可以啊

2026-01-07 19:35:53 +08:00 · 2026-01-07 19:35:53 +08:00 · 51f899bada
commit 51f899bada
parent 88f306cdef
21 changed files with 486 additions and 336 deletions
--- a/Core/Inc/FreeRTOSConfig.h
+++ b/Core/Inc/FreeRTOSConfig.h
@ -68,7 +68,7 @@
 #define configTICK_RATE_HZ                       ((TickType_t)1000)
 #define configMAX_PRIORITIES                     ( 56 )
 #define configMINIMAL_STACK_SIZE                 ((uint16_t)128)
-#define configTOTAL_HEAP_SIZE                    ((size_t)15360)
+#define configTOTAL_HEAP_SIZE                    ((size_t)0x10000)
 #define configMAX_TASK_NAME_LEN                  ( 16 )
 #define configUSE_TRACE_FACILITY                 1
 #define configUSE_16_BIT_TICKS                   0
--- a/Core/Inc/main.h
+++ b/Core/Inc/main.h
@ -69,6 +69,8 @@ void Error_Handler(void);
 #define GYRO_CS_GPIO_Port GPIOC
 #define DCMI_PWDN_Pin GPIO_PIN_5
 #define DCMI_PWDN_GPIO_Port GPIOC
+#define IMU_HEAT_Pin GPIO_PIN_1
+#define IMU_HEAT_GPIO_Port GPIOB
 #define ACCL_INT_Pin GPIO_PIN_10
 #define ACCL_INT_GPIO_Port GPIOE
 #define ACCL_INT_EXTI_IRQn EXTI15_10_IRQn
@ -83,6 +85,8 @@ void Error_Handler(void);
 #define LCD_RES_GPIO_Port GPIOB
 #define DCMI_REST_Pin GPIO_PIN_12
 #define DCMI_REST_GPIO_Port GPIOB
+#define BUZZER_Pin GPIO_PIN_15
+#define BUZZER_GPIO_Port GPIOB
 #define LCD_DC_Pin GPIO_PIN_10
 #define LCD_DC_GPIO_Port GPIOD

--- 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/Inc/stm32h7xx_it.h
+++ b/Core/Inc/stm32h7xx_it.h
@ -55,6 +55,7 @@ void DebugMon_Handler(void);
 void DMA1_Stream0_IRQHandler(void);
 void DMA1_Stream1_IRQHandler(void);
 void DMA1_Stream2_IRQHandler(void);
+void DMA1_Stream3_IRQHandler(void);
 void FDCAN1_IT0_IRQHandler(void);
 void FDCAN2_IT0_IRQHandler(void);
 void FDCAN1_IT1_IRQHandler(void);
@ -64,6 +65,7 @@ void USART1_IRQHandler(void);
 void USART2_IRQHandler(void);
 void USART3_IRQHandler(void);
 void EXTI15_10_IRQHandler(void);
+void UART5_IRQHandler(void);
 void UART7_IRQHandler(void);
 void USART10_IRQHandler(void);
 void FDCAN3_IT0_IRQHandler(void);
--- a/Core/Inc/usart.h
+++ b/Core/Inc/usart.h
@ -32,6 +32,8 @@ extern "C" {

 /* USER CODE END Includes */

+extern UART_HandleTypeDef huart5;
+
 extern UART_HandleTypeDef huart7;

 extern UART_HandleTypeDef huart1;
@ -46,6 +48,7 @@ extern UART_HandleTypeDef huart10;

 /* USER CODE END Private defines */

+void MX_UART5_Init(void);
 void MX_UART7_Init(void);
 void MX_USART1_UART_Init(void);
 void MX_USART2_UART_Init(void);
--- a/Core/Src/dma.c
+++ b/Core/Src/dma.c
@ -52,6 +52,9 @@ void MX_DMA_Init(void)
  /* DMA1_Stream2_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(DMA1_Stream2_IRQn, 5, 0);
  HAL_NVIC_EnableIRQ(DMA1_Stream2_IRQn);
+  /* DMA1_Stream3_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA1_Stream3_IRQn, 5, 0);
+  HAL_NVIC_EnableIRQ(DMA1_Stream3_IRQn);

 }

--- a/Core/Src/fdcan.c
+++ b/Core/Src/fdcan.c
@ -47,7 +47,7 @@ void MX_FDCAN1_Init(void)
  hfdcan1.Init.ProtocolException = DISABLE;
  hfdcan1.Init.NominalPrescaler = 24;
  hfdcan1.Init.NominalSyncJumpWidth = 1;
-  hfdcan1.Init.NominalTimeSeg1 = 2;
+  hfdcan1.Init.NominalTimeSeg1 = 3;
  hfdcan1.Init.NominalTimeSeg2 = 1;
  hfdcan1.Init.DataPrescaler = 1;
  hfdcan1.Init.DataSyncJumpWidth = 1;
@ -95,7 +95,7 @@ void MX_FDCAN2_Init(void)
  hfdcan2.Init.ProtocolException = DISABLE;
  hfdcan2.Init.NominalPrescaler = 24;
  hfdcan2.Init.NominalSyncJumpWidth = 1;
-  hfdcan2.Init.NominalTimeSeg1 = 1;
+  hfdcan2.Init.NominalTimeSeg1 = 3;
  hfdcan2.Init.NominalTimeSeg2 = 1;
  hfdcan2.Init.DataPrescaler = 1;
  hfdcan2.Init.DataSyncJumpWidth = 1;
@ -143,7 +143,7 @@ void MX_FDCAN3_Init(void)
  hfdcan3.Init.ProtocolException = DISABLE;
  hfdcan3.Init.NominalPrescaler = 24;
  hfdcan3.Init.NominalSyncJumpWidth = 1;
-  hfdcan3.Init.NominalTimeSeg1 = 1;
+  hfdcan3.Init.NominalTimeSeg1 = 3;
  hfdcan3.Init.NominalTimeSeg2 = 1;
  hfdcan3.Init.DataPrescaler = 1;
  hfdcan3.Init.DataSyncJumpWidth = 1;
--- a/Core/Src/freertos.c
+++ b/Core/Src/freertos.c
@ -98,7 +98,7 @@ void MX_FREERTOS_Init(void) {
  /* USER CODE BEGIN RTOS_THREADS */
  /* add threads, ... */
   osThreadNew(Task_Init, NULL, &attr_init); // 创建初始化任务
-/* USER CODE END RTOS_THREADS */
+  /* USER CODE END RTOS_THREADS */

  /* USER CODE BEGIN RTOS_EVENTS */
  /* add events, ... */
@ -117,7 +117,7 @@ void StartDefaultTask(void *argument)
 {
  /* USER CODE BEGIN StartDefaultTask */
    osThreadTerminate(osThreadGetId());
-/* USER CODE END StartDefaultTask */
+  /* USER CODE END StartDefaultTask */
 }

 /* Private application code --------------------------------------------------*/
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@ -100,7 +100,6 @@ int main(void)
  MX_ADC1_Init();
  MX_TIM12_Init();
  MX_SPI1_Init();
-  MX_SPI6_Init();
  MX_SPI2_Init();
  MX_TIM3_Init();
  MX_USART1_UART_Init();
@ -115,6 +114,7 @@ int main(void)
  MX_TIM2_Init();
  MX_OCTOSPI1_Init();
  MX_USB_OTG_HS_PCD_Init();
+  MX_UART5_Init();
  /* USER CODE BEGIN 2 */

  /* USER CODE END 2 */
--- 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_spi2_rx;
 DMA_HandleTypeDef hdma_spi2_tx;

@ -113,48 +112,6 @@ 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)
@ -287,48 +244,6 @@ 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();
-    __HAL_RCC_GPIOC_CLK_ENABLE();
-    /**SPI6 GPIO Configuration
-    PA7     ------> SPI6_MOSI
-    PC12     ------> SPI6_SCK
-    */
-    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);
-
-    GPIO_InitStruct.Pin = GPIO_PIN_12;
-    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    GPIO_InitStruct.Pull = GPIO_NOPULL;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-    GPIO_InitStruct.Alternate = GPIO_AF5_SPI6;
-    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
-
-  /* USER CODE BEGIN SPI6_MspInit 1 */
-
-  /* USER CODE END SPI6_MspInit 1 */
-  }
 }

 void HAL_SPI_MspDeInit(SPI_HandleTypeDef* spiHandle)
@ -381,26 +296,6 @@ 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
-    PA7     ------> SPI6_MOSI
-    PC12     ------> SPI6_SCK
-    */
-    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_7);
-
-    HAL_GPIO_DeInit(GPIOC, GPIO_PIN_12);
-
-  /* USER CODE BEGIN SPI6_MspDeInit 1 */
-
-  /* USER CODE END SPI6_MspDeInit 1 */
-  }
 }

 /* USER CODE BEGIN 1 */
--- a/Core/Src/stm32h7xx_it.c
+++ b/Core/Src/stm32h7xx_it.c
@ -62,6 +62,8 @@ extern FDCAN_HandleTypeDef hfdcan3;
 extern DMA_HandleTypeDef hdma_spi2_rx;
 extern DMA_HandleTypeDef hdma_spi2_tx;
 extern SPI_HandleTypeDef hspi2;
+extern DMA_HandleTypeDef hdma_uart5_rx;
+extern UART_HandleTypeDef huart5;
 extern UART_HandleTypeDef huart7;
 extern UART_HandleTypeDef huart1;
 extern UART_HandleTypeDef huart2;
@ -213,6 +215,20 @@ void DMA1_Stream2_IRQHandler(void)
  /* USER CODE END DMA1_Stream2_IRQn 1 */
 }

+/**
+  * @brief This function handles DMA1 stream3 global interrupt.
+  */
+void DMA1_Stream3_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA1_Stream3_IRQn 0 */
+
+  /* USER CODE END DMA1_Stream3_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_uart5_rx);
+  /* USER CODE BEGIN DMA1_Stream3_IRQn 1 */
+
+  /* USER CODE END DMA1_Stream3_IRQn 1 */
+}
+
 /**
  * @brief This function handles FDCAN1 interrupt 0.
  */
@ -340,6 +356,20 @@ void EXTI15_10_IRQHandler(void)
  /* USER CODE END EXTI15_10_IRQn 1 */
 }

+/**
+  * @brief This function handles UART5 global interrupt.
+  */
+void UART5_IRQHandler(void)
+{
+  /* USER CODE BEGIN UART5_IRQn 0 */
+
+  /* USER CODE END UART5_IRQn 0 */
+  HAL_UART_IRQHandler(&huart5);
+  /* USER CODE BEGIN UART5_IRQn 1 */
+
+  /* USER CODE END UART5_IRQn 1 */
+}
+
 /**
  * @brief This function handles UART7 global interrupt.
  */
--- a/Core/Src/tim.c
+++ b/Core/Src/tim.c
@ -340,12 +340,12 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
    /**TIM3 GPIO Configuration
    PB1     ------> TIM3_CH4
    */
-    GPIO_InitStruct.Pin = GPIO_PIN_1;
+    GPIO_InitStruct.Pin = IMU_HEAT_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
-    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+    HAL_GPIO_Init(IMU_HEAT_GPIO_Port, &GPIO_InitStruct);

  /* USER CODE BEGIN TIM3_MspPostInit 1 */

@ -361,12 +361,12 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
    /**TIM12 GPIO Configuration
    PB15     ------> TIM12_CH2
    */
-    GPIO_InitStruct.Pin = GPIO_PIN_15;
+    GPIO_InitStruct.Pin = BUZZER_Pin;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF2_TIM12;
-    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+    HAL_GPIO_Init(BUZZER_GPIO_Port, &GPIO_InitStruct);

  /* USER CODE BEGIN TIM12_MspPostInit 1 */

--- a/Core/Src/usart.c
+++ b/Core/Src/usart.c
@ -24,12 +24,57 @@

 /* USER CODE END 0 */

+UART_HandleTypeDef huart5;
 UART_HandleTypeDef huart7;
 UART_HandleTypeDef huart1;
 UART_HandleTypeDef huart2;
 UART_HandleTypeDef huart3;
 UART_HandleTypeDef huart10;
+DMA_HandleTypeDef hdma_uart5_rx;

+/* UART5 init function */
+void MX_UART5_Init(void)
+{
+
+  /* USER CODE BEGIN UART5_Init 0 */
+
+  /* USER CODE END UART5_Init 0 */
+
+  /* USER CODE BEGIN UART5_Init 1 */
+
+  /* USER CODE END UART5_Init 1 */
+  huart5.Instance = UART5;
+  huart5.Init.BaudRate = 100000;
+  huart5.Init.WordLength = UART_WORDLENGTH_9B;
+  huart5.Init.StopBits = UART_STOPBITS_1;
+  huart5.Init.Parity = UART_PARITY_EVEN;
+  huart5.Init.Mode = UART_MODE_RX;
+  huart5.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+  huart5.Init.OverSampling = UART_OVERSAMPLING_16;
+  huart5.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
+  huart5.Init.ClockPrescaler = UART_PRESCALER_DIV1;
+  huart5.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
+  if (HAL_UART_Init(&huart5) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_UARTEx_SetTxFifoThreshold(&huart5, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_UARTEx_SetRxFifoThreshold(&huart5, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_UARTEx_DisableFifoMode(&huart5) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN UART5_Init 2 */
+
+  /* USER CODE END UART5_Init 2 */
+
+}
 /* UART7 init function */
 void MX_UART7_Init(void)
 {
@ -255,7 +300,71 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)

  GPIO_InitTypeDef GPIO_InitStruct = {0};
  RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
-  if(uartHandle->Instance==UART7)
+  if(uartHandle->Instance==UART5)
+  {
+  /* USER CODE BEGIN UART5_MspInit 0 */
+
+  /* USER CODE END UART5_MspInit 0 */
+
+  /** Initializes the peripherals clock
+  */
+    PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_UART5;
+    PeriphClkInitStruct.Usart234578ClockSelection = RCC_USART234578CLKSOURCE_D2PCLK1;
+    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    /* UART5 clock enable */
+    __HAL_RCC_UART5_CLK_ENABLE();
+
+    __HAL_RCC_GPIOC_CLK_ENABLE();
+    __HAL_RCC_GPIOD_CLK_ENABLE();
+    /**UART5 GPIO Configuration
+    PC12     ------> UART5_TX
+    PD2     ------> UART5_RX
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_12;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF8_UART5;
+    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+
+    GPIO_InitStruct.Pin = GPIO_PIN_2;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF8_UART5;
+    HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
+
+    /* UART5 DMA Init */
+    /* UART5_RX Init */
+    hdma_uart5_rx.Instance = DMA1_Stream3;
+    hdma_uart5_rx.Init.Request = DMA_REQUEST_UART5_RX;
+    hdma_uart5_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
+    hdma_uart5_rx.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_uart5_rx.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_uart5_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+    hdma_uart5_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+    hdma_uart5_rx.Init.Mode = DMA_NORMAL;
+    hdma_uart5_rx.Init.Priority = DMA_PRIORITY_LOW;
+    hdma_uart5_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
+    if (HAL_DMA_Init(&hdma_uart5_rx) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(uartHandle,hdmarx,hdma_uart5_rx);
+
+    /* UART5 interrupt Init */
+    HAL_NVIC_SetPriority(UART5_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(UART5_IRQn);
+  /* USER CODE BEGIN UART5_MspInit 1 */
+
+  /* USER CODE END UART5_MspInit 1 */
+  }
+  else if(uartHandle->Instance==UART7)
  {
  /* USER CODE BEGIN UART7_MspInit 0 */

@ -462,7 +571,32 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
 void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
 {

-  if(uartHandle->Instance==UART7)
+  if(uartHandle->Instance==UART5)
+  {
+  /* USER CODE BEGIN UART5_MspDeInit 0 */
+
+  /* USER CODE END UART5_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_UART5_CLK_DISABLE();
+
+    /**UART5 GPIO Configuration
+    PC12     ------> UART5_TX
+    PD2     ------> UART5_RX
+    */
+    HAL_GPIO_DeInit(GPIOC, GPIO_PIN_12);
+
+    HAL_GPIO_DeInit(GPIOD, GPIO_PIN_2);
+
+    /* UART5 DMA DeInit */
+    HAL_DMA_DeInit(uartHandle->hdmarx);
+
+    /* UART5 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(UART5_IRQn);
+  /* USER CODE BEGIN UART5_MspDeInit 1 */
+
+  /* USER CODE END UART5_MspDeInit 1 */
+  }
+  else if(uartHandle->Instance==UART7)
  {
  /* USER CODE BEGIN UART7_MspDeInit 0 */

--- a/CtrBoard-H7_ALL.ioc
+++ b/CtrBoard-H7_ALL.ioc
@ -50,7 +50,8 @@ Dma.ADC1.0.SyncSignalID=NONE
 Dma.Request0=ADC1
 Dma.Request1=SPI2_RX
 Dma.Request2=SPI2_TX
-Dma.RequestsNb=3
+Dma.Request3=UART5_RX
+Dma.RequestsNb=4
 Dma.SPI2_RX.1.Direction=DMA_PERIPH_TO_MEMORY
 Dma.SPI2_RX.1.EventEnable=DISABLE
 Dma.SPI2_RX.1.FIFOMode=DMA_FIFOMODE_DISABLE
@ -87,35 +88,56 @@ Dma.SPI2_TX.2.SyncEnable=DISABLE
 Dma.SPI2_TX.2.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
 Dma.SPI2_TX.2.SyncRequestNumber=1
 Dma.SPI2_TX.2.SyncSignalID=NONE
-FDCAN1.CalculateBaudRateNominal=1250000
-FDCAN1.CalculateTimeBitNominal=800
+Dma.UART5_RX.3.Direction=DMA_PERIPH_TO_MEMORY
+Dma.UART5_RX.3.EventEnable=DISABLE
+Dma.UART5_RX.3.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.UART5_RX.3.Instance=DMA1_Stream3
+Dma.UART5_RX.3.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.UART5_RX.3.MemInc=DMA_MINC_ENABLE
+Dma.UART5_RX.3.Mode=DMA_NORMAL
+Dma.UART5_RX.3.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.UART5_RX.3.PeriphInc=DMA_PINC_DISABLE
+Dma.UART5_RX.3.Polarity=HAL_DMAMUX_REQ_GEN_RISING
+Dma.UART5_RX.3.Priority=DMA_PRIORITY_LOW
+Dma.UART5_RX.3.RequestNumber=1
+Dma.UART5_RX.3.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber
+Dma.UART5_RX.3.SignalID=NONE
+Dma.UART5_RX.3.SyncEnable=DISABLE
+Dma.UART5_RX.3.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
+Dma.UART5_RX.3.SyncRequestNumber=1
+Dma.UART5_RX.3.SyncSignalID=NONE
+FDCAN1.CalculateBaudRateNominal=1000000
+FDCAN1.CalculateTimeBitNominal=1000
 FDCAN1.CalculateTimeQuantumNominal=200.0
 FDCAN1.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,StdFiltersNbr,NominalTimeSeg1
 FDCAN1.NominalPrescaler=24
-FDCAN1.NominalTimeSeg1=2
+FDCAN1.NominalTimeSeg1=3
 FDCAN1.RxFifo0ElmtsNbr=32
 FDCAN1.StdFiltersNbr=1
 FDCAN1.TxFifoQueueElmtsNbr=32
-FDCAN2.CalculateBaudRateNominal=1666666
-FDCAN2.CalculateTimeBitNominal=600
+FDCAN2.CalculateBaudRateNominal=1000000
+FDCAN2.CalculateTimeBitNominal=1000
 FDCAN2.CalculateTimeQuantumNominal=200.0
-FDCAN2.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,MessageRAMOffset,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,StdFiltersNbr
+FDCAN2.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,MessageRAMOffset,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,StdFiltersNbr,NominalTimeSeg1
 FDCAN2.MessageRAMOffset=0x406
 FDCAN2.NominalPrescaler=24
+FDCAN2.NominalTimeSeg1=3
 FDCAN2.RxFifo0ElmtsNbr=32
 FDCAN2.StdFiltersNbr=1
 FDCAN2.TxFifoQueueElmtsNbr=32
-FDCAN3.CalculateBaudRateNominal=1666666
-FDCAN3.CalculateTimeBitNominal=600
+FDCAN3.CalculateBaudRateNominal=1000000
+FDCAN3.CalculateTimeBitNominal=1000
 FDCAN3.CalculateTimeQuantumNominal=200.0
-FDCAN3.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,MessageRAMOffset,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,StdFiltersNbr
+FDCAN3.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,MessageRAMOffset,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,StdFiltersNbr,NominalTimeSeg1
 FDCAN3.MessageRAMOffset=0x812
 FDCAN3.NominalPrescaler=24
+FDCAN3.NominalTimeSeg1=3
 FDCAN3.RxFifo0ElmtsNbr=32
 FDCAN3.StdFiltersNbr=1
 FDCAN3.TxFifoQueueElmtsNbr=32
-FREERTOS.IPParameters=Tasks01
+FREERTOS.IPParameters=Tasks01,configTOTAL_HEAP_SIZE
 FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
+FREERTOS.configTOTAL_HEAP_SIZE=0x10000
 File.Version=6
 GPIO.groupedBy=Group By Peripherals
 KeepUserPlacement=false
@ -129,12 +151,12 @@ Mcu.IP10=OCTOSPI1
 Mcu.IP11=RCC
 Mcu.IP12=SPI1
 Mcu.IP13=SPI2
-Mcu.IP14=SPI6
-Mcu.IP15=SYS
-Mcu.IP16=TIM1
-Mcu.IP17=TIM2
-Mcu.IP18=TIM3
-Mcu.IP19=TIM12
+Mcu.IP14=SYS
+Mcu.IP15=TIM1
+Mcu.IP16=TIM2
+Mcu.IP17=TIM3
+Mcu.IP18=TIM12
+Mcu.IP19=UART5
 Mcu.IP2=DEBUG
 Mcu.IP20=UART7
 Mcu.IP21=USART1
@ -160,47 +182,47 @@ Mcu.Pin12=PA1
 Mcu.Pin13=PA2
 Mcu.Pin14=PA3
 Mcu.Pin15=PA5
-Mcu.Pin16=PA7
-Mcu.Pin17=PC4
-Mcu.Pin18=PC5
-Mcu.Pin19=PB0
+Mcu.Pin16=PC4
+Mcu.Pin17=PC5
+Mcu.Pin18=PB0
+Mcu.Pin19=PB1
 Mcu.Pin2=PC13
-Mcu.Pin20=PB1
-Mcu.Pin21=PB2
-Mcu.Pin22=PE7
-Mcu.Pin23=PE8
-Mcu.Pin24=PE9
-Mcu.Pin25=PE10
-Mcu.Pin26=PE11
-Mcu.Pin27=PE12
-Mcu.Pin28=PE13
-Mcu.Pin29=PE15
+Mcu.Pin20=PB2
+Mcu.Pin21=PE7
+Mcu.Pin22=PE8
+Mcu.Pin23=PE9
+Mcu.Pin24=PE10
+Mcu.Pin25=PE11
+Mcu.Pin26=PE12
+Mcu.Pin27=PE13
+Mcu.Pin28=PE15
+Mcu.Pin29=PB10
 Mcu.Pin3=PC14-OSC32_IN
-Mcu.Pin30=PB10
-Mcu.Pin31=PB11
-Mcu.Pin32=PB12
-Mcu.Pin33=PB13
-Mcu.Pin34=PB14
-Mcu.Pin35=PB15
-Mcu.Pin36=PD8
-Mcu.Pin37=PD9
-Mcu.Pin38=PD10
-Mcu.Pin39=PD11
+Mcu.Pin30=PB11
+Mcu.Pin31=PB12
+Mcu.Pin32=PB13
+Mcu.Pin33=PB14
+Mcu.Pin34=PB15
+Mcu.Pin35=PD8
+Mcu.Pin36=PD9
+Mcu.Pin37=PD10
+Mcu.Pin38=PD11
+Mcu.Pin39=PD12
 Mcu.Pin4=PC15-OSC32_OUT
-Mcu.Pin40=PD12
-Mcu.Pin41=PD13
-Mcu.Pin42=PA8
-Mcu.Pin43=PA9
-Mcu.Pin44=PA10
-Mcu.Pin45=PA11
-Mcu.Pin46=PA12
-Mcu.Pin47=PA13(JTMS/SWDIO)
-Mcu.Pin48=PA14(JTCK/SWCLK)
-Mcu.Pin49=PA15(JTDI)
+Mcu.Pin40=PD13
+Mcu.Pin41=PA8
+Mcu.Pin42=PA9
+Mcu.Pin43=PA10
+Mcu.Pin44=PA11
+Mcu.Pin45=PA12
+Mcu.Pin46=PA13(JTMS/SWDIO)
+Mcu.Pin47=PA14(JTCK/SWCLK)
+Mcu.Pin48=PA15(JTDI)
+Mcu.Pin49=PC12
 Mcu.Pin5=PH0-OSC_IN
-Mcu.Pin50=PC12
-Mcu.Pin51=PD0
-Mcu.Pin52=PD1
+Mcu.Pin50=PD0
+Mcu.Pin51=PD1
+Mcu.Pin52=PD2
 Mcu.Pin53=PD4
 Mcu.Pin54=PD5
 Mcu.Pin55=PD6
@ -226,6 +248,7 @@ NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.DMA1_Stream0_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DMA1_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DMA1_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
+NVIC.DMA1_Stream3_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.EXTI15_10_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.FDCAN1_IT0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
@ -249,6 +272,7 @@ NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:true\:false
 NVIC.TIM23_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true
 NVIC.TimeBase=TIM23_IRQn
 NVIC.TimeBaseIP=TIM23
+NVIC.UART5_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.UART7_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
 NVIC.USART10_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
 NVIC.USART1_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
@ -282,8 +306,6 @@ PA3.Mode=OCTOSPI1_IOL_Port1L
 PA3.Signal=OCTOSPIM_P1_IO2
 PA5.Locked=true
 PA5.Signal=ADCx_INP19
-PA7.Mode=TX_Only_Simplex_Unidirect_Master
-PA7.Signal=SPI6_MOSI
 PA8.Locked=true
 PA8.Mode=Clock-out-1
 PA8.Signal=RCC_MCO_1
@ -293,6 +315,8 @@ PA9.Signal=USART1_TX
 PB0.Locked=true
 PB0.Mode=OCTOSPI1_IOL_Port1L
 PB0.Signal=OCTOSPIM_P1_IO1
+PB1.GPIOParameters=GPIO_Label
+PB1.GPIO_Label=IMU_HEAT
 PB1.Locked=true
 PB1.Signal=S_TIM3_CH4
 PB10.GPIOParameters=GPIO_Label
@ -317,6 +341,8 @@ PB13.Mode=Full_Duplex_Master
 PB13.Signal=SPI2_SCK
 PB14.Mode=Hardware Flow Control (RS485)
 PB14.Signal=USART3_DE
+PB15.GPIOParameters=GPIO_Label
+PB15.GPIO_Label=BUZZER
 PB15.Locked=true
 PB15.Signal=S_TIM12_CH2
 PB2.Locked=true
@ -342,8 +368,8 @@ PC1.GPIOParameters=GPIO_Speed
 PC1.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
 PC1.Mode=Full_Duplex_Master
 PC1.Signal=SPI2_MOSI
-PC12.Mode=TX_Only_Simplex_Unidirect_Master
-PC12.Signal=SPI6_SCK
+PC12.Mode=Asynchronous
+PC12.Signal=UART5_TX
 PC13.GPIOParameters=PinState,GPIO_Label
 PC13.GPIO_Label=POWER_24V_2
 PC13.Locked=true
@ -395,6 +421,8 @@ PD12.Signal=FDCAN3_RX
 PD13.Locked=true
 PD13.Mode=FDCAN_Activate
 PD13.Signal=FDCAN3_TX
+PD2.Mode=Asynchronous
+PD2.Signal=UART5_RX
 PD4.Locked=true
 PD4.Mode=Hardware Flow Control (RS485)
 PD4.Signal=USART2_DE
@ -475,7 +503,7 @@ 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_ADC1_Init-ADC1-false-HAL-true,5-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false,6-MX_TIM12_Init-TIM12-false-HAL-true,7-MX_SPI1_Init-SPI1-false-HAL-true,8-MX_SPI6_Init-SPI6-false-HAL-true,9-MX_SPI2_Init-SPI2-false-HAL-true,10-MX_TIM3_Init-TIM3-false-HAL-true,11-MX_USART1_UART_Init-USART1-false-HAL-true,12-MX_USART2_UART_Init-USART2-false-HAL-true,13-MX_USART3_UART_Init-USART3-false-HAL-true,14-MX_UART7_Init-UART7-false-HAL-true,15-MX_USART10_UART_Init-USART10-false-HAL-true,16-MX_FDCAN1_Init-FDCAN1-false-HAL-true,17-MX_FDCAN2_Init-FDCAN2-false-HAL-true,18-MX_FDCAN3_Init-FDCAN3-false-HAL-true,19-MX_TIM1_Init-TIM1-false-HAL-true,20-MX_TIM2_Init-TIM2-false-HAL-true,21-MX_OCTOSPI1_Init-OCTOSPI1-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_ADC1_Init-ADC1-false-HAL-true,5-MX_TIM12_Init-TIM12-false-HAL-true,6-MX_SPI1_Init-SPI1-false-HAL-true,7-MX_SPI2_Init-SPI2-false-HAL-true,8-MX_TIM3_Init-TIM3-false-HAL-true,9-MX_USART1_UART_Init-USART1-false-HAL-true,10-MX_USART2_UART_Init-USART2-false-HAL-true,11-MX_USART3_UART_Init-USART3-false-HAL-true,12-MX_UART7_Init-UART7-false-HAL-true,13-MX_USART10_UART_Init-USART10-false-HAL-true,14-MX_FDCAN1_Init-FDCAN1-false-HAL-true,15-MX_FDCAN2_Init-FDCAN2-false-HAL-true,16-MX_FDCAN3_Init-FDCAN3-false-HAL-true,17-MX_TIM1_Init-TIM1-false-HAL-true,18-MX_TIM2_Init-TIM2-false-HAL-true,19-MX_OCTOSPI1_Init-OCTOSPI1-false-HAL-true,20-MX_USB_OTG_HS_PCD_Init-USB_OTG_HS-false-HAL-true,21-MX_UART5_Init-UART5-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
@ -600,14 +628,6 @@ SPI2.Direction=SPI_DIRECTION_2LINES
 SPI2.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,DataSize,BaudRatePrescaler,CLKPolarity,CLKPhase
 SPI2.Mode=SPI_MODE_MASTER
 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
 TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
 TIM1.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
 TIM1.IPParameters=Channel-PWM Generation3 CH3,Channel-PWM Generation1 CH1,Period,Pulse-PWM Generation1 CH1,Pulse-PWM Generation3 CH3,Prescaler
@ -631,6 +651,11 @@ TIM3.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
 TIM3.IPParameters=Channel-PWM Generation4 CH4,Prescaler,Period,AutoReloadPreload
 TIM3.Period=10000-1
 TIM3.Prescaler=24-1
+UART5.BaudRate=100000
+UART5.IPParameters=Mode,WordLength,Parity,BaudRate
+UART5.Mode=MODE_RX
+UART5.Parity=PARITY_EVEN
+UART5.WordLength=WORDLENGTH_9B
 UART7.BaudRate=921600
 UART7.IPParameters=BaudRate
 USART1.BaudRate=921600
--- a/STM32H723XG_FLASH.ld
+++ b/STM32H723XG_FLASH.ld
@ -165,7 +165,7 @@ SECTIONS
    *(.RamFunc*)       /* .RamFunc* sections */

    . = ALIGN(4);
-  } >DTCMRAM AT> FLASH
+  } >RAM_D1 AT> FLASH

 /* Initialized TLS data section */
  .tdata : ALIGN(4)
@ -175,7 +175,7 @@ SECTIONS
    _edata = .;        /* define a global symbol at data end */
    PROVIDE(__data_end = .);
    PROVIDE(__tdata_end = .);
-  } >DTCMRAM AT> FLASH
+  } >RAM_D1 AT> FLASH

  PROVIDE( __tdata_start = ADDR(.tdata) );
  PROVIDE( __tdata_size = __tdata_end - __tdata_start );
@ -199,7 +199,7 @@ SECTIONS
    *(.tbss .tbss.*)
    . = ALIGN(4);
    PROVIDE( __tbss_end = . );
-  } >DTCMRAM
+  } >RAM_D1

  PROVIDE( __tbss_start = ADDR(.tbss) );
  PROVIDE( __tbss_size = __tbss_end - __tbss_start );
@ -223,7 +223,7 @@ SECTIONS
    _ebss = .;         /* define a global symbol at bss end */
    __bss_end__ = _ebss;
      PROVIDE( __bss_end = .);
-  } >DTCMRAM
+  } >RAM_D1
  PROVIDE( __non_tls_bss_start = ADDR(.bss) );

  PROVIDE( __bss_start = __tbss_start );
--- a/User/bsp/bsp_config.yaml
+++ b/User/bsp/bsp_config.yaml
@ -93,12 +93,12 @@ pwm:
    label: TIM2_CH3
    timer: TIM2
  - channel: TIM_CHANNEL_4
-    custom_name: TIM3_CH4
-    label: TIM3_CH4
+    custom_name: IMU_HEAT
+    label: IMU_HEAT
    timer: TIM3
  - channel: TIM_CHANNEL_2
-    custom_name: TIM12_CH2
-    label: TIM12_CH2
+    custom_name: BUZZER
+    label: BUZZER
    timer: TIM12
  - channel: TIM_CHANNEL_3
    custom_name: TIM1_CH3
@ -118,6 +118,6 @@ time:
  enabled: true
 uart:
  devices:
-  - instance: USART1
+  - instance: UART5
    name: DR16
  enabled: true
--- a/User/bsp/pwm.h
+++ b/User/bsp/pwm.h
@ -25,8 +25,8 @@ extern "C" {
 typedef enum {
  BSP_PWM_TIM2_CH1,
  BSP_PWM_TIM2_CH3,
-  BSP_PWM_TIM3_CH4,
-  BSP_PWM_TIM12_CH2,
+  BSP_PWM_IMU_HEAT,
+  BSP_PWM_BUZZER,
  BSP_PWM_TIM1_CH3,
  BSP_PWM_TIM1_CH1,
  BSP_PWM_NUM,
--- a/User/bsp/uart.c
+++ b/User/bsp/uart.c
@ -23,7 +23,7 @@ static void (*UART_Callback[BSP_UART_NUM][BSP_UART_CB_NUM])(void);

 /* Private function  -------------------------------------------------------- */
 static BSP_UART_t UART_Get(UART_HandleTypeDef *huart) {
-  if (huart->Instance == USART1)
+  if (huart->Instance == UART5)
    return BSP_UART_DR16;
  else
    return BSP_UART_ERR;
@ -114,7 +114,7 @@ void BSP_UART_IRQHandler(UART_HandleTypeDef *huart) {
 UART_HandleTypeDef *BSP_UART_GetHandle(BSP_UART_t uart) {
  switch (uart) {
    case BSP_UART_DR16:
-      return &huart1;
+      return &huart5;
    default:
      return NULL;
  }
--- a/User/device/device_config.yaml
+++ b/User/device/device_config.yaml
@ -8,7 +8,7 @@ bmi088:
  enabled: true
 buzzer:
  bsp_config:
-    BSP_PWM_BUZZER: BSP_PWM_TIM12_CH2
+    BSP_PWM_BUZZER: BSP_PWM_TIM2_CH1
  enabled: true
 dr16:
  bsp_config:
--- a/User/task/atti_esit.c
+++ b/User/task/atti_esit.c
@ -6,7 +6,13 @@
 /* Includes ----------------------------------------------------------------- */
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
-
+#include "bsp/gpio.h"
+#include "bsp/mm.h"
+#include "bsp/pwm.h"
+#include "component/ahrs.h"
+#include "component/pid.h"
+#include "device/bmi088.h"
+#include "task/user_task.h"
 /* USER INCLUDE END */

 /* Private typedef ---------------------------------------------------------- */
@ -14,6 +20,27 @@
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
 /* USER STRUCT BEGIN */
+BMI088_t bmi088;
+
+AHRS_t gimbal_ahrs;
+AHRS_Magn_t magn;
+AHRS_Eulr_t eulr_to_send;
+
+KPID_t imu_temp_ctrl_pid;
+
+/*默认校准参数*/
+BMI088_Cali_t cali_bmi088 = {
+    .gyro_offset = {-0.00147764047f, -0.00273479894f, 0.00154074503f},
+};
+
+static const KPID_Params_t imu_temp_ctrl_pid_param = {
+    .k = 0.1f,
+    .p = 0.15f,
+    .i = 0.01f,
+    .d = 0.02f,
+    .i_limit = 1.0f,
+    .out_limit = 1.0f,
+};

 /* USER STRUCT END */

@ -22,17 +49,41 @@
 void Task_atti_esit(void *argument) {
  (void)argument; /* 未使用argument，消除警告 */

-  
  osDelay(ATTI_ESIT_INIT_DELAY); /* 延时一段时间再开启任务 */

  /* USER CODE INIT BEGIN */
-
+  BMI088_Init(&bmi088, &cali_bmi088);
+  AHRS_Init(&gimbal_ahrs, &magn, BMI088_GetUpdateFreq(&bmi088));
+  PID_Init(&imu_temp_ctrl_pid, KPID_MODE_NO_D,
+           1.0f / BMI088_GetUpdateFreq(&bmi088), &imu_temp_ctrl_pid_param);
+  BSP_PWM_Start(BSP_PWM_IMU_HEAT);
  /* USER CODE INIT END */

  while (1) {
    /* USER CODE BEGIN */
+    BMI088_WaitNew();
+    BMI088_AcclStartDmaRecv();
+    BMI088_AcclWaitDmaCplt();
+
+    BMI088_GyroStartDmaRecv();
+    BMI088_GyroWaitDmaCplt();
+
+    /* 锁住RTOS内核防止数据解析过程中断，造成错误 */
+    osKernelLock();
+    /* 接收完所有数据后，把数据从原始字节加工成方便计算的数据 */
+    BMI088_ParseAccl(&bmi088);
+    BMI088_ParseGyro(&bmi088);
+    // IST8310_Parse(&ist8310);
+
+    /* 根据设备接收到的数据进行姿态解析 */
+    AHRS_Update(&gimbal_ahrs, &bmi088.accl, &bmi088.gyro, &magn);
+
+    /* 根据解析出来的四元数计算欧拉角 */
+    AHRS_GetEulr(&eulr_to_send, &gimbal_ahrs);
+    BSP_PWM_SetComp(BSP_PWM_IMU_HEAT, PID_Calc(&imu_temp_ctrl_pid, 40.5f,
+                                               bmi088.temp, 0.0f, 0.0f));
+    osKernelUnlock();

    /* USER CODE END */
  }
-  
 }
--- a/User/task/rc.c
+++ b/User/task/rc.c
@ -4,9 +4,10 @@
 */

 /* Includes ----------------------------------------------------------------- */
+#include "device/dr16.h"
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
-
+#include "device/dr16.h"
 /* USER INCLUDE END */

 /* Private typedef ---------------------------------------------------------- */
@ -14,7 +15,7 @@
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
 /* USER STRUCT BEGIN */
-
+DR16_t dr16;
 /* USER STRUCT END */

 /* Private function --------------------------------------------------------- */
@ -30,13 +31,18 @@ void Task_rc(void *argument) {

  uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
  /* USER CODE INIT BEGIN */
-
+  DR16_Init(&dr16);
  /* USER CODE INIT END */
  
  while (1) {
    tick += delay_tick; /* 计算下一个唤醒时刻 */
    /* USER CODE BEGIN */
-
+    DR16_StartDmaRecv(&dr16);
+    if (DR16_WaitDmaCplt(20)) {
+      DR16_ParseData(&dr16);
+    } else {
+      DR16_Offline(&dr16);
+    }
    /* USER CODE END */
    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
  }