-__weak void ChassisTask(void *argument) {
+__weak void ChassisTask(void *argument)
+{
  /* USER CODE BEGIN ChassisTask */
  /* Infinite loop */
  for (;;) {
@@ -304,7 +299,8 @@ __weak void ChassisTask(void *argument) {
 * @retval None
 */
 /* USER CODE END Header_StartInitTask */
-__weak void StartInitTask(void *argument) {
+__weak void StartInitTask(void *argument)
+{
  /* USER CODE BEGIN StartInitTask */
  /* Infinite loop */
  for (;;) {
@@ -320,7 +316,8 @@ __weak void StartInitTask(void *argument) {
 * @retval None
 */
 /* USER CODE END Header_VisionTask */
-__weak void VisionTask(void *argument) {
+__weak void VisionTask(void *argument)
+{
  /* USER CODE BEGIN VisionTask */
  /* Infinite loop */
  for (;;) {
@@ -336,7 +333,8 @@ __weak void VisionTask(void *argument) {
 * @retval None
 */
 /* USER CODE END Header_CmdTask */
-__weak void CmdTask(void *argument) {
+__weak void CmdTask(void *argument)
+{
  /* USER CODE BEGIN CmdTask */
  /* Infinite loop */
  for (;;) {
@@ -352,7 +350,8 @@ __weak void CmdTask(void *argument) {
 * @retval None
 */
 /* USER CODE END Header_RefereeTask */
-__weak void RefereeTask(void *argument) {
+__weak void RefereeTask(void *argument)
+{
  /* USER CODE BEGIN RefereeTask */
  /* Infinite loop */
  for (;;) {
--- a/Core/Src/gpio.c
+++ b/Core/Src/gpio.c
@@ -38,8 +38,6 @@
        * Output
        * EVENT_OUT
        * EXTI
-     PA6   ------> SPI6_MISO
-     PA7   ------> SPI6_MOSI
     PA8   ------> RCC_MCO_1
     PC10   ------> SPI3_SCK
     PC11   ------> SPI3_MISO
@@ -99,14 +97,6 @@ void MX_GPIO_Init(void)
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

-  /*Configure GPIO pins : PA6 PA7 */
-  GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7;
-  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
-  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-  GPIO_InitStruct.Alternate = GPIO_AF8_SPI6;
-  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-
  /*Configure GPIO pins : pump3_Pin pump4_Pin */
  GPIO_InitStruct.Pin = pump3_Pin|pump4_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -127,6 +127,7 @@ int main(void)
  MX_UART5_Init();
  MX_TIM3_Init();
  MX_IWDG1_Init();
+  MX_SPI6_Init();
  /* USER CODE BEGIN 2 */

  /* USER CODE END 2 */
--- a/Core/Src/spi.c
+++ b/Core/Src/spi.c
@@ -26,6 +26,7 @@

 SPI_HandleTypeDef hspi1;
 SPI_HandleTypeDef hspi2;
+SPI_HandleTypeDef hspi6;
 DMA_HandleTypeDef hdma_spi1_rx;
 DMA_HandleTypeDef hdma_spi1_tx;
 DMA_HandleTypeDef hdma_spi2_rx;
@@ -114,6 +115,48 @@ void MX_SPI2_Init(void)

  /* USER CODE END SPI2_Init 2 */

+}
+/* SPI6 init function */
+void MX_SPI6_Init(void)
+{
+
+  /* USER CODE BEGIN SPI6_Init 0 */
+
+  /* USER CODE END SPI6_Init 0 */
+
+  /* USER CODE BEGIN SPI6_Init 1 */
+
+  /* USER CODE END SPI6_Init 1 */
+  hspi6.Instance = SPI6;
+  hspi6.Init.Mode = SPI_MODE_MASTER;
+  hspi6.Init.Direction = SPI_DIRECTION_2LINES_TXONLY;
+  hspi6.Init.DataSize = SPI_DATASIZE_8BIT;
+  hspi6.Init.CLKPolarity = SPI_POLARITY_LOW;
+  hspi6.Init.CLKPhase = SPI_PHASE_2EDGE;
+  hspi6.Init.NSS = SPI_NSS_SOFT;
+  hspi6.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8;
+  hspi6.Init.FirstBit = SPI_FIRSTBIT_MSB;
+  hspi6.Init.TIMode = SPI_TIMODE_DISABLE;
+  hspi6.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
+  hspi6.Init.CRCPolynomial = 0x0;
+  hspi6.Init.NSSPMode = SPI_NSS_PULSE_ENABLE;
+  hspi6.Init.NSSPolarity = SPI_NSS_POLARITY_LOW;
+  hspi6.Init.FifoThreshold = SPI_FIFO_THRESHOLD_01DATA;
+  hspi6.Init.TxCRCInitializationPattern = SPI_CRC_INITIALIZATION_ALL_ZERO_PATTERN;
+  hspi6.Init.RxCRCInitializationPattern = SPI_CRC_INITIALIZATION_ALL_ZERO_PATTERN;
+  hspi6.Init.MasterSSIdleness = SPI_MASTER_SS_IDLENESS_00CYCLE;
+  hspi6.Init.MasterInterDataIdleness = SPI_MASTER_INTERDATA_IDLENESS_00CYCLE;
+  hspi6.Init.MasterReceiverAutoSusp = SPI_MASTER_RX_AUTOSUSP_DISABLE;
+  hspi6.Init.MasterKeepIOState = SPI_MASTER_KEEP_IO_STATE_DISABLE;
+  hspi6.Init.IOSwap = SPI_IO_SWAP_DISABLE;
+  if (HAL_SPI_Init(&hspi6) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN SPI6_Init 2 */
+
+  /* USER CODE END SPI6_Init 2 */
+
 }

 void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle)
@@ -287,6 +330,41 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle)

  /* USER CODE END SPI2_MspInit 1 */
  }
+  else if(spiHandle->Instance==SPI6)
+  {
+  /* USER CODE BEGIN SPI6_MspInit 0 */
+
+  /* USER CODE END SPI6_MspInit 0 */
+
+  /** Initializes the peripherals clock
+  */
+    PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_SPI6;
+    PeriphClkInitStruct.Spi6ClockSelection = RCC_SPI6CLKSOURCE_HSE;
+    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    /* SPI6 clock enable */
+    __HAL_RCC_SPI6_CLK_ENABLE();
+
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    /**SPI6 GPIO Configuration
+    PA5     ------> SPI6_SCK
+    PA6     ------> SPI6_MISO
+    PA7     ------> SPI6_MOSI
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF8_SPI6;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN SPI6_MspInit 1 */
+
+  /* USER CODE END SPI6_MspInit 1 */
+  }
 }

 void HAL_SPI_MspDeInit(SPI_HandleTypeDef* spiHandle)
@@ -346,6 +424,25 @@ void HAL_SPI_MspDeInit(SPI_HandleTypeDef* spiHandle)

  /* USER CODE END SPI2_MspDeInit 1 */
  }
+  else if(spiHandle->Instance==SPI6)
+  {
+  /* USER CODE BEGIN SPI6_MspDeInit 0 */
+
+  /* USER CODE END SPI6_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_SPI6_CLK_DISABLE();
+
+    /**SPI6 GPIO Configuration
+    PA5     ------> SPI6_SCK
+    PA6     ------> SPI6_MISO
+    PA7     ------> SPI6_MOSI
+    */
+    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7);
+
+  /* USER CODE BEGIN SPI6_MspDeInit 1 */
+
+  /* USER CODE END SPI6_MspDeInit 1 */
+  }
 }

 /* USER CODE BEGIN 1 */
--- a/TronOneH7_Scaffold.ioc
+++ b/TronOneH7_Scaffold.ioc
@@ -419,19 +419,20 @@ Mcu.IP10=NVIC
 Mcu.IP11=RCC
 Mcu.IP12=SPI1
 Mcu.IP13=SPI2
-Mcu.IP14=SYS
-Mcu.IP15=TIM1
-Mcu.IP16=TIM3
-Mcu.IP17=TIM12
-Mcu.IP18=UART5
-Mcu.IP19=UART7
+Mcu.IP14=SPI6
+Mcu.IP15=SYS
+Mcu.IP16=TIM1
+Mcu.IP17=TIM3
+Mcu.IP18=TIM12
+Mcu.IP19=UART5
 Mcu.IP2=CRC
-Mcu.IP20=USART1
-Mcu.IP21=USART2
-Mcu.IP22=USART3
-Mcu.IP23=USART10
-Mcu.IP24=USB_DEVICE
-Mcu.IP25=USB_OTG_HS
+Mcu.IP20=UART7
+Mcu.IP21=USART1
+Mcu.IP22=USART2
+Mcu.IP23=USART3
+Mcu.IP24=USART10
+Mcu.IP25=USB_DEVICE
+Mcu.IP26=USB_OTG_HS
 Mcu.IP3=DMA
 Mcu.IP4=FDCAN1
 Mcu.IP5=FDCAN2
@@ -439,70 +440,71 @@ Mcu.IP6=FDCAN3
 Mcu.IP7=FREERTOS
 Mcu.IP8=IWDG1
 Mcu.IP9=MEMORYMAP
-Mcu.IPNb=26
+Mcu.IPNb=27
 Mcu.Name=STM32H723VGTx
 Mcu.Package=LQFP100
 Mcu.Pin0=PE2
 Mcu.Pin1=PE3
 Mcu.Pin10=PA0
 Mcu.Pin11=PA2
-Mcu.Pin12=PA6
-Mcu.Pin13=PA7
-Mcu.Pin14=PB1
-Mcu.Pin15=PE7
-Mcu.Pin16=PE8
-Mcu.Pin17=PE9
-Mcu.Pin18=PE10
-Mcu.Pin19=PE12
+Mcu.Pin12=PA5
+Mcu.Pin13=PA6
+Mcu.Pin14=PA7
+Mcu.Pin15=PB1
+Mcu.Pin16=PE7
+Mcu.Pin17=PE8
+Mcu.Pin18=PE9
+Mcu.Pin19=PE10
 Mcu.Pin2=PC14-OSC32_IN
-Mcu.Pin20=PE13
-Mcu.Pin21=PE15
-Mcu.Pin22=PB10
-Mcu.Pin23=PB11
-Mcu.Pin24=PB13
-Mcu.Pin25=PB14
-Mcu.Pin26=PB15
-Mcu.Pin27=PD8
-Mcu.Pin28=PD9
-Mcu.Pin29=PD10
+Mcu.Pin20=PE12
+Mcu.Pin21=PE13
+Mcu.Pin22=PE15
+Mcu.Pin23=PB10
+Mcu.Pin24=PB11
+Mcu.Pin25=PB13
+Mcu.Pin26=PB14
+Mcu.Pin27=PB15
+Mcu.Pin28=PD8
+Mcu.Pin29=PD9
 Mcu.Pin3=PC15-OSC32_OUT
-Mcu.Pin30=PD12
-Mcu.Pin31=PD13
-Mcu.Pin32=PA8
-Mcu.Pin33=PA9
-Mcu.Pin34=PA10
-Mcu.Pin35=PA11
-Mcu.Pin36=PA12
-Mcu.Pin37=PC10
-Mcu.Pin38=PC11
-Mcu.Pin39=PC12
+Mcu.Pin30=PD10
+Mcu.Pin31=PD12
+Mcu.Pin32=PD13
+Mcu.Pin33=PA8
+Mcu.Pin34=PA9
+Mcu.Pin35=PA10
+Mcu.Pin36=PA11
+Mcu.Pin37=PA12
+Mcu.Pin38=PC10
+Mcu.Pin39=PC11
 Mcu.Pin4=PH0-OSC_IN
-Mcu.Pin40=PD0
-Mcu.Pin41=PD1
-Mcu.Pin42=PD2
-Mcu.Pin43=PD4
-Mcu.Pin44=PD5
-Mcu.Pin45=PD6
-Mcu.Pin46=PD7
-Mcu.Pin47=PB3(JTDO/TRACESWO)
-Mcu.Pin48=PB4(NJTRST)
-Mcu.Pin49=PB5
+Mcu.Pin40=PC12
+Mcu.Pin41=PD0
+Mcu.Pin42=PD1
+Mcu.Pin43=PD2
+Mcu.Pin44=PD4
+Mcu.Pin45=PD5
+Mcu.Pin46=PD6
+Mcu.Pin47=PD7
+Mcu.Pin48=PB3(JTDO/TRACESWO)
+Mcu.Pin49=PB4(NJTRST)
 Mcu.Pin5=PH1-OSC_OUT
-Mcu.Pin50=PB6
-Mcu.Pin51=VP_ADC3_TempSens_Input
-Mcu.Pin52=VP_CRC_VS_CRC
-Mcu.Pin53=VP_FREERTOS_VS_CMSIS_V2
-Mcu.Pin54=VP_IWDG1_VS_IWDG
-Mcu.Pin55=VP_SYS_VS_tim23
-Mcu.Pin56=VP_TIM1_VS_ClockSourceINT
-Mcu.Pin57=VP_TIM1_VS_no_output3
-Mcu.Pin58=VP_USB_DEVICE_VS_USB_DEVICE_CDC_HS
-Mcu.Pin59=VP_MEMORYMAP_VS_MEMORYMAP
+Mcu.Pin50=PB5
+Mcu.Pin51=PB6
+Mcu.Pin52=VP_ADC3_TempSens_Input
+Mcu.Pin53=VP_CRC_VS_CRC
+Mcu.Pin54=VP_FREERTOS_VS_CMSIS_V2
+Mcu.Pin55=VP_IWDG1_VS_IWDG
+Mcu.Pin56=VP_SYS_VS_tim23
+Mcu.Pin57=VP_TIM1_VS_ClockSourceINT
+Mcu.Pin58=VP_TIM1_VS_no_output3
+Mcu.Pin59=VP_USB_DEVICE_VS_USB_DEVICE_CDC_HS
 Mcu.Pin6=PC0
+Mcu.Pin60=VP_MEMORYMAP_VS_MEMORYMAP
 Mcu.Pin7=PC1
 Mcu.Pin8=PC2_C
 Mcu.Pin9=PC3_C
-Mcu.PinsNb=60
+Mcu.PinsNb=61
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32H723VGTx
@@ -573,9 +575,11 @@ PA2.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
 PA2.Locked=true
 PA2.PinState=GPIO_PIN_SET
 PA2.Signal=GPIO_Output
+PA5.Mode=TX_Only_Simplex_Unidirect_Master
+PA5.Signal=SPI6_SCK
 PA6.Mode=Full_Duplex_Master
 PA6.Signal=SPI6_MISO
-PA7.Mode=Full_Duplex_Master
+PA7.Mode=TX_Only_Simplex_Unidirect_Master
 PA7.Signal=SPI6_MOSI
 PA8.Mode=Clock-out-1
 PA8.Signal=RCC_MCO_1
@@ -754,7 +758,7 @@ ProjectManager.ToolChainLocation=
 ProjectManager.UAScriptAfterPath=
 ProjectManager.UAScriptBeforePath=
 ProjectManager.UnderRoot=false
-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_FDCAN2_Init-FDCAN2-false-HAL-true,5-MX_FDCAN3_Init-FDCAN3-false-HAL-true,6-MX_CRC_Init-CRC-false-HAL-true,7-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false,8-MX_FDCAN1_Init-FDCAN1-false-HAL-true,9-MX_USART10_UART_Init-USART10-false-HAL-true,10-MX_SPI2_Init-SPI2-false-HAL-true,11-MX_TIM12_Init-TIM12-false-HAL-true,12-MX_UART7_Init-UART7-false-HAL-true,13-MX_TIM1_Init-TIM1-false-HAL-true,14-MX_USART1_UART_Init-USART1-false-HAL-true,15-MX_ADC3_Init-ADC3-false-HAL-true,16-MX_USART2_UART_Init-USART2-false-HAL-true,17-MX_USART3_UART_Init-USART3-false-HAL-true,18-MX_SPI1_Init-SPI1-false-HAL-true,19-MX_UART5_Init-UART5-false-HAL-true,20-MX_TIM3_Init-TIM3-false-HAL-true,21-MX_IWDG1_Init-IWDG1-false-HAL-true,0-MX_CORTEX_M7_Init-CORTEX_M7-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_FDCAN2_Init-FDCAN2-false-HAL-true,5-MX_FDCAN3_Init-FDCAN3-false-HAL-true,6-MX_CRC_Init-CRC-false-HAL-true,7-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false,8-MX_FDCAN1_Init-FDCAN1-false-HAL-true,9-MX_USART10_UART_Init-USART10-false-HAL-true,10-MX_SPI2_Init-SPI2-false-HAL-true,11-MX_TIM12_Init-TIM12-false-HAL-true,12-MX_UART7_Init-UART7-false-HAL-true,13-MX_TIM1_Init-TIM1-false-HAL-true,14-MX_USART1_UART_Init-USART1-false-HAL-true,15-MX_ADC3_Init-ADC3-false-HAL-true,16-MX_USART2_UART_Init-USART2-false-HAL-true,17-MX_USART3_UART_Init-USART3-false-HAL-true,18-MX_SPI1_Init-SPI1-false-HAL-true,19-MX_UART5_Init-UART5-false-HAL-true,20-MX_TIM3_Init-TIM3-false-HAL-true,21-MX_IWDG1_Init-IWDG1-false-HAL-true,22-MX_SPI6_Init-SPI6-false-HAL-true,0-MX_CORTEX_M7_Init-CORTEX_M7-false-HAL-true
 RCC.ADCFreq_Value=96000000
 RCC.AHB12Freq_Value=240000000
 RCC.AHB4Freq_Value=240000000
@@ -866,6 +870,14 @@ SPI2.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,DataSize,BaudRate
 SPI2.Mode=SPI_MODE_MASTER
 SPI2.NSSPMode=SPI_NSS_PULSE_ENABLE
 SPI2.VirtualType=VM_MASTER
+SPI6.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_8
+SPI6.CLKPhase=SPI_PHASE_2EDGE
+SPI6.CalculateBaudRate=3.0 MBits/s
+SPI6.DataSize=SPI_DATASIZE_8BIT
+SPI6.Direction=SPI_DIRECTION_2LINES_TXONLY
+SPI6.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,DataSize,BaudRatePrescaler,CLKPhase
+SPI6.Mode=SPI_MODE_MASTER
+SPI6.VirtualType=VM_MASTER
 TIM1.Channel-PWM\ Generation3\ No\ Output=TIM_CHANNEL_3
 TIM1.IPParameters=Channel-PWM Generation3 No Output,Prescaler,Period
 TIM1.Period=1999
--- a/User_Code/bsp/delayticks/delayticks.c
+++ b/User_Code/bsp/delayticks/delayticks.c
@@ -0,0 +1,39 @@
+#include "delayticks.h"
+
+/*延时函数，不会将任务挂起*/
+void delay_ticks(uint32_t delay)
+{
+    /*开始计数器值*/
+    uint32_t tickstart = xTaskGetTickCount();
+    /*指定延时时间*/
+    uint32_t wait = delay;
+    /*计算当前计数器值和开始计数器值的差*/
+    uint32_t ticks_diff = xTaskGetTickCount() - tickstart;
+
+    if ( ticks_diff < wait )
+    {
+        /*计算剩余等待的时间*/
+        uint32_t remaining_ticks = wait - ticks_diff;
+
+        /*循环等待，直到剩余时间结束*/
+        while ( ( xTaskGetTickCount() - tickstart) < wait )
+        {
+            /*如果发生溢出，则重新计算时间差*/
+            if ( xTaskGetTickCount() < tickstart )
+            {
+                /*重新计算时间差*/
+                ticks_diff = UINT32_MAX - tickstart + xTaskGetTickCount();
+
+                if ( ticks_diff < wait )
+                {
+                    remaining_ticks = wait - ticks_diff;
+                }
+                else
+                {
+                    /*如果时间差已经大于等于等待时间，则退出*/
+                    break;
+                }
+            }
+        }
+    }
+}
--- a/User_Code/bsp/delayticks/delayticks.h
+++ b/User_Code/bsp/delayticks/delayticks.h
@@ -0,0 +1,10 @@
+#ifndef DELAYTICKS_H
+#define DELAYTICKS_H
+
+#include "main.h"
+#include "cmsis_os.h"
+#include "tim.h"
+
+extern void delay_ticks(uint32_t delay);
+
+#endif
--- a/User_Code/module/paramdef/robot_def.h
+++ b/User_Code/module/paramdef/robot_def.h
@@ -0,0 +1,22 @@
+// #pragma once // 可以用#pragma once代替#ifndef ROBOT_DEF_H(header guard)
+#ifndef ROBOT_DEF_H
+#define ROBOT_DEF_H
+
+typedef enum
+{
+    NORMAL_MODE = 0,            // 正常模式，对应数值0
+    SYS_ERROR_OCCURRED = 1,     // 系统错误，对应数值1
+    REMOTE_NOT_CONNECTED = 2,   // 遥控器未连接，对应数值2
+    REMOTE_CONNECTED = 3,       // 遥控器已连接，对应数值3
+    AUTO_SHOOTING_MODE = 4,      // 成功进入自动瞄准模式，对应数值4
+    IMU_CALIBERATION_MODE = 5  // IMU校准模式，对应数值5
+    // 添加其他模式
+} RobotMode_t; //机器人控制模式
+
+// 声明并初始化变量
+RobotMode_t RobotMode = REMOTE_NOT_CONNECTED;  // 初始状态为遥控器未连接
+
+
+// #pragma pack() // 开启字节对齐,结束前面的#pragma pack(1)
+
+#endif