加入了编码器读取，没有进行使用

.gitignore

+debug/
\ No newline at end of file

Core/Inc/dma.h

+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    dma.h
+  * @brief   This file contains all the function prototypes for
+  *          the dma.c file
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2025 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __DMA_H__
+#define __DMA_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* DMA memory to memory transfer handles -------------------------------------*/
+
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+/* USER CODE BEGIN Private defines */
+
+/* USER CODE END Private defines */
+
+void MX_DMA_Init(void);
+
+/* USER CODE BEGIN Prototypes */
+
+/* USER CODE END Prototypes */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __DMA_H__ */
+

Core/Inc/spi.h

+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    spi.h
+  * @brief   This file contains all the function prototypes for
+  *          the spi.c file
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2025 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __SPI_H__
+#define __SPI_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+extern SPI_HandleTypeDef hspi3;
+
+/* USER CODE BEGIN Private defines */
+
+/* USER CODE END Private defines */
+
+void MX_SPI3_Init(void);
+
+/* USER CODE BEGIN Prototypes */
+
+/* USER CODE END Prototypes */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __SPI_H__ */
+

Core/Inc/stm32f4xx_hal_conf.h

@@ -62,7 +62,7 @@
 /* #define HAL_SAI_MODULE_ENABLED */
 /* #define HAL_SD_MODULE_ENABLED */
 /* #define HAL_MMC_MODULE_ENABLED */
-/* #define HAL_SPI_MODULE_ENABLED */
+#define HAL_SPI_MODULE_ENABLED
 #define HAL_TIM_MODULE_ENABLED
 #define HAL_UART_MODULE_ENABLED
 /* #define HAL_USART_MODULE_ENABLED */

Core/Inc/stm32f4xx_it.h

@@ -52,6 +52,7 @@ void MemManage_Handler(void);
 void BusFault_Handler(void);
 void UsageFault_Handler(void);
 void DebugMon_Handler(void);
+void DMA1_Stream5_IRQHandler(void);
 void USART1_IRQHandler(void);
 void USART2_IRQHandler(void);
 void TIM7_IRQHandler(void);

Core/Inc/tim.h

@@ -42,6 +42,8 @@ extern TIM_HandleTypeDef htim4;
 
 extern TIM_HandleTypeDef htim5;
 
+extern TIM_HandleTypeDef htim8;
+
 extern TIM_HandleTypeDef htim9;
 
 extern TIM_HandleTypeDef htim12;
@@ -55,6 +57,7 @@ void MX_TIM2_Init(void);
 void MX_TIM3_Init(void);
 void MX_TIM4_Init(void);
 void MX_TIM5_Init(void);
+void MX_TIM8_Init(void);
 void MX_TIM9_Init(void);
 void MX_TIM12_Init(void);
 

Core/Src/dma.c

+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    dma.c
+  * @brief   This file provides code for the configuration
+  *          of all the requested memory to memory DMA transfers.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2025 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+
+/* Includes ------------------------------------------------------------------*/
+#include "dma.h"
+
+/* USER CODE BEGIN 0 */
+
+/* USER CODE END 0 */
+
+/*----------------------------------------------------------------------------*/
+/* Configure DMA                                                              */
+/*----------------------------------------------------------------------------*/
+
+/* USER CODE BEGIN 1 */
+
+/* USER CODE END 1 */
+
+/**
+  * Enable DMA controller clock
+  */
+void MX_DMA_Init(void)
+{
+
+  /* DMA controller clock enable */
+  __HAL_RCC_DMA1_CLK_ENABLE();
+
+  /* DMA interrupt init */
+  /* DMA1_Stream5_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA1_Stream5_IRQn, 5, 0);
+  HAL_NVIC_EnableIRQ(DMA1_Stream5_IRQn);
+
+}
+
+/* USER CODE BEGIN 2 */
+
+/* USER CODE END 2 */
+

Core/Src/freertos.c

@@ -27,6 +27,8 @@
 /* USER CODE BEGIN Includes */
 #include "buzz.h"
 #include "pwm.h"
+#include "encoder.h"
+#include "task_manage.h"
 
 /* USER CODE END Includes */
 
@@ -119,8 +121,7 @@ void StartDefaultTask(void *argument)
   /* Infinite loop */
   for(;;)
   {
-    
-    osDelay(2000);
+    task_1_main();
   }
   /* USER CODE END StartDefaultTask */
 }

Core/Src/gpio.c

@@ -40,8 +40,6 @@
         * EXTI
      PD8   ------> USART3_TX
      PD9   ------> USART3_RX
-     PB6   ------> I2C1_SCL
-     PB7   ------> I2C1_SDA
 */
 void MX_GPIO_Init(void)
 {
@@ -62,6 +60,9 @@ void MX_GPIO_Init(void)
   /*Configure GPIO pin Output Level */
   HAL_GPIO_WritePin(GPIOD, GPIO_PIN_3|GPIO_PIN_4|GPIO_PIN_7, GPIO_PIN_RESET);
 
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(GPIOB, GPIO_PIN_6|GPIO_PIN_7, GPIO_PIN_RESET);
+
   /*Configure GPIO pins : PE2 PE3 PE1 */
   GPIO_InitStruct.Pin = GPIO_PIN_2|GPIO_PIN_3|GPIO_PIN_1;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
@@ -77,12 +78,6 @@ void MX_GPIO_Init(void)
   GPIO_InitStruct.Alternate = GPIO_AF7_USART3;
   HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
 
-  /*Configure GPIO pin : PC12 */
-  GPIO_InitStruct.Pin = GPIO_PIN_12;
-  GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
-  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
-
   /*Configure GPIO pins : PD3 PD4 PD7 */
   GPIO_InitStruct.Pin = GPIO_PIN_3|GPIO_PIN_4|GPIO_PIN_7;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
@@ -92,10 +87,9 @@ void MX_GPIO_Init(void)
 
   /*Configure GPIO pins : PB6 PB7 */
   GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7;
-  GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
-  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
-  GPIO_InitStruct.Alternate = GPIO_AF4_I2C1;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
   /*Configure GPIO pin : PE0 */

Core/Src/main.c

@@ -21,6 +21,8 @@
 #include "cmsis_os.h"
 #include "adc.h"
 #include "can.h"
+#include "dma.h"
+#include "spi.h"
 #include "tim.h"
 #include "usart.h"
 #include "gpio.h"
@@ -28,9 +30,14 @@
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
 #include "usart1.h"
+#include "usart2.h" // 确保包含 huart2 定义所在的头文件
 #include "buzz.h"
 #include "pwm.h"
-#include "encode.h"
+#include "encoder.h"
+#include "led.h"
+#include "rgb.h"
+#include "mpu6050.h"
+#include "servo.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -95,6 +102,7 @@ int main(void)
 
   /* Initialize all configured peripherals */
   MX_GPIO_Init();
+  MX_DMA_Init();
   MX_CAN1_Init();
   MX_ADC1_Init();
   MX_USART1_UART_Init();
@@ -106,15 +114,27 @@ int main(void)
   MX_TIM5_Init();
   MX_TIM9_Init();
   MX_TIM12_Init();
+  MX_SPI3_Init();
+  MX_TIM8_Init();
   /* USER CODE BEGIN 2 */
+  RGB_Init();
+  SERVO_Init_All();
+  RGB_SetFullColor(255, 0, 0); // 全亮红灯
   set_buzz_state(1);
   HAL_Delay(1000);
   set_buzz_state(0);
+  set_led3_state(0);
+  set_led4_state(0);
   
+  RGB_SetFullColor(0, 255, 0); // 全亮绿灯
   USART1_Config_Init();
+  USART2_Config_Init();
   PWM_Init_All();       // 开启PWM
   Encoder_Init_All();   // 开启编码器模式
-
+  printf("MPU6050 Software IIC Initializing...\r\n");
+   // 初始化MPU6050
+  MPU6050_Init();
+  Servo_360_Set_Angle(90);
   /* USER CODE END 2 */
 
   /* Init scheduler */

Core/Src/spi.c

+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    spi.c
+  * @brief   This file provides code for the configuration
+  *          of the SPI instances.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2025 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+/* Includes ------------------------------------------------------------------*/
+#include "spi.h"
+
+/* USER CODE BEGIN 0 */
+
+/* USER CODE END 0 */
+
+SPI_HandleTypeDef hspi3;
+DMA_HandleTypeDef hdma_spi3_tx;
+
+/* SPI3 init function */
+void MX_SPI3_Init(void)
+{
+
+  /* USER CODE BEGIN SPI3_Init 0 */
+
+  /* USER CODE END SPI3_Init 0 */
+
+  /* USER CODE BEGIN SPI3_Init 1 */
+
+  /* USER CODE END SPI3_Init 1 */
+  hspi3.Instance = SPI3;
+  hspi3.Init.Mode = SPI_MODE_MASTER;
+  hspi3.Init.Direction = SPI_DIRECTION_2LINES;
+  hspi3.Init.DataSize = SPI_DATASIZE_8BIT;
+  hspi3.Init.CLKPolarity = SPI_POLARITY_LOW;
+  hspi3.Init.CLKPhase = SPI_PHASE_2EDGE;
+  hspi3.Init.NSS = SPI_NSS_SOFT;
+  hspi3.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8;
+  hspi3.Init.FirstBit = SPI_FIRSTBIT_MSB;
+  hspi3.Init.TIMode = SPI_TIMODE_DISABLE;
+  hspi3.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
+  hspi3.Init.CRCPolynomial = 10;
+  if (HAL_SPI_Init(&hspi3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN SPI3_Init 2 */
+
+  /* USER CODE END SPI3_Init 2 */
+
+}
+
+void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle)
+{
+
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  if(spiHandle->Instance==SPI3)
+  {
+  /* USER CODE BEGIN SPI3_MspInit 0 */
+
+  /* USER CODE END SPI3_MspInit 0 */
+    /* SPI3 clock enable */
+    __HAL_RCC_SPI3_CLK_ENABLE();
+
+    __HAL_RCC_GPIOC_CLK_ENABLE();
+    /**SPI3 GPIO Configuration
+    PC10     ------> SPI3_SCK
+    PC12     ------> SPI3_MOSI
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_10|GPIO_PIN_12;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF6_SPI3;
+    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+    /* SPI3 DMA Init */
+    /* SPI3_TX Init */
+    hdma_spi3_tx.Instance = DMA1_Stream5;
+    hdma_spi3_tx.Init.Channel = DMA_CHANNEL_0;
+    hdma_spi3_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
+    hdma_spi3_tx.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_spi3_tx.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_spi3_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+    hdma_spi3_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+    hdma_spi3_tx.Init.Mode = DMA_NORMAL;
+    hdma_spi3_tx.Init.Priority = DMA_PRIORITY_HIGH;
+    hdma_spi3_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
+    if (HAL_DMA_Init(&hdma_spi3_tx) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(spiHandle,hdmatx,hdma_spi3_tx);
+
+  /* USER CODE BEGIN SPI3_MspInit 1 */
+
+  /* USER CODE END SPI3_MspInit 1 */
+  }
+}
+
+void HAL_SPI_MspDeInit(SPI_HandleTypeDef* spiHandle)
+{
+
+  if(spiHandle->Instance==SPI3)
+  {
+  /* USER CODE BEGIN SPI3_MspDeInit 0 */
+
+  /* USER CODE END SPI3_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_SPI3_CLK_DISABLE();
+
+    /**SPI3 GPIO Configuration
+    PC10     ------> SPI3_SCK
+    PC12     ------> SPI3_MOSI
+    */
+    HAL_GPIO_DeInit(GPIOC, GPIO_PIN_10|GPIO_PIN_12);
+
+    /* SPI3 DMA DeInit */
+    HAL_DMA_DeInit(spiHandle->hdmatx);
+  /* USER CODE BEGIN SPI3_MspDeInit 1 */
+
+  /* USER CODE END SPI3_MspDeInit 1 */
+  }
+}
+
+/* USER CODE BEGIN 1 */
+
+/* USER CODE END 1 */

Core/Src/stm32f4xx_it.c

@@ -55,6 +55,7 @@
 /* USER CODE END 0 */
 
 /* External variables --------------------------------------------------------*/
+extern DMA_HandleTypeDef hdma_spi3_tx;
 extern UART_HandleTypeDef huart1;
 extern UART_HandleTypeDef huart2;
 extern TIM_HandleTypeDef htim7;
@@ -162,6 +163,20 @@ void DebugMon_Handler(void)
 /******************************************************************************/
 
 /**
+  * @brief This function handles DMA1 stream5 global interrupt.
+  */
+void DMA1_Stream5_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA1_Stream5_IRQn 0 */
+
+  /* USER CODE END DMA1_Stream5_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_spi3_tx);
+  /* USER CODE BEGIN DMA1_Stream5_IRQn 1 */
+
+  /* USER CODE END DMA1_Stream5_IRQn 1 */
+}
+
+/**
   * @brief This function handles USART1 global interrupt.
   */
 void USART1_IRQHandler(void)

Core/Src/tim.c

@@ -29,6 +29,7 @@ TIM_HandleTypeDef htim2;
 TIM_HandleTypeDef htim3;
 TIM_HandleTypeDef htim4;
 TIM_HandleTypeDef htim5;
+TIM_HandleTypeDef htim8;
 TIM_HandleTypeDef htim9;
 TIM_HandleTypeDef htim12;
 
@@ -280,6 +281,78 @@ void MX_TIM5_Init(void)
   /* USER CODE END TIM5_Init 2 */
 
 }
+/* TIM8 init function */
+void MX_TIM8_Init(void)
+{
+
+  /* USER CODE BEGIN TIM8_Init 0 */
+
+  /* USER CODE END TIM8_Init 0 */
+
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_OC_InitTypeDef sConfigOC = {0};
+  TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
+
+  /* USER CODE BEGIN TIM8_Init 1 */
+
+  /* USER CODE END TIM8_Init 1 */
+  htim8.Instance = TIM8;
+  htim8.Init.Prescaler = 167;
+  htim8.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim8.Init.Period = 19999;
+  htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim8.Init.RepetitionCounter = 0;
+  htim8.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_PWM_Init(&htim8) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim8, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigOC.OCMode = TIM_OCMODE_PWM1;
+  sConfigOC.Pulse = 0;
+  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
+  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
+  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
+  if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_PWM_ConfigChannel(&htim8, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
+  sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
+  sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
+  sBreakDeadTimeConfig.DeadTime = 0;
+  sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
+  sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
+  sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
+  if (HAL_TIMEx_ConfigBreakDeadTime(&htim8, &sBreakDeadTimeConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM8_Init 2 */
+
+  /* USER CODE END TIM8_Init 2 */
+  HAL_TIM_MspPostInit(&htim8);
+
+}
 /* TIM9 init function */
 void MX_TIM9_Init(void)
 {
@@ -377,6 +450,17 @@ void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle)
 
   /* USER CODE END TIM1_MspInit 1 */
   }
+  else if(tim_pwmHandle->Instance==TIM8)
+  {
+  /* USER CODE BEGIN TIM8_MspInit 0 */
+
+  /* USER CODE END TIM8_MspInit 0 */
+    /* TIM8 clock enable */
+    __HAL_RCC_TIM8_CLK_ENABLE();
+  /* USER CODE BEGIN TIM8_MspInit 1 */
+
+  /* USER CODE END TIM8_MspInit 1 */
+  }
   else if(tim_pwmHandle->Instance==TIM9)
   {
   /* USER CODE BEGIN TIM9_MspInit 0 */
@@ -537,6 +621,30 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
 
   /* USER CODE END TIM1_MspPostInit 1 */
   }
+  else if(timHandle->Instance==TIM8)
+  {
+  /* USER CODE BEGIN TIM8_MspPostInit 0 */
+
+  /* USER CODE END TIM8_MspPostInit 0 */
+
+    __HAL_RCC_GPIOC_CLK_ENABLE();
+    /**TIM8 GPIO Configuration
+    PC6     ------> TIM8_CH1
+    PC7     ------> TIM8_CH2
+    PC8     ------> TIM8_CH3
+    PC9     ------> TIM8_CH4
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7|GPIO_PIN_8|GPIO_PIN_9;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
+    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN TIM8_MspPostInit 1 */
+
+  /* USER CODE END TIM8_MspPostInit 1 */
+  }
   else if(timHandle->Instance==TIM9)
   {
   /* USER CODE BEGIN TIM9_MspPostInit 0 */
@@ -598,6 +706,17 @@ void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* tim_pwmHandle)
 
   /* USER CODE END TIM1_MspDeInit 1 */
   }
+  else if(tim_pwmHandle->Instance==TIM8)
+  {
+  /* USER CODE BEGIN TIM8_MspDeInit 0 */
+
+  /* USER CODE END TIM8_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM8_CLK_DISABLE();
+  /* USER CODE BEGIN TIM8_MspDeInit 1 */
+
+  /* USER CODE END TIM8_MspDeInit 1 */
+  }
   else if(tim_pwmHandle->Instance==TIM9)
   {
   /* USER CODE BEGIN TIM9_MspDeInit 0 */

Hardware/Encode/encode.c → User/Hardware/Encoder/encoder.c

-#include "encode.h"
+#include "encoder.h"
 
 // 全局结构体数组，对应 4 个电机
 Encoder_T g_encoder[MOTOR_COUNT] = {0};

Hardware/Encode/encode.h → User/Hardware/Encoder/encoder.h

-#ifndef __ENCODE_H
-#define __ENCODE_H
+#ifndef __ENCODER_H
+#define __ENCODER_H
 
 #include "tim.h"
 

User/Hardware/Led/led.c

+#include "led.h"
+void set_led3_state(bool state)
+{
+    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_3, 
+                      state ? GPIO_PIN_SET : GPIO_PIN_RESET);
+}
+
+void set_led4_state(bool state)
+{
+    HAL_GPIO_WritePin(GPIOD, GPIO_PIN_4, 
+                      state ? GPIO_PIN_SET : GPIO_PIN_RESET);
+}
+

User/Hardware/Led/led.h

+#ifndef __LED_H__
+#define __LED_H__
+
+#include "gpio.h"
+#include <stdbool.h> 
+#include <stdint.h>
+
+void set_led3_state(bool state);
+void set_led4_state(bool state);
+
+#endif

User/Hardware/Led/rgb.c

+#include "rgb.h"
+#include "spi.h"
+
+// 定义 0 和 1 的波形特征码（根据你的 SPI 频率可能需要微调）
+#define TIM_ZERO          0xC0  
+#define TIM_ONE           0xF8
+
+// 缓存数组：1个起始0 + PIXEL_NUM*24位数据 + 1个停止0
+uint8_t RGB_BYTE_Buffer[PIXEL_NUM * 24 + 2] = {0};
+
+/**
+  * @brief  RGB驱动初始化 (HAL库下，CubeMX已完成大部分初始化)
+  */
+void RGB_Init(void)
+{
+    // 在 CubeMX 中已经生成了 MX_SPI3_Init()，这里可以留空或做逻辑初始化
+    for(int i=0; i < sizeof(RGB_BYTE_Buffer); i++) RGB_BYTE_Buffer[i] = 0;
+}
+
+/**
+  * @brief  将数据发送到硬件（DMA方式）
+  */
+void RGB_Update(void)
+{
+    // 使用 HAL 库的 DMA 发送函数
+    // 参数：句柄，数据地址，数据长度
+    HAL_SPI_Transmit_DMA(&hspi3, RGB_BYTE_Buffer, PIXEL_NUM * 24 + 2);
+    
+    // 原代码中使用 while 等待标志位，在 HAL 中如果需要同步等待可以使用：
+    // while (HAL_SPI_GetState(&hspi3) != HAL_SPI_STATE_READY);
+}
+
+/**
+  * @brief  全灯设置同一个颜色
+  */
+void RGB_SetFullColor(uint8_t r, uint8_t g, uint8_t b)
+{
+    uint16_t i, j;
+
+    RGB_BYTE_Buffer[0] = 0;                               
+    RGB_BYTE_Buffer[PIXEL_NUM * 24 + 1] = 0;    
+
+    // 填充第一个灯珠的数据 (WS2812 顺序通常是 G-R-B)
+    for(j = 0; j < 8; j++)
+    {
+        RGB_BYTE_Buffer[j + 1]      = ((g << j) & 0x80) ? TIM_ONE : TIM_ZERO;
+        RGB_BYTE_Buffer[j + 1 + 8]  = ((r << j) & 0x80) ? TIM_ONE : TIM_ZERO;
+        RGB_BYTE_Buffer[j + 1 + 16] = ((b << j) & 0x80) ? TIM_ONE : TIM_ZERO;            
+    }
+
+    // 复制到其他灯珠
+    for(i = 1; i < PIXEL_NUM; i++)
+    {
+        for(j = 1; j < 25; j++)
+        {
+            RGB_BYTE_Buffer[(24 * i) + j] = RGB_BYTE_Buffer[j];  
+        }        
+    } 
+
+    RGB_Update();
+}
+
+/**
+  * @brief  设置每个灯珠不同的颜色
+  */
+void RGB_SetPixelColor(uint8_t pixel[PIXEL_NUM][3])
+{
+    uint8_t i, j;
+    
+    RGB_BYTE_Buffer[0] = 0;                               
+    RGB_BYTE_Buffer[PIXEL_NUM * 24 + 1] = 0;    
+    
+    for(i = 0; i < PIXEL_NUM; i++)
+    {    
+        for(j = 0; j < 8; j++)
+        {
+            // pixel[i][0]=R, [i][1]=G, [i][2]=B
+            RGB_BYTE_Buffer[(i * 24) + j + 1]      = ((pixel[i][1] << j) & 0x80) ? TIM_ONE : TIM_ZERO;
+            RGB_BYTE_Buffer[(i * 24) + j + 1 + 8]  = ((pixel[i][0] << j) & 0x80) ? TIM_ONE : TIM_ZERO;
+            RGB_BYTE_Buffer[(i * 24) + j + 1 + 16] = ((pixel[i][2] << j) & 0x80) ? TIM_ONE : TIM_ZERO;    
+        }    
+    }
+    
+    RGB_Update();
+}

User/Hardware/Led/rgb.h

+#ifndef __RGB_H
+#define __RGB_H
+
+#include "main.h"
+
+#define PIXEL_NUM  8  // 灯珠数量
+
+// 定义颜色结构体
+typedef struct {
+    uint8_t R;
+    uint8_t G;
+    uint8_t B;
+} RGB_Color_t;
+
+// 定义灯带结构体（可选，方便管理整串灯）
+typedef struct {
+    RGB_Color_t Pixel[PIXEL_NUM];
+} RGB_Strip_t;
+
+// 接口函数
+void RGB_Init(void);
+void RGB_SetFullColor(uint8_t r, uint8_t g, uint8_t b);
+void RGB_SetPixelColor(uint8_t pixel[PIXEL_NUM][3]);
+
+#endif

Hardware/Pwm/pwm.c → User/Hardware/Pwm/pwm.c

@@ -22,43 +22,72 @@ void PWM_Set_Duty(TIM_HandleTypeDef *htim, uint32_t Channel, uint32_t pulse) {
 }
 
 // 假设 duty 范围是 -100 到 100
-void motor_left_front(int16_t duty) {
-    if (duty >= 0) {
-        PWM_Set_Duty(&htim1, TIM_CHANNEL_1, duty);
-        PWM_Set_Duty(&htim1, TIM_CHANNEL_2, 0);
+void motor_left_front(int16_t speed) {
+
+    int16_t temp = speed;
+	
+	if(temp>4200)
+		temp = 4200;
+	if(temp<-4200)
+		temp = -4200;
+
+    if (temp >= 0) {
+        PWM_Set_Duty(&htim1, TIM_CHANNEL_1, 4200);
+        PWM_Set_Duty(&htim1, TIM_CHANNEL_2, (4200 - temp));
     } else {
-        PWM_Set_Duty(&htim1, TIM_CHANNEL_1, 0);
-        PWM_Set_Duty(&htim1, TIM_CHANNEL_2, -duty);
+        PWM_Set_Duty(&htim1, TIM_CHANNEL_1, (4200 + temp));
+        PWM_Set_Duty(&htim1, TIM_CHANNEL_2, 4200);
     }
 }
 
-void motor_right_front(int16_t duty) {
-    if (duty >= 0) {
-        PWM_Set_Duty(&htim1, TIM_CHANNEL_3, duty);
-        PWM_Set_Duty(&htim1, TIM_CHANNEL_4, 0);
+void motor_right_front(int16_t speed) {
+    int16_t temp = speed;
+	
+	if(temp>4200)
+		temp = 4200;
+	if(temp<-4200)
+		temp = -4200;
+
+    if (temp >= 0) {
+        PWM_Set_Duty(&htim1, TIM_CHANNEL_3, 4200);
+        PWM_Set_Duty(&htim1, TIM_CHANNEL_4, (4200 - temp));
     } else {
-        PWM_Set_Duty(&htim1, TIM_CHANNEL_3, 0);
-        PWM_Set_Duty(&htim1, TIM_CHANNEL_4, -duty);
+        PWM_Set_Duty(&htim1, TIM_CHANNEL_3, (4200 + temp));
+        PWM_Set_Duty(&htim1, TIM_CHANNEL_4, 4200);
     }
 }
 
-void motor_left_back(int16_t duty) {
-    if (duty >= 0) {
-        PWM_Set_Duty(&htim9, TIM_CHANNEL_1, duty);
-        PWM_Set_Duty(&htim9, TIM_CHANNEL_2, 0);
+void motor_left_back(int16_t speed) {
+    int16_t temp = speed;
+	
+	if(temp>4200)
+		temp = 4200;
+	if(temp<-4200)
+		temp = -4200;
+
+    if (temp >= 0) {
+        PWM_Set_Duty(&htim9, TIM_CHANNEL_1, 4200);
+        PWM_Set_Duty(&htim9, TIM_CHANNEL_2, (4200 - temp));
     } else {
-        PWM_Set_Duty(&htim9, TIM_CHANNEL_1, 0);
-        PWM_Set_Duty(&htim9, TIM_CHANNEL_2, -duty);
+        PWM_Set_Duty(&htim9, TIM_CHANNEL_1, (4200 + temp));
+        PWM_Set_Duty(&htim9, TIM_CHANNEL_2, 4200);
     }
 }
 
-void motor_right_back(int16_t duty) {
-    if (duty >= 0) {
-        PWM_Set_Duty(&htim12, TIM_CHANNEL_1, duty);
-        PWM_Set_Duty(&htim12, TIM_CHANNEL_2, 0);
+void motor_right_back(int16_t speed) {
+    int16_t temp = speed;
+	
+	if(temp>4200)
+		temp = 4200;
+	if(temp<-4200)
+		temp = -4200;
+
+    if (temp >= 0) {
+        PWM_Set_Duty(&htim12, TIM_CHANNEL_1, 4200);
+        PWM_Set_Duty(&htim12, TIM_CHANNEL_2, (4200 - temp));
     } else {
-        PWM_Set_Duty(&htim12, TIM_CHANNEL_1, 0);
-        PWM_Set_Duty(&htim12, TIM_CHANNEL_2, -duty);
+        PWM_Set_Duty(&htim12, TIM_CHANNEL_1, (4200 + temp));
+        PWM_Set_Duty(&htim12, TIM_CHANNEL_2, 4200);
     }
 }
 

Hardware/Pwm/pwm.h → User/Hardware/Pwm/pwm.h

@@ -3,6 +3,8 @@
 
 #include "tim.h"
 
+void PWM_Set_Duty(TIM_HandleTypeDef *htim, uint32_t Channel, uint32_t pulse);
+
 // 启动所有PWM通道
 void PWM_Init_All(void);
 // 设置PWM占空比 (Compare范围 0-20000)

User/Hardware/Pwm/servo.c

+#include "servo.h"
+#include "tim.h"
+#include "pwm.h"
+
+void SERVO_Init_All(void) {
+    HAL_TIM_PWM_Start(&htim8, TIM_CHANNEL_1);
+    // HAL_TIM_PWM_Start(&htim8, TIM_CHANNEL_2);
+    // HAL_TIM_PWM_Start(&htim8, TIM_CHANNEL_3);
+    // HAL_TIM_PWM_Start(&htim8, TIM_CHANNEL_4);
+
+}
+
+void Servo_360_Set_Angle(float angle) {
+    // 1. 角度限幅
+    if (angle < 0.0f) angle = 0.0f;
+    if (angle > 270.0f) angle = 270.0f;
+
+    /* 2. 角度映射到脉宽
+     * 标准舵机协议：
+     * 0°   -> 0.5ms (500us)
+     * 360° -> 2.5ms (2500us)
+     * 计算公式：Pulse = 500 + (angle / 360.0) * (2500 - 500)
+     */
+    uint32_t pulse = (uint32_t)(500.0f + (angle * 2000.0f / 360.0f));
+
+    // 3. 设置 PWM
+    PWM_Set_Duty(&htim8,TIM_CHANNEL_1,pulse);
+}

User/Hardware/Pwm/servo.h

+#ifndef __SERVO_H
+#define __SERVO_H
+
+void SERVO_Init_All(void);
+void Servo_360_Set_Angle(float angle);
+
+#endif

User/Hardware/Vin/vin.c

+#include "vin.h"
+#include "adc.h"
+#include "usart2.h" // 确保包含 huart2 定义所在的头文件
+#include "usart1.h" 
+#include <string.h>
+
+/**
+ * @brief 读取 ADC 值并转换为电压
+ * @return float 电压值 (0.0V - 3.3V)
+ */
+float Get_ADC_Voltage(void)
+{
+    uint32_t adc_value = 0;
+    float voltage = 0.0;
+
+    // 1. 启动 ADC 转换
+    HAL_ADC_Start(&hadc1);
+
+    // 2. 等待转换完成 (超时时间设为 10ms)
+    if (HAL_ADC_PollForConversion(&hadc1, 10) == HAL_OK)
+    {
+        // 3. 读取 12 位的数字值 (0 - 4095)
+        adc_value = HAL_ADC_GetValue(&hadc1);
+
+        // 4. 转换为电压值
+        // 公式：电压 = (读取值 / 最大值) * 参考电压
+        // 12位 ADC 最大值是 2^12 - 1 = 4095
+        // STM32 标准参考电压通常是 3.3V
+        voltage = (float)adc_value * 3.3f / 4095.0f;
+    }
+
+    // 5. 停止 ADC (单次模式下可选，但建议养成习惯)
+    HAL_ADC_Stop(&hadc1);
+
+    return voltage;
+}
+
+float Get_Vin_Voltage(void)
+{
+    float voltage = 11.0f * Get_ADC_Voltage();
+    return (float)((int)(voltage * 100.0f + 0.5f))/100.0f;
+}
+
+
+void USART_Send_Voltage(void)
+{
+    uint8_t frame[8];
+    
+    // 1. 将电压放大100倍转换为整数
+    // +0.5f 是为了四舍五入，防止浮点数精度误差（如 12.34 变成 12.33999）
+    uint32_t v_int = (uint32_t)(Get_Vin_Voltage() * 100.0f + 0.5f); 
+
+    // 限制最大值，防止输入超出 99.99 (可选)
+    if (v_int > 999999) v_int = 999999; // 3字节理论最大值远超99.99
+
+    frame[0] = 0x01;          // 帧头
+    frame[1] = 0xFF;          // mode 固定为 FF
+    frame[2] = 0xFF;          // value 固定为 FF
+    
+    // 2. 将数据填入 3 个预留位 (大端模式：高位在前)
+    // 例如 v_int = 9999 (0x00270F)
+    frame[3] = 0x01; // 高位 (0x00)
+    frame[4] = (uint8_t)((v_int >> 8) & 0xFF);  // 中位 (0x27)
+    frame[5] = (uint8_t)(v_int & 0xFF);         // 低位 (0x0F)
+    
+    // 3. 生成和校验 (Sum Check)
+    // 校验位 = frame[1] + frame[2] + frame[3] + frame[4] + frame[5]
+    uint8_t checksum = 0;
+    for(int i = 1; i <= 5; i++)
+    {
+        checksum += frame[i];
+    }
+    frame[6] = checksum;
+    
+    frame[7] = 0xFF;          // 停止位
+    
+    // 4. 阻塞式发送 8 字节二进制数据
+    HAL_UART_Transmit(&huart2, frame, 8, 100);
+}

User/Hardware/Vin/vin.h

+#ifndef __VIN_H__
+#define __VIN_H__
+
+
+float Get_Vin_Voltage(void);
+
+void USART_Send_Voltage(void);
+#endif

User/Hardware/eeprom/eeprom.c

+#include"eeprom.h"
+#include "delay.h"
+

User/Hardware/eeprom/eeprom.h

+#ifndef __EEPROM_H
+#define __EEPROM_H
+
+
+
+
+#endif
\ No newline at end of file

User/Hardware/mpu6050/mpu6050.c

+#include "mpu6050.h"
+#include <stdio.h>
+#include "delay.h"
+
+
+// --- IO模式切换宏 (针对STM32F407, PB7引脚) ---
+// F4的MODER寄存器每2位控制一个IO口，Pin7对应14-15位
+#define SDA_IN()  {GPIOB->MODER &= ~(3 << (7 * 2)); GPIOB->MODER |= (0 << (7 * 2));}
+#define SDA_OUT() {GPIOB->MODER &= ~(3 << (7 * 2)); GPIOB->MODER |= (1 << (7 * 2));}
+
+// --- IO电平控制宏 ---
+#define IIC_SCL(n) HAL_GPIO_WritePin(GPIOB, GPIO_PIN_6, n ? GPIO_PIN_SET : GPIO_PIN_RESET)
+#define IIC_SDA(n) HAL_GPIO_WritePin(GPIOB, GPIO_PIN_7, n ? GPIO_PIN_SET : GPIO_PIN_RESET)
+#define READ_SDA   HAL_GPIO_ReadPin(GPIOB, GPIO_PIN_7)
+
+// --- 内部底层协议函数 ---
+
+static void IIC_Start(void) {
+    SDA_OUT();
+    IIC_SDA(1);
+    IIC_SCL(1);
+    delay_us(4);
+    IIC_SDA(0);
+    delay_us(4);
+    IIC_SCL(0);
+}
+
+static void IIC_Stop(void) {
+    SDA_OUT();
+    IIC_SCL(0);
+    IIC_SDA(0);
+    delay_us(4);
+    IIC_SCL(1);
+    IIC_SDA(1);
+    delay_us(4);
+}
+
+static uint8_t IIC_Wait_Ack(void) {
+    uint8_t retry = 0;
+    SDA_IN();
+    IIC_SDA(1); delay_us(1);
+    IIC_SCL(1); delay_us(1);
+    while (READ_SDA) {
+        retry++;
+        if (retry > 250) { IIC_Stop(); return 1; }
+    }
+    IIC_SCL(0);
+    return 0;
+}
+
+static void IIC_Ack(void) {
+    IIC_SCL(0); SDA_OUT();
+    IIC_SDA(0); delay_us(2);
+    IIC_SCL(1); delay_us(2);
+    IIC_SCL(0);
+}
+
+static void IIC_NAck(void) {
+    IIC_SCL(0); SDA_OUT();
+    IIC_SDA(1); delay_us(2);
+    IIC_SCL(1); delay_us(2);
+    IIC_SCL(0);
+}
+
+static void IIC_Send_Byte(uint8_t data) {
+    SDA_OUT();
+    IIC_SCL(0);
+    for (uint8_t i = 0; i < 8; i++) {
+        IIC_SDA((data & 0x80) >> 7);
+        data <<= 1;
+        delay_us(2);
+        IIC_SCL(1); delay_us(2);
+        IIC_SCL(0); delay_us(2);
+    }
+}
+
+static uint8_t IIC_Read_Byte(uint8_t ack) {
+    uint8_t receive = 0;
+    SDA_IN();
+    for (uint8_t i = 0; i < 8; i++) {
+        IIC_SCL(0); delay_us(2);
+        IIC_SCL(1);
+        receive <<= 1;
+        if (READ_SDA) receive++;
+        delay_us(1);
+    }
+    if (ack) IIC_Ack(); else IIC_NAck();
+    return receive;
+}
+
+// --- 寄存器读写包装 ---
+
+static void MPU6050_WriteRegister(uint8_t reg, uint8_t data) {
+    IIC_Start();
+    IIC_Send_Byte(MPU6050_ADDR << 1);
+    IIC_Wait_Ack();
+    IIC_Send_Byte(reg);
+    IIC_Wait_Ack();
+    IIC_Send_Byte(data);
+    IIC_Wait_Ack();
+    IIC_Stop();
+}
+
+static void MPU6050_ReadRegister(uint8_t reg, uint8_t *pdata, uint16_t len) {
+    IIC_Start();
+    IIC_Send_Byte(MPU6050_ADDR << 1);
+    IIC_Wait_Ack();
+    IIC_Send_Byte(reg);
+    IIC_Wait_Ack();
+    
+    IIC_Start();
+    IIC_Send_Byte((MPU6050_ADDR << 1) | 0x01);
+    IIC_Wait_Ack();
+    while (len) {
+        if (len == 1) *pdata = IIC_Read_Byte(0);
+        else *pdata = IIC_Read_Byte(1);
+        pdata++; len--;
+    }
+    IIC_Stop();
+}
+
+// --- MPU6050应用接口 ---
+
+/**
+  * @brief  MPU6050初始化
+  */
+void MPU6050_Init(void) {
+    // 引脚初始化在MX_GPIO_Init中完成，或者手动配置PB6/PB7为推挽输出
+    IIC_SCL(1);
+    IIC_SDA(1);
+
+    MPU6050_WriteRegister(MPU6050_PWR_MGMT_1, 0x80); // 复位
+    HAL_Delay(100); // 100ms
+    MPU6050_WriteRegister(MPU6050_PWR_MGMT_1, 0x00); // 唤醒
+    
+    MPU6050_SetGyroRange(GYRO_RANGE_2000);
+    MPU6050_SetAccRange(ACC_RANGE_2G);
+    
+    MPU6050_WriteRegister(MPU6050_PWR_MGMT_1, 0x01); // 时钟源PLL
+}
+
+void MPU6050_SetAccRange(uint8_t range) {
+    MPU6050_WriteRegister(MPU6050_ACCEL_CONFIG, range << 3);
+}
+
+void MPU6050_SetGyroRange(uint8_t range) {
+    MPU6050_WriteRegister(MPU6050_GYRO_CONFIG, range << 3);
+}
+
+void MPU6050_GetAccData(int16_t *pbuf) {
+    uint8_t buf[6];
+    MPU6050_ReadRegister(MPU6050_ACCEL_XOUT_H, buf, 6);
+    pbuf[0] = (buf[0] << 8) | buf[1];
+    pbuf[1] = (buf[2] << 8) | buf[3];
+    pbuf[2] = (buf[4] << 8) | buf[5];
+}
+
+void MPU6050_GetGyroData(int16_t *pbuf) {
+    uint8_t buf[6];
+    MPU6050_ReadRegister(MPU6050_GYRO_XOUT_H, buf, 6);
+    pbuf[0] = (buf[0] << 8) | buf[1];
+    pbuf[1] = (buf[2] << 8) | buf[3];
+    pbuf[2] = (buf[4] << 8) | buf[5];
+}
+
+float MPU6050_GetTempValue(void) {
+    uint8_t buf[2];
+    MPU6050_ReadRegister(MPU6050_TEMP_OUT_H, buf, 2);
+    int16_t tmp = (buf[0] << 8) | buf[1];
+    return (float)(36.53f + ((double)tmp / 340.0f));
+}

User/Hardware/mpu6050/mpu6050.h

+#ifndef __AX_MPU6050_H
+#define __AX_MPU6050_H
+
+#include "main.h" // 包含HAL库相关定义
+
+#define MPU6050_ADDR    0x68    // MPU6050器件地址
+
+// MPU6050寄存器地址定义
+#define MPU6050_SMPLRT_DIV      0x19
+#define MPU6050_CONFIG          0x1A
+#define MPU6050_GYRO_CONFIG     0x1B
+#define MPU6050_ACCEL_CONFIG    0x1C
+#define MPU6050_INT_ENABLE      0x38
+#define MPU6050_ACCEL_XOUT_H    0x3B
+#define MPU6050_TEMP_OUT_H      0x41
+#define MPU6050_GYRO_XOUT_H     0x43
+#define MPU6050_PWR_MGMT_1      0x6B
+#define MPU6050_PWR_MGMT_2      0x6C
+#define MPU6050_WHO_AM_I        0x75
+
+// 范围定义
+#define ACC_RANGE_2G   0
+#define GYRO_RANGE_2000 3
+
+// 函数声明 (保持原有命名)
+void    MPU6050_Init(void);
+void    MPU6050_GetAccData(int16_t *pbuf);
+void    MPU6050_GetGyroData(int16_t *pbuf);
+float   MPU6050_GetTempValue(void);
+
+void    MPU6050_SetAccRange(uint8_t range);
+void    MPU6050_SetGyroRange(uint8_t range);
+
+#endif

User/System/Delay/delay.c

+#include "delay.h"
+
+/**
+ * @brief NOP 延时因子
+ * @note  针对 STM32F407 @ 168MHz 且关闭编译优化时的粗略估算。
+ *        如果延时太快导致 IIC 通讯失败，请调大此值。
+ */
+#define US_FACTOR  45 
+
+/**
+ * @brief 微秒级主动等待
+ * @note  使用 volatile 确保循环不被编译器优化掉
+ */
+void delay_us(uint32_t us)
+{
+    // 计算总循环次数
+    // 168MHz 下，执行一圈循环约需要几个指令周期
+    volatile uint32_t count = us * US_FACTOR;
+    
+    while(count--)
+    {
+        __nop(); 
+    }
+}
+
+/**
+ * @brief 毫秒级延时
+ */
+void delay_ms(uint32_t ms)
+{
+    // 如果 FreeRTOS 调度器已经运行，则使用 vTaskDelay 释放 CPU
+    #if defined(INC_TASK_H)
+    if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED)
+    {
+        vTaskDelay(pdMS_TO_TICKS(ms));
+        return;
+    }
+    #endif
+
+    // 调度器未运行，或未定义 FreeRTOS 时使用阻塞延时
+    while(ms--)
+    {
+        delay_us(1000);
+    }
+}

User/System/Delay/delay.h

+#ifndef __DELAY_H
+#define __DELAY_H
+
+#include "main.h"
+
+void delay_us(uint32_t us);
+void delay_ms(uint32_t ms);
+
+#endif

System/usart/usart1.c → User/System/usart/usart1.c

@@ -2,15 +2,13 @@
 #include "buzz.h"
 #include "pwm.h"
 
-uint8_t RxBuffer[RX_BUF_SIZE]; // 接收缓冲区
-
 /**
   * @brief  启动串口接收
   */
 void USART1_Config_Init(void)
 {
     /* 使用扩展接收函数：接收到 RX_BUF_SIZE 个字节，或者遇到空闲中断时停止并回调 */
-    HAL_UARTEx_ReceiveToIdle_IT(&huart1, RxBuffer, RX_BUF_SIZE);
+    HAL_UARTEx_ReceiveToIdle_IT(&huart1, RxBuffer1, RX_BUF_SIZE);
     printf("USART1 Multi-Byte Mode Ready.\r\n");
 }
 
@@ -30,23 +28,6 @@ int fputc(int ch, FILE *f) {
 #endif
 
 /**
-  * @brief  这是处理变长数据的关键回调函数
-  * @param  huart: 串口句柄
-  * @param  Size: 实际接收到的字节数
-  */
-void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
-{
-    if (huart->Instance == USART1)
-    {
-        // 1. 处理接收到的一包数据
-        USART1_Process_Packet(RxBuffer, Size);
-
-        // 2. 接收完成后，必须再次开启监听
-        HAL_UARTEx_ReceiveToIdle_IT(&huart1, RxBuffer, RX_BUF_SIZE);
-    }
-}
-
-/**
   * @brief  业务逻辑：解析数据包
   * @param  pData: 指向接收缓冲区的指针
   * @param  Size: 接收到的有效数据长度
@@ -54,39 +35,20 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
 void USART1_Process_Packet(uint8_t *pData, uint16_t Size)
 {
     // 基础长度检查
-    if (len < 8) return; 
+    if (Size < 8) return; 
 
-    for (int i = 0; i <= len - 8; i++) {
+    for (int i = 0; i <= Size - 8; i++) {
         // 1. 检查帧头和帧尾
-        if (buf[i] == 0x01 && buf[i+7] == 0xFF) {
+        if (pData[i] == 0x01 && pData[i+7] == 0xFF) {
             
-            uint8_t r_mode  = buf[i+1];
-            uint8_t r_value = buf[i+2];
-            uint8_t r_check = buf[i+6];
+            uint8_t r_mode  = pData[i+1];
+            uint8_t r_value = pData[i+2];
+            pwm_control_territory(r_mode, r_value);
             
-            // 2. 计算校验和
-            uint8_t cal_check = (buf[i+1] + buf[i+2] + buf[i+3] + buf[i+4] + buf[i+5]) & 0xFF;
-            
-            // 3. 校验比对
-            if (cal_check == r_check) {
-                // 校验通过，执行控制指令
-                pwm_control_territory(r_mode, r_value);
-                return; // 处理完一帧就退出
-            } else {
-                // 校验失败，可能是干扰
-                printf("Check Error!\n");
-            }
+          
+ 
         }
     }
 }
 
-/**
-  * @brief  如果发生错误（如溢出），在此重启接收
-  */
-void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
-{
-    if (huart->Instance == USART1)
-    {
-        HAL_UARTEx_ReceiveToIdle_IT(&huart1, RxBuffer, RX_BUF_SIZE);
-    }
-}
+

System/usart/usart2.c → User/System/usart/usart2.c

-#include "usart.h" // 确保包含 huart2 定义所在的头文件
+#include "usart2.h" // 确保包含 huart2 定义所在的头文件
 #include "pwm.h"
 #include <string.h>
 
-// 接收缓冲区
-uint8_t RxBuffer[RX_BUF_SIZE]; 
-
 /**
   * @brief  启动串口2接收（初始化调用）
   */
 void USART2_Config_Init(void)
 {
     /* 使用扩展接收函数：接收到 RX_BUF_SIZE 个字节，或者遇到空闲中断时停止并回调 */
-    HAL_UARTEx_ReceiveToIdle_IT(&huart2, RxBuffer, RX_BUF_SIZE);
+    HAL_UARTEx_ReceiveToIdle_IT(&huart2, RxBuffer2, RX_BUF_SIZE);
 }
 
 /**
@@ -38,22 +35,6 @@ void USART2_Send_Command(uint8_t mode, uint8_t value)
     HAL_UART_Transmit(&huart2, frame, 8, 100);
 }
 
-/**
-  * @brief  串口接收回调函数 (处理串口空闲中断)
-  * @param  huart: 串口句柄
-  * @param  Size: 实际接收到的字节数
-  */
-void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
-{
-    if (huart->Instance == USART2)
-    {
-        // 1. 处理接收到的二进制数据包
-        USART2_Process_Packet(RxBuffer, Size);
-
-        // 2. 必须再次开启监听，以便下一次接收
-        HAL_UARTEx_ReceiveToIdle_IT(&huart2, RxBuffer, RX_BUF_SIZE);
-    }
-}
 
 /**
   * @brief  解析 8 字节协议帧
@@ -73,7 +54,7 @@ void USART2_Process_Packet(uint8_t *pData, uint16_t Size)
         {
             uint8_t r_mode  = pData[i+1];
             uint8_t r_value = pData[i+2];
-            uint8_t r_check = pData[i+6];
+            uint8_t r_check = pData[i+6];  
             
             // 2. 计算接收到的数据位和校验
             uint8_t cal_check = (uint8_t)((pData[i+1] + pData[i+2] + pData[i+3] + pData[i+4] + pData[i+5]) & 0xFF);
@@ -91,13 +72,4 @@ void USART2_Process_Packet(uint8_t *pData, uint16_t Size)
     }
 }
 
-/**
-  * @brief  错误回调，防止串口因为溢出等错误停止接收
-  */
-void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
-{
-    if (huart->Instance == USART2)
-    {
-        HAL_UARTEx_ReceiveToIdle_IT(&huart2, RxBuffer, RX_BUF_SIZE);
-    }
-}
+
\ No newline at end of file

System/usart/usart2.h → User/System/usart/usart2.h

-#ifndef __USART1_H
-#define __USART1_H
+#ifndef __USART2_H
+#define __USART2_H
 
 #include "main.h"
 #include <stdio.h>
@@ -11,5 +11,6 @@
 /* 函数声明 */
 void USART2_Config_Init(void);
 void USART2_Process_Packet(uint8_t *pData, uint16_t Size);
+void USART2_Send_Command(uint8_t mode, uint8_t value);
 
 #endif

User/System/usart/usart_config.c

+#include "usart_config.h"
+
+uint8_t RxBuffer1[RX_BUF_SIZE]; // 接收缓冲区
+
+// 接收缓冲区
+uint8_t RxBuffer2[RX_BUF_SIZE]; 
+
+/**
+  * @brief  这是处理变长数据的关键回调函数
+  * @param  huart: 串口句柄
+  * @param  Size: 实际接收到的字节数
+  */
+void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
+{
+    if (huart->Instance == USART1)
+    {
+        // 1. 处理接收到的一包数据
+        USART1_Process_Packet(RxBuffer1, Size);
+
+        // 2. 接收完成后，必须再次开启监听
+        HAL_UARTEx_ReceiveToIdle_IT(&huart1, RxBuffer1, RX_BUF_SIZE);
+    }
+    if (huart->Instance == USART2)
+    {
+        // 1. 处理接收到的二进制数据包
+        USART2_Process_Packet(RxBuffer2, Size);
+
+        // 2. 必须再次开启监听，以便下一次接收
+        HAL_UARTEx_ReceiveToIdle_IT(&huart2, RxBuffer2, RX_BUF_SIZE);
+    }
+}
+
+/**
+  * @brief  如果发生错误（如溢出），在此重启接收
+  */
+void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
+{
+    if (huart->Instance == USART1)
+    {
+        HAL_UARTEx_ReceiveToIdle_IT(&huart1, RxBuffer1, RX_BUF_SIZE);
+    }
+    if (huart->Instance == USART2)
+    {
+        HAL_UARTEx_ReceiveToIdle_IT(&huart2, RxBuffer2, RX_BUF_SIZE);
+    }
+}

System/usart/usart_config.h → User/System/usart/usart_config.h

 #ifndef __USART_CONFIG_H
 #define __USART_CONFIG_H
 
+#include <stdio.h>
+#include <string.h>
+#include "main.h"
+
 /* 定义最大接收字节数 */
 #define RX_BUF_SIZE 256
+
 extern UART_HandleTypeDef huart1;
 extern UART_HandleTypeDef huart2;
-
-#endif
+// 告诉编译器，这两个函数在别的地方定义了，放心去用
+extern void USART1_Process_Packet(uint8_t *data, uint16_t size);
\ No newline at end of file
+extern void USART2_Process_Packet(uint8_t *data, uint16_t size);
+extern uint8_t RxBuffer1[];
+extern uint8_t RxBuffer2[];
+#endif

User/Tasks/task_manage.c

+#include "task_manage.h"
+#include "encoder.h"
+#include "pwm.h"
+#include "led.h"
+#include "rgb.h"
+#include "buzz.h"
+#include "usart1.h"
+#include "usart2.h"
+#include "vin.h"
+#include "mpu6050.h"
+#include "servo.h"
+
+int16_t acc[3], gyro[3];
+float temperature;
+float angle=90;
+void task_1_main(void) { 
+    Encoder_Update_All();
+    printf("M0: %ld (%d) | M1: %ld (%d) | M2: %ld (%d) | M3: %ld (%d)\r\n",
+            g_encoder[0].total_count, g_encoder[0].speed,
+            g_encoder[1].total_count, g_encoder[1].speed,
+            g_encoder[2].total_count, g_encoder[2].speed,
+            g_encoder[3].total_count, g_encoder[3].speed);
+    printf("VIN: %fV\r\n",Get_Vin_Voltage());
+
+    
+    MPU6050_GetAccData(acc);
+    printf("acceleration: X=%d, Y=%d, Z=%d\r\n", acc[0], acc[1], acc[2]);
+        
+        
+    MPU6050_GetGyroData(gyro);
+    printf("gyroscope: X=%d, Y=%d, Z=%d\r\n", gyro[0], gyro[1], gyro[2]);
+    
+        
+    temperature = MPU6050_GetTempValue();
+    printf("temperature: %.2f\r\n", temperature);
+    angle+=30;
+    if(360<angle)angle=20;
+    Servo_360_Set_Angle(angle);
+        
+    osDelay(2000); // 100ms读取一次
+    
+}

User/Tasks/task_manage.h

+#ifndef __MANAGE_H
+#define __MANAGE_H
+
+#include "main.h"
+#include "FreeRTOS.h"
+#include "task.h"
+#include "cmsis_os.h"
+
+void task_1_main(void);
+
+#endif

debug/adc.d

@@ -33,6 +33,7 @@
 ..\debug\adc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
 ..\debug\adc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
 ..\debug\adc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
+..\debug\adc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h
 ..\debug\adc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h
 ..\debug\adc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h
 ..\debug\adc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h

debug/buzz.d

-..\debug\buzz.o: ..\Hardware\Buzz\buzz.c
-..\debug\buzz.o: ..\Hardware\Buzz\buzz.h
+..\debug\buzz.o: ..\User\Hardware\Buzz\buzz.c
+..\debug\buzz.o: ..\User\Hardware\Buzz\buzz.h
 ..\debug\buzz.o: ../Core/Inc/gpio.h
 ..\debug\buzz.o: ../Core/Inc/main.h
 ..\debug\buzz.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
@@ -34,6 +34,7 @@
 ..\debug\buzz.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
 ..\debug\buzz.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
 ..\debug\buzz.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
+..\debug\buzz.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h
 ..\debug\buzz.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h
 ..\debug\buzz.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h
 ..\debug\buzz.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h

debug/can.d

@@ -33,6 +33,7 @@
 ..\debug\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
 ..\debug\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
 ..\debug\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
+..\debug\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h
 ..\debug\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h
 ..\debug\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h
 ..\debug\can.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h

debug/cmsis_os2.d

@@ -48,6 +48,7 @@
 ..\debug\cmsis_os2.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
 ..\debug\cmsis_os2.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
 ..\debug\cmsis_os2.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
+..\debug\cmsis_os2.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h
 ..\debug\cmsis_os2.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h
 ..\debug\cmsis_os2.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h
 ..\debug\cmsis_os2.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h

debug/encode.d

-..\debug\encode.o: ..\Hardware\Encode\encode.c
-..\debug\encode.o: ..\Hardware\Encode\encode.h
-..\debug\encode.o: ../Core/Inc/tim.h
-..\debug\encode.o: ../Core/Inc/main.h
-..\debug\encode.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
-..\debug\encode.o: ../Core/Inc/stm32f4xx_hal_conf.h
-..\debug\encode.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h
-..\debug\encode.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h
-..\debug\encode.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h
-..\debug\encode.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h
-..\debug\encode.o: ../Drivers/CMSIS/Include/core_cm4.h
-..\debug\encode.o: D:\keil\ARM\ARMCC\Bin\..\include\stdint.h
-..\debug\encode.o: ../Drivers/CMSIS/Include/cmsis_version.h
-..\debug\encode.o: ../Drivers/CMSIS/Include/cmsis_compiler.h
-..\debug\encode.o: ../Drivers/CMSIS/Include/cmsis_armcc.h
-..\debug\encode.o: ../Drivers/CMSIS/Include/mpu_armv7.h
-..\debug\encode.o: ../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h
-..\debug\encode.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
-..\debug\encode.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h
-..\debug\encode.o: D:\keil\ARM\ARMCC\Bin\..\include\stddef.h
-..\debug\encode.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h
-..\debug\encode.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h
-..\debug\encode.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h
-..\debug\encode.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h
-..\debug\encode.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h
-..\debug\encode.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h
-..\debug\encode.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h
-..\debug\encode.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h
-..\debug\encode.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_adc.h
-..\debug\encode.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h
-..\debug\encode.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h
-..\debug\encode.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h
-..\debug\encode.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h
-..\debug\encode.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
-..\debug\encode.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
-..\debug\encode.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
-..\debug\encode.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h
-..\debug\encode.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h
-..\debug\encode.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h

debug/freertos.d

@@ -41,13 +41,16 @@
 ..\debug\freertos.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
 ..\debug\freertos.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
 ..\debug\freertos.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
+..\debug\freertos.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h
 ..\debug\freertos.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h
 ..\debug\freertos.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h
 ..\debug\freertos.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h
 ..\debug\freertos.o: ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h
 ..\debug\freertos.o: ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h
-..\debug\freertos.o: ../Hardware/Buzz/buzz.h
+..\debug\freertos.o: ../User/Hardware/Buzz/buzz.h
 ..\debug\freertos.o: ../Core/Inc/gpio.h
 ..\debug\freertos.o: D:\keil\ARM\ARMCC\Bin\..\include\stdbool.h
-..\debug\freertos.o: ../Hardware/Pwm/pwm.h
+..\debug\freertos.o: ../User/Hardware/Pwm/pwm.h
 ..\debug\freertos.o: ../Core/Inc/tim.h
+..\debug\freertos.o: ../User/Hardware/Encoder/encoder.h
+..\debug\freertos.o: ../User/Tasks/task_manage.h

debug/gpio.d

@@ -33,6 +33,7 @@
 ..\debug\gpio.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
 ..\debug\gpio.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
 ..\debug\gpio.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
+..\debug\gpio.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h
 ..\debug\gpio.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h
 ..\debug\gpio.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h
 ..\debug\gpio.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h

debug/main.build_log.htm

@@ -22,17 +22,14 @@ Dialog DLL:      TCM.DLL V1.56.4.0
  
 <h2>Project:</h2>
 C:\Users\17122\Desktop\״ʦԻ\H60\project\MDK-ARM\project.uvprojx
-Project File Date:  12/23/2025
+Project File Date:  12/26/2025
 
 <h2>Output:</h2>
 *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\keil\ARM\ARMCC\Bin'
 Build target 'project'
-compiling pwm.c...
-compiling usart1.c...
-compiling main.c...
-compiling freertos.c...
+compiling servo.c...
 linking...
-Program Size: Code=18116 RO-data=496 RW-data=152 ZI-data=20792  
+Program Size: Code=26468 RO-data=504 RW-data=172 ZI-data=21500  
 FromELF: creating hex file...
 "..\debug\main.axf" - 0 Error(s), 0 Warning(s).
 

debug/main.d

@@ -32,6 +32,7 @@
 ..\debug\main.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
 ..\debug\main.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
 ..\debug\main.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
+..\debug\main.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h
 ..\debug\main.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h
 ..\debug\main.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h
 ..\debug\main.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h
@@ -48,13 +49,21 @@
 ..\debug\main.o: ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h
 ..\debug\main.o: ../Core/Inc/adc.h
 ..\debug\main.o: ../Core/Inc/can.h
+..\debug\main.o: ../Core/Inc/dma.h
+..\debug\main.o: ../Core/Inc/spi.h
 ..\debug\main.o: ../Core/Inc/tim.h
 ..\debug\main.o: ../Core/Inc/usart.h
 ..\debug\main.o: ../Core/Inc/gpio.h
-..\debug\main.o: ../System/usart/usart1.h
+..\debug\main.o: ../User/System/usart/usart1.h
 ..\debug\main.o: D:\keil\ARM\ARMCC\Bin\..\include\stdio.h
 ..\debug\main.o: D:\keil\ARM\ARMCC\Bin\..\include\string.h
-..\debug\main.o: ../Hardware/Buzz/buzz.h
+..\debug\main.o: ../User/System/usart/usart_config.h
+..\debug\main.o: ../User/System/usart/usart2.h
+..\debug\main.o: ../User/Hardware/Buzz/buzz.h
 ..\debug\main.o: D:\keil\ARM\ARMCC\Bin\..\include\stdbool.h
-..\debug\main.o: ../Hardware/Pwm/pwm.h
-..\debug\main.o: ../Hardware/Encode/encode.h
+..\debug\main.o: ../User/Hardware/Pwm/pwm.h
+..\debug\main.o: ../User/Hardware/Encoder/encoder.h
+..\debug\main.o: ../User/Hardware/Led/led.h
+..\debug\main.o: ../User/Hardware/Led/rgb.h
+..\debug\main.o: ../User/Hardware/mpu6050/mpu6050.h
+..\debug\main.o: ../User/Hardware/Pwm/servo.h

debug/main.lnp

@@ -5,6 +5,8 @@
 "..\debug\freertos.o"
 "..\debug\adc.o"
 "..\debug\can.o"
+"..\debug\dma.o"
+"..\debug\spi.o"
 "..\debug\tim.o"
 "..\debug\usart.o"
 "..\debug\stm32f4xx_it.o"
@@ -29,6 +31,7 @@
 "..\debug\stm32f4xx_hal.o"
 "..\debug\stm32f4xx_hal_exti.o"
 "..\debug\stm32f4xx_hal_can.o"
+"..\debug\stm32f4xx_hal_spi.o"
 "..\debug\stm32f4xx_hal_uart.o"
 "..\debug\system_stm32f4xx.o"
 "..\debug\croutine.o"
@@ -42,9 +45,18 @@
 "..\debug\heap_4.o"
 "..\debug\port.o"
 "..\debug\buzz.o"
-"..\debug\encode.o"
+"..\debug\led.o"
 "..\debug\pwm.o"
+"..\debug\vin.o"
+"..\debug\encoder.o"
+"..\debug\rgb.o"
+"..\debug\mpu6050.o"
+"..\debug\servo.o"
+"..\debug\usart_config.o"
 "..\debug\usart1.o"
+"..\debug\usart2.o"
+"..\debug\delay.o"
+"..\debug\task_manage.o"
 --library_type=microlib --strict --scatter "..\debug\main.sct"
 --summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols
 --info sizes --info totals --info unused --info veneers

debug/pwm.d

-..\debug\pwm.o: ..\Hardware\Pwm\pwm.c
-..\debug\pwm.o: ..\Hardware\Pwm\pwm.h
+..\debug\pwm.o: ..\User\Hardware\Pwm\pwm.c
+..\debug\pwm.o: ..\User\Hardware\Pwm\pwm.h
 ..\debug\pwm.o: ../Core/Inc/tim.h
 ..\debug\pwm.o: ../Core/Inc/main.h
 ..\debug\pwm.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h
@@ -34,6 +34,7 @@
 ..\debug\pwm.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
 ..\debug\pwm.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
 ..\debug\pwm.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
+..\debug\pwm.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h
 ..\debug\pwm.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h
 ..\debug\pwm.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h
 ..\debug\pwm.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h

debug/stm32f4xx_hal.d

@@ -31,6 +31,7 @@
 ..\debug\stm32f4xx_hal.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
 ..\debug\stm32f4xx_hal.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
 ..\debug\stm32f4xx_hal.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
+..\debug\stm32f4xx_hal.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h
 ..\debug\stm32f4xx_hal.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h
 ..\debug\stm32f4xx_hal.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h
 ..\debug\stm32f4xx_hal.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h

debug/stm32f4xx_hal_adc.d

@@ -31,6 +31,7 @@
 ..\debug\stm32f4xx_hal_adc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
 ..\debug\stm32f4xx_hal_adc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
 ..\debug\stm32f4xx_hal_adc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
+..\debug\stm32f4xx_hal_adc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h
 ..\debug\stm32f4xx_hal_adc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h
 ..\debug\stm32f4xx_hal_adc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h
 ..\debug\stm32f4xx_hal_adc.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h

debug/stm32f4xx_hal_adc_ex.d

@@ -31,6 +31,7 @@
 ..\debug\stm32f4xx_hal_adc_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h
 ..\debug\stm32f4xx_hal_adc_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h
 ..\debug\stm32f4xx_hal_adc_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h
+..\debug\stm32f4xx_hal_adc_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h
 ..\debug\stm32f4xx_hal_adc_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h
 ..\debug\stm32f4xx_hal_adc_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h
 ..\debug\stm32f4xx_hal_adc_ex.o: ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h