updated ioc but not ok

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 *argument);
-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 (;;) {

Core/Src/spi.c

@@ -134,7 +134,7 @@ void MX_SPI6_Init(void)
   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.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_4;
   hspi6.Init.FirstBit = SPI_FIRSTBIT_MSB;
   hspi6.Init.TIMode = SPI_TIMODE_DISABLE;
   hspi6.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;

TronOneH7_Scaffold.ioc

@@ -870,9 +870,9 @@ 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.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_4
 SPI6.CLKPhase=SPI_PHASE_2EDGE
-SPI6.CalculateBaudRate=3.0 MBits/s
+SPI6.CalculateBaudRate=6.0 MBits/s
 SPI6.DataSize=SPI_DATASIZE_8BIT
 SPI6.Direction=SPI_DIRECTION_2LINES_TXONLY
 SPI6.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,DataSize,BaudRatePrescaler,CLKPhase

ozonedeb/macdb1.jdebug

@@ -0,0 +1,362 @@
+/*********************************************************************
+*                 (c) SEGGER Microcontroller GmbH                    *
+*                      The Embedded Experts                          *
+*                         www.segger.com                             *
+**********************************************************************
+
+File          : /Users/tux/CLionProjects/tronone-h7-scaffold/ozonedeb/macdb1.jdebug
+Created       : 5 Nov 2025 22:49
+Ozone Version : V3.38c
+*/
+
+/*********************************************************************
+*
+*       OnProjectLoad
+*
+* Function description
+*   Project load routine. Required.
+*
+**********************************************************************
+*/
+void OnProjectLoad (void) {
+  //
+  // Dialog-generated settings
+  //
+  Project.AddPathSubstitute ("/Users/tux/CLionProjects/tronone-h7-scaffold/ozonedeb", "$(ProjectDir)");
+  Project.AddPathSubstitute ("/users/tux/clionprojects/tronone-h7-scaffold/ozonedeb", "$(ProjectDir)");
+  Project.SetDevice ("STM32H723VG");
+  Project.SetHostIF ("USB", "602717886");
+  Project.SetTargetIF ("SWD");
+  Project.SetTIFSpeed ("4 MHz");
+  Project.AddSvdFile ("$(InstallDir)/Config/CPU/Cortex-M7F.svd");
+  Project.AddSvdFile ("$(InstallDir)/Config/Peripherals/ARMv7M.svd");
+  //
+  // User settings
+  //
+  File.Open ("/Users/tux/CLionProjects/tronone-h7-scaffold/cmake-build-debug/TronOneH7_Scaffold.elf");
+}
+
+/*********************************************************************
+*
+*       OnStartupComplete
+*
+* Function description
+*   Called when program execution has reached/passed
+*   the startup completion point. Optional.
+*
+**********************************************************************
+*/
+//void OnStartupComplete (void) {
+//}
+
+/*********************************************************************
+*
+*      TargetReset
+*
+* Function description
+*   Replaces the default target device reset routine. Optional.
+*
+* Notes
+*   This example demonstrates the usage when
+*   debugging an application in RAM on a Cortex-M target device.
+*
+**********************************************************************
+*/
+//void TargetReset (void) {
+//
+//  unsigned int SP;
+//  unsigned int PC;
+//  unsigned int VectorTableAddr;
+//
+//  VectorTableAddr = Elf.GetBaseAddr();
+//  //
+//  // Set up initial stack pointer
+//  //
+//  if (VectorTableAddr != 0xFFFFFFFF) {
+//    SP = Target.ReadU32(VectorTableAddr);
+//    Target.SetReg("SP", SP);
+//  }
+//  //
+//  // Set up entry point PC
+//  //
+//  PC = Elf.GetEntryPointPC();
+//
+//  if (PC != 0xFFFFFFFF) {
+//    Target.SetReg("PC", PC);
+//  } else if (VectorTableAddr != 0xFFFFFFFF) {
+//    PC = Target.ReadU32(VectorTableAddr + 4);
+//    Target.SetReg("PC", PC);
+//  } else {
+//    Util.Error("Project file error: failed to set entry point PC", 1);
+//  }
+//}
+
+/*********************************************************************
+*
+*       BeforeTargetReset
+*
+* Function description
+*   Event handler routine. Optional.
+*
+**********************************************************************
+*/
+//void BeforeTargetReset (void) {
+//}
+
+/*********************************************************************
+*
+*       AfterTargetReset
+*
+* Function description
+*   Event handler routine. Optional.
+*   The default implementation initializes SP and PC to reset values.
+**
+**********************************************************************
+*/
+void AfterTargetReset (void) {
+  _SetupTarget();
+}
+
+/*********************************************************************
+*
+*       DebugStart
+*
+* Function description
+*   Replaces the default debug session startup routine. Optional.
+*
+**********************************************************************
+*/
+//void DebugStart (void) {
+//}
+
+/*********************************************************************
+*
+*       TargetConnect
+*
+* Function description
+*   Replaces the default target IF connection routine. Optional.
+*
+**********************************************************************
+*/
+//void TargetConnect (void) {
+//}
+
+/*********************************************************************
+*
+*       BeforeTargetConnect
+*
+* Function description
+*   Event handler routine. Optional.
+*
+**********************************************************************
+*/
+//void BeforeTargetConnect (void) {
+//}
+
+/*********************************************************************
+*
+*       AfterTargetConnect
+*
+* Function description
+*   Event handler routine. Optional.
+*
+**********************************************************************
+*/
+//void AfterTargetConnect (void) {
+//}
+
+/*********************************************************************
+*
+*       TargetDownload
+*
+* Function description
+*   Replaces the default program download routine. Optional.
+*
+**********************************************************************
+*/
+//void TargetDownload (void) {
+//}
+
+/*********************************************************************
+*
+*       BeforeTargetDownload
+*
+* Function description
+*   Event handler routine. Optional.
+*
+**********************************************************************
+*/
+//void BeforeTargetDownload (void) {
+//}
+
+/*********************************************************************
+*
+*      AfterTargetDownload
+*
+* Function description
+*   Event handler routine. Optional.
+*   The default implementation initializes SP and PC to reset values.
+*
+**********************************************************************
+*/
+void AfterTargetDownload (void) {
+  _SetupTarget();
+}
+
+/*********************************************************************
+*
+*       BeforeTargetDisconnect
+*
+* Function description
+*   Event handler routine. Optional.
+*
+**********************************************************************
+*/
+//void BeforeTargetDisconnect (void) {
+//}
+
+/*********************************************************************
+*
+*       AfterTargetDisconnect
+*
+* Function description
+*   Event handler routine. Optional.
+*
+**********************************************************************
+*/
+//void AfterTargetDisconnect (void) {
+//}
+
+/*********************************************************************
+*
+*       AfterTargetHalt
+*
+* Function description
+*   Event handler routine. Optional.
+*
+**********************************************************************
+*/
+//void AfterTargetHalt (void) {
+//}
+
+/*********************************************************************
+*
+*       BeforeTargetResume
+*
+* Function description
+*   Event handler routine. Optional.
+*
+**********************************************************************
+*/
+//void BeforeTargetResume (void) {
+//}
+
+/*********************************************************************
+*
+*       OnSnapshotLoad
+*
+* Function description
+*   Called upon loading a snapshot. Optional.
+*
+* Additional information
+*   This function is used to restore the target state in cases
+*   where values cannot simply be written to the target.
+*   Typical use: GPIO clock needs to be enabled, before
+*   GPIO is configured.
+*
+**********************************************************************
+*/
+//void OnSnapshotLoad (void) {
+//}
+
+/*********************************************************************
+*
+*       OnSnapshotSave
+*
+* Function description
+*   Called upon saving a snapshot. Optional.
+*
+* Additional information
+*   This function is usually used to save values of the target
+*   state which can either not be trivially read,
+*   or need to be restored in a specific way or order.
+*   Typically use: Memory Mapped Registers,
+*   such as PLL and GPIO configuration.
+*
+**********************************************************************
+*/
+//void OnSnapshotSave (void) {
+//}
+
+/*********************************************************************
+*
+*       OnError
+*
+* Function description
+*   Called when an error ocurred. Optional.
+*
+**********************************************************************
+*/
+//void OnError (void) {
+//}
+
+/*********************************************************************
+*
+*       AfterProjectLoad
+*
+* Function description
+*   After Project load routine. Optional.
+*
+**********************************************************************
+*/
+//void AfterProjectLoad (void) {
+//}
+
+/*********************************************************************
+*
+*       OnDebugStartBreakSymbolReached
+*
+* Function description
+*   Called when program execution has reached/passed
+*   the symbol to be breaked at during debug start. Optional.
+*
+**********************************************************************
+*/
+//void OnDebugStartBreakSymReached (void) {
+//}
+
+/*********************************************************************
+*
+*       _SetupTarget
+*
+* Function description
+*   Setup the target.
+*   Called by AfterTargetReset() and AfterTargetDownload().
+*
+*   Auto-generated function. May be overridden by Ozone.
+*
+**********************************************************************
+*/
+void _SetupTarget(void) {
+  unsigned int SP;
+  unsigned int PC;
+  unsigned int VectorTableAddr;
+
+  VectorTableAddr = Elf.GetBaseAddr();
+  //
+  // Set up initial stack pointer
+  //
+  SP = Target.ReadU32(VectorTableAddr);
+  if (SP != 0xFFFFFFFF) {
+    Target.SetReg("SP", SP);
+  }
+  //
+  // Set up entry point PC
+  //
+  PC = Elf.GetEntryPointPC();
+  if (PC != 0xFFFFFFFF) {
+    Target.SetReg("PC", PC);
+  } else {
+    Util.Error("Project script error: failed to set up entry point PC", 1);
+  }
+}

ozonedeb/macdb1.jdebug.user

@@ -0,0 +1,29 @@
+
+
+
+Breakpoint=/Users/tux/CLionProjects/tronone-h7-scaffold/User_Code/application/indicator_app/ws2812status.c:38, State=BP_STATE_ON
+OpenDocument="ws2812.c", FilePath="/Users/tux/CLionProjects/tronone-h7-scaffold/User_Code/module/periph/ws2812/ws2812.c", Line=18
+OpenDocument="ws2812status.c", FilePath="/Users/tux/CLionProjects/tronone-h7-scaffold/User_Code/application/indicator_app/ws2812status.c", Line=31
+OpenDocument="delayticks.h", FilePath="/Users/tux/CLionProjects/tronone-h7-scaffold/User_Code/bsp/delayticks/delayticks.h", Line=0
+OpenDocument="delayticks.c", FilePath="/Users/tux/CLionProjects/tronone-h7-scaffold/User_Code/bsp/delayticks/delayticks.c", Line=12
+OpenDocument="tasks.c", FilePath="/Users/tux/CLionProjects/tronone-h7-scaffold/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=2304
+OpenDocument="main.c", FilePath="/Users/tux/CLionProjects/tronone-h7-scaffold/Core/Src/main.c", Line=70
+OpenToolbar="Debug", Floating=0, x=0, y=0
+OpenWindow="Disassembly", DockArea=BOTTOM, x=2, y=0, w=401, h=212, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+OpenWindow="Global Data", DockArea=BOTTOM, x=3, y=0, w=518, h=212, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=0, w=479, h=404, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+OpenWindow="Functions", DockArea=LEFT, x=0, y=0, w=479, h=404, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+OpenWindow="Data Sampling", DockArea=BOTTOM, x=0, y=0, w=268, h=212, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
+OpenWindow="Timeline", DockArea=RIGHT, x=0, y=0, w=543, h=421, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=1, CodePaneShown=1, PinCursor="Cursor Movable", TimePerDiv="1 ns / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="331;0", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=1, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="338;0", CodeGraphLegendShown=1, CodeGraphLegendPosition="347;0"
+OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=250, h=212, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+SmartViewPlugin="", Page="", Toolbar="Hidden", Window="SmartView 1"
+TableHeader="Global Data", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Location";"Size";"Type";"Scope"], ColWidths=[134;100;100;28;190;364]
+TableHeader="Functions", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Address";"Size";"#Insts";"Source"], ColWidths=[1254;100;100;100;100]
+TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time"], ColWidths=[100;100]
+TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[100;100;100;100;100;100;100;100;100]
+TableHeader="Power Sampling", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";"Ch 0"], ColWidths=[100;100;100]
+TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[151;171;100;100]
+TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[]
+TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[26;26;26;26]
+WatchedExpression="RobotMode", Window=Watched Data 1
+WatchedExpression="hspi6", RefreshRate=2, Window=Watched Data 1