ioc changed soft spi tft

2026-07-24 03:27:45 +08:00 · 2026-07-20 16:29:06 +08:00
parent cda936d7e0
commit f92585831a
11 changed files with 271 additions and 152 deletions
--- a/Core/Inc/spi.h
+++ b/Core/Inc/spi.h
@@ -36,15 +36,12 @@ 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/adc.c
+++ b/Core/Src/adc.c
@@ -171,10 +171,17 @@ void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
    /* ADC1 clock enable */
    __HAL_RCC_ADC12_CLK_ENABLE();

+    __HAL_RCC_GPIOA_CLK_ENABLE();
    __HAL_RCC_GPIOC_CLK_ENABLE();
    /**ADC1 GPIO Configuration
+    PA5     ------> ADC1_INP19
    PC4     ------> ADC1_INP4
    */
+    GPIO_InitStruct.Pin = GPIO_PIN_5;
+    GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
    GPIO_InitStruct.Pin = GPIO_PIN_4;
    GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
@@ -231,8 +238,11 @@ void HAL_ADC_MspDeInit(ADC_HandleTypeDef* adcHandle)
    __HAL_RCC_ADC12_CLK_DISABLE();

    /**ADC1 GPIO Configuration
+    PA5     ------> ADC1_INP19
    PC4     ------> ADC1_INP4
    */
+    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_5);
+
    HAL_GPIO_DeInit(GPIOC, GPIO_PIN_4);

    /* ADC1 DMA DeInit */
--- a/Core/Src/freertos.c
+++ b/Core/Src/freertos.c
@@ -62,7 +62,7 @@
 osThreadId_t BeginTaskHandle;
 const osThreadAttr_t BeginTask_attributes = {
  .name = "BeginTask",
-  .stack_size = 256 * 4,
+  .stack_size = 512 * 4,
  .priority = (osPriority_t) osPriorityNormal,
 };
 /* Definitions for shoot */
--- a/Core/Src/gpio.c
+++ b/Core/Src/gpio.c
@@ -38,6 +38,7 @@
        * Output
        * EVENT_OUT
        * EXTI
+     PA7   ------> SPI6_MOSI
     PA8   ------> RCC_MCO_1
     PC10   ------> SPI3_SCK
     PC11   ------> SPI3_MISO
@@ -56,10 +57,7 @@ void MX_GPIO_Init(void)
  __HAL_RCC_GPIOD_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(GPIOC, Power2_Pin|Power1_Pin|Power_5V_EN_Pin|GYRO_CS_Pin, GPIO_PIN_SET);
-
-  /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(ACC_CS_GPIO_Port, ACC_CS_Pin, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOC, Power2_Pin|Power1_Pin|Power_5V_EN_Pin|ACC_CS_Pin|GYRO_CS_Pin, GPIO_PIN_SET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOA, power2_Pin|power1_Pin, GPIO_PIN_SET);
@@ -97,6 +95,20 @@ void MX_GPIO_Init(void)
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

+  /*Configure GPIO pin : PA6 */
+  GPIO_InitStruct.Pin = GPIO_PIN_6;
+  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+  /*Configure GPIO pin : PA7 */
+  GPIO_InitStruct.Pin = 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
@@ -35,6 +35,7 @@
 #include "buzzer.h"
 #include "ws2812status.h"
 #include "robot.h"
+#include "tft.h"

 /* USER CODE END Includes */

@@ -133,10 +134,10 @@ int main(void)
  MX_SPI1_Init();
  MX_UART5_Init();
  MX_TIM3_Init();
-  MX_SPI6_Init();
  MX_ADC1_Init();
  /* USER CODE BEGIN 2 */

+    TFT_ShowBootScreen();
    robotSelfCheck(); //自检LED
    RobotInit();
    systemstart_song(); //开机音乐
--- a/Core/Src/spi.c
+++ b/Core/Src/spi.c
@@ -26,7 +26,6 @@

 SPI_HandleTypeDef hspi1;
 SPI_HandleTypeDef hspi2;
-SPI_HandleTypeDef hspi6;
 DMA_HandleTypeDef hdma_spi1_rx;
 DMA_HandleTypeDef hdma_spi1_tx;
 DMA_HandleTypeDef hdma_spi2_rx;
@@ -45,9 +44,9 @@ void MX_SPI1_Init(void)
  /* USER CODE END SPI1_Init 1 */
  hspi1.Instance = SPI1;
  hspi1.Init.Mode = SPI_MODE_MASTER;
-  hspi1.Init.Direction = SPI_DIRECTION_2LINES;
+  hspi1.Init.Direction = SPI_DIRECTION_2LINES_TXONLY;
  hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
-  hspi1.Init.CLKPolarity = SPI_POLARITY_HIGH;
+  hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
  hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
  hspi1.Init.NSS = SPI_NSS_SOFT;
  hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8;
@@ -115,48 +114,6 @@ 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_4;
-  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)
@@ -330,41 +287,6 @@ 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
-    PA7     ------> SPI6_MOSI
-    */
-    GPIO_InitStruct.Pin = 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 */
-    /* WS2812 uses only PA7 MOSI; PA5 is LCD KEY on DM-MC-Board02. */
-    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_5|GPIO_PIN_6);
-
-  /* USER CODE END SPI6_MspInit 1 */
-  }
 }

 void HAL_SPI_MspDeInit(SPI_HandleTypeDef* spiHandle)
@@ -424,25 +346,6 @@ 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
@@ -461,20 +461,19 @@ Mcu.IP10=NVIC
 Mcu.IP11=RCC
 Mcu.IP12=SPI1
 Mcu.IP13=SPI2
-Mcu.IP14=SPI6
-Mcu.IP15=SYS
-Mcu.IP16=TIM1
-Mcu.IP17=TIM3
-Mcu.IP18=TIM12
-Mcu.IP19=UART5
+Mcu.IP14=SYS
+Mcu.IP15=TIM1
+Mcu.IP16=TIM3
+Mcu.IP17=TIM12
+Mcu.IP18=UART5
+Mcu.IP19=UART7
 Mcu.IP2=CORTEX_M7
-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.IP20=USART1
+Mcu.IP21=USART2
+Mcu.IP22=USART3
+Mcu.IP23=USART10
+Mcu.IP24=USB_DEVICE
+Mcu.IP25=USB_OTG_HS
 Mcu.IP3=CRC
 Mcu.IP4=DMA
 Mcu.IP5=FDCAN1
@@ -482,7 +481,7 @@ Mcu.IP6=FDCAN2
 Mcu.IP7=FDCAN3
 Mcu.IP8=FREERTOS
 Mcu.IP9=MEMORYMAP
-Mcu.IPNb=27
+Mcu.IPNb=26
 Mcu.Name=STM32H723VGTx
 Mcu.Package=LQFP100
 Mcu.Pin0=PE2
@@ -666,10 +665,11 @@ PB5.Signal=FDCAN2_RX
 PB6.Locked=true
 PB6.Mode=FDCAN_Activate
 PB6.Signal=FDCAN2_TX
-PC0.GPIOParameters=GPIO_Speed,GPIO_Label
+PC0.GPIOParameters=GPIO_Speed,PinState,GPIO_Label
 PC0.GPIO_Label=ACC_CS
 PC0.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
 PC0.Locked=true
+PC0.PinState=GPIO_PIN_SET
 PC0.Signal=GPIO_Output
 PC1.GPIOParameters=GPIO_Speed
 PC1.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
@@ -815,7 +815,7 @@ 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_SPI6_Init-SPI6-false-HAL-true,22-MX_ADC1_Init-ADC1-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_ADC1_Init-ADC1-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
@@ -899,10 +899,10 @@ RCC.VCO3OutputFreq_Value=96750000
 RCC.VCOInput1Freq_Value=12000000
 RCC.VCOInput2Freq_Value=12000000
 RCC.VCOInput3Freq_Value=750000
-SH.ADCx_INP4.0=ADC1_INP4,IN4-Single-Ended
-SH.ADCx_INP4.ConfNb=1
 SH.ADCx_INP19.0=ADC1_INP19,IN19-Single-Ended
 SH.ADCx_INP19.ConfNb=1
+SH.ADCx_INP4.0=ADC1_INP4,IN4-Single-Ended
+SH.ADCx_INP4.ConfNb=1
 SH.GPXTI10.0=GPIO_EXTI10
 SH.GPXTI10.ConfNb=1
 SH.GPXTI12.0=GPIO_EXTI12
@@ -915,10 +915,10 @@ SH.SharedStack_PC12.0=SPI3_MOSI
 SH.SharedStack_PC12.1=UART5_TX,Asynchronous
 SH.SharedStack_PC12.ConfNb=2
 SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_8
-SPI1.CLKPolarity=SPI_POLARITY_HIGH
+SPI1.CLKPolarity=SPI_POLARITY_LOW
 SPI1.CalculateBaudRate=15.0 MBits/s
 SPI1.DataSize=SPI_DATASIZE_8BIT
-SPI1.Direction=SPI_DIRECTION_2LINES
+SPI1.Direction=SPI_DIRECTION_2LINES_TXONLY
 SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,DataSize,BaudRatePrescaler,CLKPolarity
 SPI1.Mode=SPI_MODE_MASTER
 SPI1.VirtualType=VM_MASTER
@@ -932,14 +932,6 @@ 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_4
-SPI6.CLKPhase=SPI_PHASE_2EDGE
-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
-SPI6.Mode=SPI_MODE_MASTER
-SPI6.VirtualType=VM_MASTER
 STMicroelectronics.X-CUBE-ALGOBUILD.1.4.0.DSPOoLibraryJjLibrary_Checked=true
 STMicroelectronics.X-CUBE-ALGOBUILD.1.4.0.IPParameters=LibraryCcDSPOoLibraryJjDSPOoLibrary
 STMicroelectronics.X-CUBE-ALGOBUILD.1.4.0.LibraryCcDSPOoLibraryJjDSPOoLibrary=true
--- a/User_Code/module/periph/tft/tft.c
+++ b/User_Code/module/periph/tft/tft.c
@@ -1,7 +1,6 @@
 #include "tft.h"
 #include <stdbool.h>
 #include <stddef.h>
-#include <stdio.h>
 #include <string.h>

 #define TFT_SPI_TIMEOUT_MS 100U
@@ -28,6 +27,7 @@ typedef enum
 } TFT_GlyphIndex_e;

 static bool tft_initialized = false;
+static bool tft_transfer_ok = true;

 static const uint8_t tft_font5x7[][TFT_FONT_H] = {
    {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}, /* space */
@@ -107,15 +107,72 @@ static void tft_backlight_on(void)
    HAL_GPIO_WritePin(TFT_BLK_GPIO_Port, TFT_BLK_Pin, GPIO_PIN_SET);
 }

+static void tft_bus_init(void)
+{
+#if TFT_USE_SOFT_SPI
+    GPIO_InitTypeDef GPIO_InitStruct = {0};
+
+    __HAL_RCC_GPIOB_CLK_ENABLE();
+    __HAL_RCC_GPIOD_CLK_ENABLE();
+
+    GPIO_InitStruct.Pin = TFT_SCK_Pin;
+    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    HAL_GPIO_Init(TFT_SCK_GPIO_Port, &GPIO_InitStruct);
+
+    GPIO_InitStruct.Pin = TFT_MOSI_Pin;
+    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    HAL_GPIO_Init(TFT_MOSI_GPIO_Port, &GPIO_InitStruct);
+
+    HAL_GPIO_WritePin(TFT_SCK_GPIO_Port, TFT_SCK_Pin, GPIO_PIN_SET);
+    HAL_GPIO_WritePin(TFT_MOSI_GPIO_Port, TFT_MOSI_Pin, GPIO_PIN_RESET);
+#endif
+}
+
+#if TFT_USE_SOFT_SPI
+static void tft_write_byte(uint8_t data)
+{
+    for (uint8_t i = 0U; i < 8U; i++)
+    {
+        HAL_GPIO_WritePin(TFT_SCK_GPIO_Port, TFT_SCK_Pin, GPIO_PIN_RESET);
+        HAL_GPIO_WritePin(TFT_MOSI_GPIO_Port, TFT_MOSI_Pin,
+                          (data & 0x80U) != 0U ? GPIO_PIN_SET : GPIO_PIN_RESET);
+        HAL_GPIO_WritePin(TFT_SCK_GPIO_Port, TFT_SCK_Pin, GPIO_PIN_SET);
+        data <<= 1U;
+    }
+}
+#endif
+
 static void tft_write_bytes(const uint8_t *data, uint32_t len)
 {
+#if TFT_USE_SOFT_SPI
    while (len > 0U)
    {
+        tft_write_byte(*data);
+        data++;
+        len--;
+    }
+#else
+    while (len > 0U)
+    {
+#if TFT_HW_SPI_BYTE_MODE
+        uint16_t chunk = 1U;
+#else
        uint16_t chunk = len > UINT16_MAX ? UINT16_MAX : (uint16_t) len;
-        (void) HAL_SPI_Transmit(&TFT_SPI_UNIT, (uint8_t *) data, chunk, TFT_SPI_TIMEOUT_MS);
+#endif
+        if (HAL_SPI_Transmit(&TFT_SPI_UNIT, (uint8_t *) data, chunk, TFT_SPI_TIMEOUT_MS) != HAL_OK)
+        {
+            tft_transfer_ok = false;
+            tft_cs_high();
+            return;
+        }
        data += chunk;
        len -= chunk;
    }
+#endif
 }

 static void lcd_write_reg(uint8_t reg)
@@ -124,6 +181,7 @@ static void lcd_write_reg(uint8_t reg)
    tft_dc_command();
    tft_write_bytes(&reg, 1U);
    tft_cs_high();
+    tft_dc_data();
 }

 static void lcd_write_data8(uint8_t data)
@@ -157,7 +215,7 @@ static void tft_write_color_block(uint16_t color, uint32_t count)

    tft_cs_low();
    tft_dc_data();
-    while (count > 0U)
+    while (count > 0U && tft_transfer_ok)
    {
        uint32_t pixels = count > (sizeof(buf) / 2U) ? (sizeof(buf) / 2U) : count;
        tft_write_bytes(buf, pixels * 2U);
@@ -281,7 +339,7 @@ static void tft_draw_char(uint16_t x, uint16_t y, char ch, uint16_t fc, uint16_t
            uint32_t idx = 0U;
            for (uint8_t col = 0U; col < TFT_FONT_W; col++)
            {
-                uint16_t color = (glyph[row] & (1U << (TFT_FONT_W - 1U - col))) ? fc : bc;
+                uint16_t color = (glyph[row] & (1U << col)) ? fc : bc;
                for (uint8_t repeat_x = 0U; repeat_x < scale; repeat_x++)
                {
                    line[idx++] = (uint8_t) (color >> 8);
@@ -339,6 +397,8 @@ void LCD_Init(void)
        return;
    }

+    tft_transfer_ok = true;
+    tft_bus_init();
    tft_cs_high();
    tft_reset_low();
    HAL_Delay(100);
@@ -429,8 +489,11 @@ void LCD_Init(void)
    lcd_write_reg(0x21);
    lcd_write_reg(0x29);

-    tft_initialized = true;
    TFT_Clear(TFT_COLOR_BLACK);
+    if (tft_transfer_ok)
+    {
+        tft_initialized = true;
+    }
 }

 void TFT_Init(void)
@@ -438,6 +501,27 @@ void TFT_Init(void)
    LCD_Init();
 }

+void TFT_ShowBootScreen(void)
+{
+    if (!tft_initialized)
+    {
+        TFT_Init();
+        if (!tft_initialized)
+        {
+            return;
+        }
+    }
+
+    tft_transfer_ok = true;
+    uint16_t band_h = TFT_LCD_H / 3U;
+    TFT_FillRect(0U, 0U, TFT_LCD_W, band_h, TFT_COLOR_BLUE);
+    TFT_FillRect(0U, band_h, TFT_LCD_W, band_h, TFT_COLOR_GREEN);
+    TFT_FillRect(0U, (uint16_t) (band_h * 2U), TFT_LCD_W, (uint16_t) (TFT_LCD_H - band_h * 2U), TFT_COLOR_RED);
+    TFT_DrawString(16U, 22U, "DM LCD", TFT_COLOR_WHITE, TFT_COLOR_BLUE, 3U);
+    TFT_DrawString(16U, (uint16_t) (band_h + 24U), "BOOT", TFT_COLOR_BLACK, TFT_COLOR_GREEN, 3U);
+    TFT_DrawString(16U, (uint16_t) (band_h * 2U + 24U), "WAIT IMU", TFT_COLOR_WHITE, TFT_COLOR_RED, 2U);
+}
+
 const char *TFT_RobotModeText(RobotMode_t mode)
 {
    switch (mode)
@@ -487,8 +571,13 @@ static int16_t tft_temperature_to_tenths(float temperature_c)
 static void tft_format_temperature(char *buf, size_t len, int16_t temperature_tenths)
 {
    uint16_t abs_temp;
+    uint16_t integer;
+    uint8_t decimal;
+    size_t idx = 0U;
+    char digits[5];
+    uint8_t digits_len = 0U;

-    if (buf == NULL || len == 0U)
+    if (buf == NULL || len < 6U)
    {
        return;
    }
@@ -496,13 +585,33 @@ static void tft_format_temperature(char *buf, size_t len, int16_t temperature_te
    if (temperature_tenths < 0)
    {
        abs_temp = (uint16_t) (-temperature_tenths);
-        (void) snprintf(buf, len, "-%u.%u C", abs_temp / 10U, abs_temp % 10U);
+        buf[idx++] = '-';
    }
    else
    {
        abs_temp = (uint16_t) temperature_tenths;
-        (void) snprintf(buf, len, "%u.%u C", abs_temp / 10U, abs_temp % 10U);
    }
+
+    integer = abs_temp / 10U;
+    decimal = (uint8_t) (abs_temp % 10U);
+    do
+    {
+        digits[digits_len++] = (char) ('0' + (integer % 10U));
+        integer /= 10U;
+    } while (integer > 0U && digits_len < sizeof(digits));
+
+    while (digits_len > 0U && idx + 1U < len)
+    {
+        buf[idx++] = digits[--digits_len];
+    }
+    if (idx + 4U < len)
+    {
+        buf[idx++] = '.';
+        buf[idx++] = (char) ('0' + decimal);
+        buf[idx++] = ' ';
+        buf[idx++] = 'C';
+    }
+    buf[idx] = '\0';
 }

 static void tft_draw_status_layout(void)
@@ -526,27 +635,44 @@ void TFT_ShowStatus(float temperature_c, RobotMode_t mode)
    if (!tft_initialized)
    {
        TFT_Init();
+        if (!tft_initialized)
+        {
+            return;
+        }
    }

    if (!layout_ready)
    {
+        tft_transfer_ok = true;
        tft_draw_status_layout();
+        if (!tft_transfer_ok)
+        {
+            return;
+        }
        layout_ready = true;
    }

    if (temperature_tenths != last_temperature_tenths)
    {
+        tft_transfer_ok = true;
        uint16_t temperature_color = temperature_tenths >= 550 ? TFT_COLOR_RED : TFT_COLOR_WHITE;
        tft_format_temperature(temperature_text, sizeof(temperature_text), temperature_tenths);
        TFT_FillRect(96U, 68U, 168U, 32U, TFT_COLOR_BLACK);
        TFT_DrawString(100U, 70U, temperature_text, temperature_color, TFT_COLOR_BLACK, 3U);
-        last_temperature_tenths = temperature_tenths;
+        if (tft_transfer_ok)
+        {
+            last_temperature_tenths = temperature_tenths;
+        }
    }

    if (mode != last_mode)
    {
+        tft_transfer_ok = true;
        TFT_FillRect(96U, 124U, 184U, 32U, TFT_COLOR_BLACK);
        TFT_DrawString(100U, 126U, mode_text, tft_mode_color(mode), TFT_COLOR_BLACK, 3U);
-        last_mode = mode;
+        if (tft_transfer_ok)
+        {
+            last_mode = mode;
+        }
    }
 }
--- a/User_Code/module/periph/tft/tft.h
+++ b/User_Code/module/periph/tft/tft.h
@@ -10,7 +10,9 @@
 extern "C" {
 #endif

-#define TFT_USE_HORIZONTAL 2U
+#define TFT_USE_HORIZONTAL   2U
+#define TFT_USE_SOFT_SPI     1U
+#define TFT_HW_SPI_BYTE_MODE 1U

 #if (TFT_USE_HORIZONTAL == 0U) || (TFT_USE_HORIZONTAL == 1U)
 #define TFT_LCD_W 240U
@@ -24,6 +26,16 @@ extern "C" {
 #define TFT_SPI_UNIT hspi1
 #endif

+#ifndef TFT_SCK_GPIO_Port
+#define TFT_SCK_GPIO_Port GPIOB
+#define TFT_SCK_Pin       GPIO_PIN_3
+#endif
+
+#ifndef TFT_MOSI_GPIO_Port
+#define TFT_MOSI_GPIO_Port GPIOD
+#define TFT_MOSI_Pin       GPIO_PIN_7
+#endif
+
 #if defined(LCD_CS_GPIO_Port) && defined(LCD_CS_Pin)
 #define TFT_CS_GPIO_Port LCD_CS_GPIO_Port
 #define TFT_CS_Pin       LCD_CS_Pin
@@ -68,6 +80,7 @@ extern "C" {
 #define TFT_COLOR_LIGHT_GRAY 0xC618U

 void TFT_Init(void);
+void TFT_ShowBootScreen(void);
 void TFT_Clear(uint16_t color);
 void TFT_FillRect(uint16_t x, uint16_t y, uint16_t width, uint16_t height, uint16_t color);
 void TFT_DrawPoint(uint16_t x, uint16_t y, uint16_t color);
--- a/User_Code/module/periph/ws2812/ws2812.c
+++ b/User_Code/module/periph/ws2812/ws2812.c
@@ -22,6 +22,68 @@
 #define WS2812_LowLevel    0xC0     // 0码
 #define WS2812_HighLevel   0xF0     // 1码

+static SPI_HandleTypeDef ws2812_spi;
+static uint8_t ws2812_spi_initialized = 0U;
+
+static uint8_t WS2812_SPI_Init(void)
+{
+    GPIO_InitTypeDef GPIO_InitStruct = {0};
+    RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
+
+    if (ws2812_spi_initialized != 0U)
+    {
+        return 1U;
+    }
+
+    PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_SPI6;
+    PeriphClkInitStruct.Spi6ClockSelection = RCC_SPI6CLKSOURCE_HSE;
+    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
+    {
+        return 0U;
+    }
+
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    __HAL_RCC_SPI6_CLK_ENABLE();
+
+    GPIO_InitStruct.Pin = 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);
+
+    ws2812_spi.Instance = SPI6;
+    ws2812_spi.Init.Mode = SPI_MODE_MASTER;
+    ws2812_spi.Init.Direction = SPI_DIRECTION_2LINES_TXONLY;
+    ws2812_spi.Init.DataSize = SPI_DATASIZE_8BIT;
+    ws2812_spi.Init.CLKPolarity = SPI_POLARITY_LOW;
+    ws2812_spi.Init.CLKPhase = SPI_PHASE_2EDGE;
+    ws2812_spi.Init.NSS = SPI_NSS_SOFT;
+    ws2812_spi.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_4;
+    ws2812_spi.Init.FirstBit = SPI_FIRSTBIT_MSB;
+    ws2812_spi.Init.TIMode = SPI_TIMODE_DISABLE;
+    ws2812_spi.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
+    ws2812_spi.Init.CRCPolynomial = 0x0;
+    ws2812_spi.Init.NSSPMode = SPI_NSS_PULSE_ENABLE;
+    ws2812_spi.Init.NSSPolarity = SPI_NSS_POLARITY_LOW;
+    ws2812_spi.Init.FifoThreshold = SPI_FIFO_THRESHOLD_01DATA;
+    ws2812_spi.Init.TxCRCInitializationPattern = SPI_CRC_INITIALIZATION_ALL_ZERO_PATTERN;
+    ws2812_spi.Init.RxCRCInitializationPattern = SPI_CRC_INITIALIZATION_ALL_ZERO_PATTERN;
+    ws2812_spi.Init.MasterSSIdleness = SPI_MASTER_SS_IDLENESS_00CYCLE;
+    ws2812_spi.Init.MasterInterDataIdleness = SPI_MASTER_INTERDATA_IDLENESS_00CYCLE;
+    ws2812_spi.Init.MasterReceiverAutoSusp = SPI_MASTER_RX_AUTOSUSP_DISABLE;
+    ws2812_spi.Init.MasterKeepIOState = SPI_MASTER_KEEP_IO_STATE_DISABLE;
+    ws2812_spi.Init.IOSwap = SPI_IO_SWAP_DISABLE;
+
+    if (HAL_SPI_Init(&ws2812_spi) != HAL_OK)
+    {
+        return 0U;
+    }
+
+    ws2812_spi_initialized = 1U;
+    return 1U;
+}
+
 /**
 * @brief
 * @param  [in] r                My Param doc
@@ -32,20 +94,26 @@ void WS2812_Ctrl(uint8_t r, uint8_t g, uint8_t b)
 {
    uint8_t txbuf[24];
    uint8_t res = 0;
+
+    if (WS2812_SPI_Init() == 0U)
+    {
+        return;
+    }
+
    for (uint8_t i = 0; i < 8U; i++)
    {
        txbuf[7 - i] = (((g >> i) & 0x01) ? WS2812_HighLevel : WS2812_LowLevel) >> 1;
        txbuf[15 - i] = (((r >> i) & 0x01) ? WS2812_HighLevel : WS2812_LowLevel) >> 1;
        txbuf[23 - i] = (((b >> i) & 0x01) ? WS2812_HighLevel : WS2812_LowLevel) >> 1;
    }
-    if (HAL_SPI_Transmit(&WS2812_SPI_UNIT, txbuf, sizeof(txbuf), WS2812_SPI_TIMEOUT) != HAL_OK)
+    if (HAL_SPI_Transmit(&ws2812_spi, txbuf, sizeof(txbuf), WS2812_SPI_TIMEOUT) != HAL_OK)
    {
        return;
    }

    for (uint8_t i = 0; i < WS2812_RESET_BYTES; i++)
    {
-        if (HAL_SPI_Transmit(&WS2812_SPI_UNIT, &res, 1U, WS2812_SPI_TIMEOUT) != HAL_OK)
+        if (HAL_SPI_Transmit(&ws2812_spi, &res, 1U, WS2812_SPI_TIMEOUT) != HAL_OK)
        {
            return;
        }
--- a/User_Code/module/periph/ws2812/ws2812.h
+++ b/User_Code/module/periph/ws2812/ws2812.h
@@ -3,8 +3,5 @@

 #include "main.h"

-#define WS2812_SPI_UNIT  hspi6
-extern SPI_HandleTypeDef WS2812_SPI_UNIT;
-
 void WS2812_Ctrl(uint8_t r, uint8_t g, uint8_t b);
 #endif