From 3b3e6c764f1098a10066a9eec5e699b0dc75a640 Mon Sep 17 00:00:00 2001
From: tux <nqx_2004@qq.com>
Date: Wed, 5 Nov 2025 15:01:47 +0800
Subject: [PATCH] add spi6

---
 .idea/editor.xml                      |   1 -
 .mxproject                            |  88 ++++++++--------
 Core/Inc/spi.h                        |   3 +
 Core/Src/freertos.c                   |  37 ++++---
 Core/Src/gpio.c                       |  10 --
 Core/Src/main.c                       |   1 +
 Core/Src/spi.c                        |  97 ++++++++++++++++++
 TronOneH7_Scaffold.ioc                | 140 ++++++++++++++------------
 User_Code/bsp/delayticks/delayticks.c |  39 +++++++
 User_Code/bsp/delayticks/delayticks.h |  10 ++
 User_Code/module/paramdef/robot_def.h |  22 ++++
 11 files changed, 310 insertions(+), 138 deletions(-)
 create mode 100644 User_Code/bsp/delayticks/delayticks.c
 create mode 100644 User_Code/bsp/delayticks/delayticks.h
 create mode 100644 User_Code/module/paramdef/robot_def.h

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 @@
     <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" />
diff --git a/.mxproject b/.mxproject
index 235b32e..f00bfdc 100644
--- a/.mxproject
+++ b/.mxproject
@@ -1,58 +1,58 @@
 [PreviousLibFiles]
-LibFiles=Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_tim_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pcd.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pcd_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_usb.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_rcc_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_bus.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_rcc.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_crs.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_system.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_utils.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_flash_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_gpio_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_gpio.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_hsem.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_hsem.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_dma_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_dma.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_dmamux.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_mdma.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_pwr_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_pwr.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_cortex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_cortex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_def.h;Drivers\STM32H7xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_i2c_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_exti.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_exti.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_adc.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_adc_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_adc.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_crc.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_crc_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_crc.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_fdcan.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_iwdg.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_iwdg.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_spi.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_spi_ex.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_tim.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_usart.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_ll_lpuart.h;Drivers\STM32H7xx_HAL_Driver\Inc\stm32h7xx_hal_uart_ex.h;Middlewares\Third_Party\FreeRTOS\Source\include\croutine.h;Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h;Middlewares\Third_Party\FreeRTOS\Source\include\event_groups.h;Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h;Middlewares\Third_Party\FreeRTOS\Source\include\list.h;Middlewares\Third_Party\FreeRTOS\Source\include\message_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_prototypes.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h;Middlewares\Third_Party\FreeRTOS\Source\include\portable.h;Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h;Middlewares\Third_Party\FreeRTOS\Source\include\queue.h;Middlewares\Third_Party\FreeRTOS\Source\include\semphr.h;Middlewares\Third_Party\FreeRTOS\Source\include\stack_macros.h;Middlewares\Third_Party\FreeRTOS\Source\include\StackMacros.h;Middlewares\Third_Party\FreeRTOS\Source\include\stream_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\task.h;Middlewares\Third_Party\FreeRTOS\Source\include\timers.h;Middlewares\Third_Party\FreeRTOS\Source\include\atomic.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\freertos_mpool.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\freertos_os2.h;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\portmacro.h;Middlewares\ST\STM32_USB_Device_Library\Core\Inc\usbd_core.h;Middlewares\ST\STM32_USB_Device_Library\Core\Inc\usbd_ctlreq.h;Middlewares\ST\STM32_USB_Device_Library\Core\Inc\usbd_def.h;Middlewares\ST\STM32_USB_Device_Library\Core\Inc\usbd_ioreq.h;Middlewares\ST\STM32_USB_Device_Library\Class\CDC\Inc\usbd_cdc.h;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;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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
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-HeaderFiles#1=..\Core\Inc\FreeRTOSConfig.h
-HeaderFiles#2=..\Core\Inc\adc.h
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-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
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+HeaderFiles#4=../Core/Inc/dma.h
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+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
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-SourceFiles#12=..\USB_DEVICE\App\usbd_desc.c
-SourceFiles#13=..\USB_DEVICE\App\usbd_cdc_if.c
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-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
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+SourceFiles#3=../Core/Src/crc.c
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+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
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+++ 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
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