TuxMonkey/tronone-h7-scaffold
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add spi6

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tux
2025-11-05 15:01:47 +08:00
parent f51fe3cc4e
commit 3b3e6c764f
11 changed files with 310 additions and 138 deletions
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37
Core/Src/freertos.c
View File

@@ -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 (;;) {

10
Core/Src/gpio.c
View File

@@ -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;

1
Core/Src/main.c
View File

@@ -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 */

97
Core/Src/spi.c
View File

@@ -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 */