diff --git a/.idea/editor.xml b/.idea/editor.xml
index 17f50d3..de4eee6 100644
--- a/.idea/editor.xml
+++ b/.idea/editor.xml
@@ -268,7 +268,6 @@
-
diff --git a/.mxproject b/.mxproject
index 235b32e..f00bfdc 100644
--- a/.mxproject
+++ b/.mxproject
@@ -1,58 +1,58 @@
[PreviousLibFiles]
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[PreviousUsedCMakes]
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y\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_core.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ctlreq.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ioreq.c;Middlewares\ST\STM32_USB_Device_Library\Class\CDC\Src\usbd_cdc.c;Drivers\CMSIS\Device\ST\STM32H7xx\Source\Templates\system_stm32h7xx.c;Core\Src\system_stm32h7xx.c;;;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_core.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ctlreq.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ioreq.c;Middlewares\ST\STM32_USB_Device_Library\Class\CDC\Src\usbd_cdc.c;
-HeaderPath=Drivers\STM32H7xx_HAL_Driver\Inc;Drivers\STM32H7xx_HAL_Driver\Inc\Legacy;Middlewares\Third_Party\FreeRTOS\Source\include;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F;Middlewares\ST\STM32_USB_Device_Library\Core\Inc;Middlewares\ST\STM32_USB_Device_Library\Class\CDC\Inc;Drivers\CMSIS\Device\ST\STM32H7xx\Include;Drivers\CMSIS\Include;Core\Inc;USB_DEVICE\App;USB_DEVICE\Target;
+SourceFiles=Core/Src/main.c;Core/Src/gpio.c;Core/Src/freertos.c;Core/Src/adc.c;Core/Src/crc.c;Core/Src/dma.c;Core/Src/fdcan.c;Core/Src/iwdg.c;Core/Src/spi.c;Core/Src/tim.c;Core/Src/usart.c;USB_DEVICE/App/usb_device.c;USB_DEVICE/Target/usbd_conf.c;USB_DEVICE/App/usbd_desc.c;USB_DEVICE/App/usbd_cdc_if.c;Core/Src/stm32h7xx_it.c;Core/Src/stm32h7xx_hal_msp.c;Core/Src/stm32h7xx_hal_timebase_tim.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pcd.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pcd_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_usb.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_gpio.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_hsem.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_mdma.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cortex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_exti.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_adc.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_adc_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_crc.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_crc_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_fdcan.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_iwdg.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart_ex.c;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c;Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c;Drivers/CMSIS/Device/ST/STM32H7xx/Source/Templates/system_stm32h7xx.c;Core/Src/system_stm32h7xx.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pcd.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pcd_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_usb.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_gpio.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_hsem.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_mdma.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cortex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_exti.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_adc.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_adc_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_crc.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_crc_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_fdcan.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_iwdg.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart_ex.c;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c;Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c;Drivers/CMSIS/Device/ST/STM32H7xx/Source/Templates/system_stm32h7xx.c;Core/Src/system_stm32h7xx.c;;;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c;Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c;
+HeaderPath=Drivers/STM32H7xx_HAL_Driver/Inc;Drivers/STM32H7xx_HAL_Driver/Inc/Legacy;Middlewares/Third_Party/FreeRTOS/Source/include;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F;Middlewares/ST/STM32_USB_Device_Library/Core/Inc;Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc;Drivers/CMSIS/Device/ST/STM32H7xx/Include;Drivers/CMSIS/Include;Core/Inc;USB_DEVICE/App;USB_DEVICE/Target;
CDefines=USE_PWR_LDO_SUPPLY;USE_PWR_LDO_SUPPLY;USE_PWR_LDO_SUPPLY;USE_HAL_DRIVER;STM32H723xx;USE_HAL_DRIVER;USE_HAL_DRIVER;
[PreviousGenFiles]
AdvancedFolderStructure=true
HeaderFileListSize=17
-HeaderFiles#0=..\Core\Inc\gpio.h
-HeaderFiles#1=..\Core\Inc\FreeRTOSConfig.h
-HeaderFiles#2=..\Core\Inc\adc.h
-HeaderFiles#3=..\Core\Inc\crc.h
-HeaderFiles#4=..\Core\Inc\dma.h
-HeaderFiles#5=..\Core\Inc\fdcan.h
-HeaderFiles#6=..\Core\Inc\iwdg.h
-HeaderFiles#7=..\Core\Inc\spi.h
-HeaderFiles#8=..\Core\Inc\tim.h
-HeaderFiles#9=..\Core\Inc\usart.h
-HeaderFiles#10=..\USB_DEVICE\App\usb_device.h
-HeaderFiles#11=..\USB_DEVICE\Target\usbd_conf.h
-HeaderFiles#12=..\USB_DEVICE\App\usbd_desc.h
-HeaderFiles#13=..\USB_DEVICE\App\usbd_cdc_if.h
-HeaderFiles#14=..\Core\Inc\stm32h7xx_it.h
-HeaderFiles#15=..\Core\Inc\stm32h7xx_hal_conf.h
-HeaderFiles#16=..\Core\Inc\main.h
+HeaderFiles#0=../Core/Inc/gpio.h
+HeaderFiles#1=../Core/Inc/FreeRTOSConfig.h
+HeaderFiles#2=../Core/Inc/adc.h
+HeaderFiles#3=../Core/Inc/crc.h
+HeaderFiles#4=../Core/Inc/dma.h
+HeaderFiles#5=../Core/Inc/fdcan.h
+HeaderFiles#6=../Core/Inc/iwdg.h
+HeaderFiles#7=../Core/Inc/spi.h
+HeaderFiles#8=../Core/Inc/tim.h
+HeaderFiles#9=../Core/Inc/usart.h
+HeaderFiles#10=../USB_DEVICE/App/usb_device.h
+HeaderFiles#11=../USB_DEVICE/Target/usbd_conf.h
+HeaderFiles#12=../USB_DEVICE/App/usbd_desc.h
+HeaderFiles#13=../USB_DEVICE/App/usbd_cdc_if.h
+HeaderFiles#14=../Core/Inc/stm32h7xx_it.h
+HeaderFiles#15=../Core/Inc/stm32h7xx_hal_conf.h
+HeaderFiles#16=../Core/Inc/main.h
HeaderFolderListSize=3
-HeaderPath#0=..\Core\Inc
-HeaderPath#1=..\USB_DEVICE\App
-HeaderPath#2=..\USB_DEVICE\Target
+HeaderPath#0=../Core/Inc
+HeaderPath#1=../USB_DEVICE/App
+HeaderPath#2=../USB_DEVICE/Target
HeaderFiles=;
SourceFileListSize=18
-SourceFiles#0=..\Core\Src\gpio.c
-SourceFiles#1=..\Core\Src\freertos.c
-SourceFiles#2=..\Core\Src\adc.c
-SourceFiles#3=..\Core\Src\crc.c
-SourceFiles#4=..\Core\Src\dma.c
-SourceFiles#5=..\Core\Src\fdcan.c
-SourceFiles#6=..\Core\Src\iwdg.c
-SourceFiles#7=..\Core\Src\spi.c
-SourceFiles#8=..\Core\Src\tim.c
-SourceFiles#9=..\Core\Src\usart.c
-SourceFiles#10=..\USB_DEVICE\App\usb_device.c
-SourceFiles#11=..\USB_DEVICE\Target\usbd_conf.c
-SourceFiles#12=..\USB_DEVICE\App\usbd_desc.c
-SourceFiles#13=..\USB_DEVICE\App\usbd_cdc_if.c
-SourceFiles#14=..\Core\Src\stm32h7xx_it.c
-SourceFiles#15=..\Core\Src\stm32h7xx_hal_msp.c
-SourceFiles#16=..\Core\Src\stm32h7xx_hal_timebase_tim.c
-SourceFiles#17=..\Core\Src\main.c
+SourceFiles#0=../Core/Src/gpio.c
+SourceFiles#1=../Core/Src/freertos.c
+SourceFiles#2=../Core/Src/adc.c
+SourceFiles#3=../Core/Src/crc.c
+SourceFiles#4=../Core/Src/dma.c
+SourceFiles#5=../Core/Src/fdcan.c
+SourceFiles#6=../Core/Src/iwdg.c
+SourceFiles#7=../Core/Src/spi.c
+SourceFiles#8=../Core/Src/tim.c
+SourceFiles#9=../Core/Src/usart.c
+SourceFiles#10=../USB_DEVICE/App/usb_device.c
+SourceFiles#11=../USB_DEVICE/Target/usbd_conf.c
+SourceFiles#12=../USB_DEVICE/App/usbd_desc.c
+SourceFiles#13=../USB_DEVICE/App/usbd_cdc_if.c
+SourceFiles#14=../Core/Src/stm32h7xx_it.c
+SourceFiles#15=../Core/Src/stm32h7xx_hal_msp.c
+SourceFiles#16=../Core/Src/stm32h7xx_hal_timebase_tim.c
+SourceFiles#17=../Core/Src/main.c
SourceFolderListSize=3
-SourcePath#0=..\Core\Src
-SourcePath#1=..\USB_DEVICE\App
-SourcePath#2=..\USB_DEVICE\Target
+SourcePath#0=../Core/Src
+SourcePath#1=../USB_DEVICE/App
+SourcePath#2=../USB_DEVICE/Target
SourceFiles=;
diff --git a/Core/Inc/spi.h b/Core/Inc/spi.h
index 7c76127..f3cae34 100644
--- 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 */
diff --git a/Core/Src/freertos.c b/Core/Src/freertos.c
index 8c62fa1..3305764 100644
--- 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 (;;) {
diff --git a/Core/Src/gpio.c b/Core/Src/gpio.c
index eac7864..1bdee4c 100644
--- 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;
diff --git a/Core/Src/main.c b/Core/Src/main.c
index 261a05f..c9950bf 100644
--- 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 */
diff --git a/Core/Src/spi.c b/Core/Src/spi.c
index 5c1977a..146f4b8 100644
--- 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 */
diff --git a/TronOneH7_Scaffold.ioc b/TronOneH7_Scaffold.ioc
index b91f438..03187df 100644
--- 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
diff --git a/User_Code/bsp/delayticks/delayticks.c b/User_Code/bsp/delayticks/delayticks.c
new file mode 100644
index 0000000..f4fe1b8
--- /dev/null
+++ 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;
+ }
+ }
+ }
+ }
+}
\ No newline at end of file
diff --git a/User_Code/bsp/delayticks/delayticks.h b/User_Code/bsp/delayticks/delayticks.h
new file mode 100644
index 0000000..025dad0
--- /dev/null
+++ 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
\ No newline at end of file
diff --git a/User_Code/module/paramdef/robot_def.h b/User_Code/module/paramdef/robot_def.h
new file mode 100644
index 0000000..6d9f6a6
--- /dev/null
+++ 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
\ No newline at end of file