修改time和gpio的保存类型

.vscode/settings.json

@@ -7,6 +7,7 @@
         "string": "c",
         "string_view": "c",
         "vector": "c",
-        "can.h": "c"
+        "can.h": "c",
+        "device.h": "c"
     }
 }

app/code_page/bsp_interface.py

@@ -752,16 +752,23 @@ class bsp_gpio(QWidget):
     def _save_config(self, configs):
         config_path = os.path.join(self.project_path, "User/bsp/bsp_config.yaml")
         config_data = CodeGenerator.load_config(config_path)
+        gpio_configs = []
+        for config in configs:
+            # 根据 pin 查找原始 available_list 项
+            match = next((item for item in self.available_list if item['pin'] == config['pin']), None)
+            gpio_type = "EXTI" if config['has_exti'] else (
+                "OUTPUT" if match and match.get('is_output') else "INPUT"
+            )
+            gpio_configs.append({
+                'custom_name': config['custom_name'],
+                'ioc_label': config['ioc_label'],
+                'pin': config['pin'],
+                'has_exti': config['has_exti'],
+                'type': gpio_type
+            })
         config_data['gpio'] = {
             'enabled': True,
-            'configs': [
+            'configs': gpio_configs
-                {
-                    'custom_name': config['custom_name'],
-                    'ioc_label': config['ioc_label'],
-                    'pin': config['pin'],
-                    'has_exti': config['has_exti']
-                } for config in configs
-            ]
         }
         CodeGenerator.save_config(config_data, config_path)
 

app/code_page/component_interface.py

@@ -94,12 +94,9 @@ def get_all_dependency_components(dependencies):
             dependent_components.add(dep_name.lower())
     return dependent_components
 
+
 class ComponentSimple(QWidget):
     """简单组件界面 - 只有开启/关闭功能"""
-    
-    # 添加信号，用于通知其他组件状态变化
-    dependency_changed = pyqtSignal(str, bool)  # 组件名, 是否启用
-    
     def __init__(self, project_path, component_name, template_names, component_manager=None):
         super().__init__()
         self.project_path = project_path
@@ -108,260 +105,107 @@ class ComponentSimple(QWidget):
         self.component_manager = component_manager
         
         # 加载描述和依赖信息
-        component_dir = os.path.join(os.path.dirname(__file__), "../../assets/User_code/component")
+        component_dir = os.path.dirname(__file__) + "/../../assets/User_code/component"
         describe_path = os.path.join(component_dir, "describe.csv")
         dependencies_path = os.path.join(component_dir, "dependencies.csv")
-        
         self.descriptions = load_descriptions(describe_path)
         self.dependencies = load_dependencies(dependencies_path)
-        self.all_dependent_components = get_all_dependency_components(self.dependencies)
-        
-        # 判断当前组件是否被其他组件依赖
-        self.is_dependency = self.component_name.lower() in self.all_dependent_components
-        
-        # 强制启用状态相关
-        self._forced_enabled = False
-        self._dependency_count = 0  # 有多少个组件依赖此组件
         
         self._init_ui()
         self._load_config()
     
     def _init_ui(self):
         layout = QVBoxLayout(self)
-        
-        # 顶部横向布局：左侧复选框，居中标题
         top_layout = QHBoxLayout()
         top_layout.setAlignment(Qt.AlignVCenter)
-        
-        # 所有组件都有复选框
         self.generate_checkbox = CheckBox(f"启用 {self.component_name}")
         self.generate_checkbox.stateChanged.connect(self._on_checkbox_changed)
         top_layout.addWidget(self.generate_checkbox, alignment=Qt.AlignLeft)
-        
-        # 如果是被依赖的组件，添加状态标签
-        if self.is_dependency:
-            self.dependency_status_label = BodyLabel("")
-            self.dependency_status_label.setStyleSheet("color: #888888; font-style: italic; margin-left: 10px;")
-            top_layout.addWidget(self.dependency_status_label, alignment=Qt.AlignLeft)
-        
-        # 弹性空间
         top_layout.addStretch()
-        
         title = SubtitleLabel(f"{self.component_name} 配置             ")
         title.setAlignment(Qt.AlignHCenter)
         top_layout.addWidget(title, alignment=Qt.AlignHCenter)
-        
-        # 再加一个弹性空间，保证标题居中
         top_layout.addStretch()
-        
         layout.addLayout(top_layout)
         
-        # 功能说明
         desc = self.descriptions.get(self.component_name.lower(), "")
         if desc:
             desc_label = BodyLabel(f"功能说明：{desc}")
             desc_label.setWordWrap(True)
             layout.addWidget(desc_label)
         
-        # 依赖信息
         deps = self.dependencies.get(self.component_name.lower(), [])
         if deps:
             deps_text = f"依赖组件：{', '.join([os.path.basename(dep) for dep in deps])}"
-            self.deps_label = BodyLabel(deps_text)
+            deps_label = BodyLabel(deps_text)
-            self.deps_label.setWordWrap(True)
+            deps_label.setWordWrap(True)
-            self.deps_label.setStyleSheet("color: #888888;")
+            deps_label.setStyleSheet("color: #888888;")
-            layout.addWidget(self.deps_label)
+            layout.addWidget(deps_label)
-            
+            # 不再自动启用依赖，只做提示
-            # 依赖状态显示
-            self.deps_status_widget = QWidget()
-            deps_status_layout = QVBoxLayout(self.deps_status_widget)
-            deps_status_layout.setContentsMargins(20, 10, 20, 10)
-            
-            self.deps_checkboxes = {}
-            for dep in deps:
-                # 从路径中提取组件名
-                dep_name = os.path.basename(dep)
-                dep_checkbox = CheckBox(f"自动启用 {dep_name}")
-                dep_checkbox.setEnabled(False)  # 依赖项自动管理，不允许手动取消
-                deps_status_layout.addWidget(dep_checkbox)
-                self.deps_checkboxes[dep] = dep_checkbox
-            
-            layout.addWidget(self.deps_status_widget)
-        
-        # 如果是被依赖的组件，显示被哪些组件依赖
-        if self.is_dependency:
-            dependent_by = []
-            for component, deps in self.dependencies.items():
-                for dep_path in deps:
-                    if os.path.basename(dep_path).lower() == self.component_name.lower():
-                        dependent_by.append(component)
-            
-            if dependent_by:
-                dependent_text = f"被以下组件依赖：{', '.join(dependent_by)}"
-                dependent_label = BodyLabel(dependent_text)
-                dependent_label.setWordWrap(True)
-                dependent_label.setStyleSheet("color: #0078d4;")
-                layout.addWidget(dependent_label)
         
         layout.addStretch()
     
-        # 初始化界面状态
-        self._update_ui_state()
-    
-    def _update_ui_state(self):
-        """更新界面状态"""
-        if self.is_dependency:
-            if self._dependency_count > 0:
-                # 有组件依赖此组件，设置为强制启用状态
-                self.generate_checkbox.setEnabled(False)
-                self.generate_checkbox.setChecked(True)
-                self.dependency_status_label.setText(f"(被 {self._dependency_count} 个组件自动启用)")
-                self.dependency_status_label.setStyleSheet("color: #0078d4; font-style: italic; margin-left: 10px;")
-            else:
-                # 没有组件依赖此组件，恢复正常状态
-                self.generate_checkbox.setEnabled(True)
-                self.dependency_status_label.setText("(可选组件)")
-                self.dependency_status_label.setStyleSheet("color: #888888; font-style: italic; margin-left: 10px;")
-    
     def _on_checkbox_changed(self, state):
-        """处理复选框状态变化，自动管理依赖"""
+        pass  # 不再自动启用依赖
-        # 如果是被强制启用的，不允许用户取消
-        if self.is_dependency and self._dependency_count > 0:
-            return
-            
-        if state == 2:  # 选中状态
-            # 自动选中所有依赖项
-            deps = self.dependencies.get(self.component_name.lower(), [])
-            for dep in deps:
-                if dep in self.deps_checkboxes:
-                    self.deps_checkboxes[dep].setChecked(True)
-            
-            # 通知组件管理器启用依赖项
-            if self.component_manager:
-                self.component_manager.enable_dependencies(self.component_name, deps)
-        else:  # 未选中状态
-            # 取消选中所有依赖项
-            if hasattr(self, 'deps_checkboxes'):
-                for checkbox in self.deps_checkboxes.values():
-                    checkbox.setChecked(False)
-            
-            # 通知组件管理器禁用依赖项
-            if self.component_manager:
-                deps = self.dependencies.get(self.component_name.lower(), [])
-                self.component_manager.disable_dependencies(self.component_name, deps)
-    
-    def set_forced_enabled(self, enabled: bool):
-        """设置强制启用状态（用于依赖自动启用）"""
-        self._forced_enabled = enabled
-        if enabled:
-            self.set_dependency_count(max(1, self._dependency_count))
-        else:
-            self.set_dependency_count(0)
     
     def is_need_generate(self):
-        """检查是否需要生成代码"""
         return self.generate_checkbox.isChecked()
     
-    def set_dependency_count(self, count):
-        """设置依赖计数并更新UI状态"""
-        self._dependency_count = count
-        if count > 0:
-            self._forced_enabled = True
-            if not self.generate_checkbox.isChecked():
-                # 阻止信号触发，直接设置状态
-                self.generate_checkbox.blockSignals(True)
-                self.generate_checkbox.setChecked(True)
-                self.generate_checkbox.blockSignals(False)
-        else:
-            self._forced_enabled = False
-        
-        self._update_ui_state()
-        self._save_config()  # 保存状态变化
-    
     def get_enabled_dependencies(self):
-        """获取已启用的依赖项列表"""
         if not self.is_need_generate():
             return []
         return self.dependencies.get(self.component_name.lower(), [])
     
     def _generate_component_code_internal(self):
-        """生成组件代码"""
         if not self.is_need_generate():
             return False
-        
         template_dir = self._get_component_template_dir()
-        
-        # 生成头文件和源文件
         for key, filename in self.template_names.items():
             template_path = os.path.join(template_dir, filename)
             template_content = CodeGenerator.load_template(template_path)
             if not template_content:
                 print(f"模板文件不存在或为空: {template_path}")
                 continue
-            
             output_path = os.path.join(self.project_path, f"User/component/{filename}")
             save_with_preserve(output_path, template_content)
-        
         self._save_config()
         return True
     
     def _get_component_template_dir(self):
-        """获取组件模板目录"""
         current_dir = os.path.dirname(os.path.abspath(__file__))
-        # 向上找到 MRobot 根目录
         while os.path.basename(current_dir) != 'MRobot' and current_dir != '/':
             current_dir = os.path.dirname(current_dir)
-        
         if os.path.basename(current_dir) == 'MRobot':
             return os.path.join(current_dir, "assets/User_code/component")
         else:
-            # 如果找不到，使用相对路径作为备选
             return os.path.join(os.path.dirname(os.path.dirname(os.path.dirname(__file__))), "assets/User_code/component")
     
     def _save_config(self):
-        """保存配置"""
         config_path = os.path.join(self.project_path, "User/component/component_config.yaml")
         config_data = CodeGenerator.load_config(config_path)
         config_data[self.component_name.lower()] = {
             'enabled': self.is_need_generate(),
-            'dependencies': self.dependencies.get(self.component_name.lower(), []),
+            'dependencies': self.dependencies.get(self.component_name.lower(), [])
-            'is_dependency': self.is_dependency,
-            'dependency_count': self._dependency_count,
-            'forced_enabled': self._forced_enabled
         }
         CodeGenerator.save_config(config_data, config_path)
     
     def _load_config(self):
-        """加载配置"""
         config_path = os.path.join(self.project_path, "User/component/component_config.yaml")
         config_data = CodeGenerator.load_config(config_path)
         conf = config_data.get(self.component_name.lower(), {})
-        
-        # 加载依赖计数
-        self._dependency_count = conf.get('dependency_count', 0)
-        self._forced_enabled = conf.get('forced_enabled', False)
-        
-        # 设置复选框状态
         if conf.get('enabled', False):
             self.generate_checkbox.setChecked(True)
 
-        # 更新UI状态
-        self._update_ui_state()
-
 class ComponentManager:
     """组件依赖管理器"""
     
     def __init__(self):
         self.component_pages = {}  # 组件名 -> 页面对象
-        self.dependency_count = {}  # 被依赖组件 -> 依赖计数
     
     def register_component(self, component_name, page):
         """注册组件页面"""
         self.component_pages[component_name.lower()] = page
     
-        # 注册后立即同步状态
-        self._sync_dependency_states()
-    
     def _sync_dependency_states(self):
         """同步所有依赖状态"""
         # 重新计算所有依赖计数
@@ -474,7 +318,7 @@ class component(QWidget):
                 # 创建临时组件页面
                 template_names = {'header': f'{comp_name}.h', 'source': f'{comp_name}.c'}
                 temp_page = ComponentSimple(project_path, comp_name.upper(), template_names)
-                temp_page.set_forced_enabled(True)  # 自动启用依赖组件
+                # temp_page.set_forced_enabled(True)  # 自动启用依赖组件
                 component_pages[comp_name] = temp_page
         
         # 如果没有组件需要生成，返回提示信息

app/code_page/device_interface.py

@@ -14,22 +14,25 @@ def load_device_config(config_path):
             return yaml.safe_load(f)
     return {}
 
-def get_available_bsp_devices(project_path, bsp_type):
+def get_available_bsp_devices(project_path, bsp_type, gpio_type=None):
-    """获取可用的BSP设备"""
+    """获取可用的BSP设备，GPIO可选类型过滤"""
     bsp_config_path = os.path.join(project_path, "User/bsp/bsp_config.yaml")
     if not os.path.exists(bsp_config_path):
         return []
-    
     try:
         with open(bsp_config_path, 'r', encoding='utf-8') as f:
             bsp_config = yaml.safe_load(f)
-        
+        if bsp_type == "gpio" and bsp_config.get("gpio", {}).get("enabled", False):
-        if bsp_type in bsp_config and bsp_config[bsp_type].get('enabled', False):
+            configs = bsp_config["gpio"].get("configs", [])
+            # 增加类型过滤
+            if gpio_type:
+                configs = [cfg for cfg in configs if cfg.get('type', '').lower() == gpio_type.lower()]
+            return [f"BSP_GPIO_{cfg['custom_name']}" for cfg in configs]
+        elif bsp_type in bsp_config and bsp_config[bsp_type].get('enabled', False):
             devices = bsp_config[bsp_type].get('devices', [])
             return [f"BSP_{bsp_type.upper()}_{device['name']}" for device in devices]
     except Exception as e:
         print(f"读取BSP配置失败: {e}")
-    
     return []
 
 def generate_device_header(project_path, enabled_devices):
@@ -156,50 +159,41 @@ class DeviceSimple(QWidget):
             layout.addWidget(deps_label)
     
     def _add_bsp_config(self, layout):
-        """添加BSP配置区域"""
         bsp_requirements = self.device_config.get('bsp_requirements', [])
         self.bsp_combos = {}
-        
         if bsp_requirements:
             layout.addWidget(BodyLabel("BSP设备配置:"))
-            
             for req in bsp_requirements:
                 bsp_type = req['type']
                 var_name = req['var_name']
                 description = req.get('description', '')
-                
+                gpio_type = req.get('gpio_type', None)  # 新增
-                # 创建选择组合框
                 req_layout = QHBoxLayout()
-                
                 label = BodyLabel(f"{bsp_type.upper()}:")
                 label.setMinimumWidth(80)
                 req_layout.addWidget(label)
-                
                 combo = ComboBox()
-                self._update_bsp_combo(combo, bsp_type)
+                # 传递gpio_type参数
-                
+                self._update_bsp_combo(combo, bsp_type, gpio_type)
                 req_layout.addWidget(combo)
-                
                 if description:
                     desc_label = BodyLabel(f"({description})")
                     desc_label.setStyleSheet("color: #666666; font-size: 12px;")
                     req_layout.addWidget(desc_label)
-                
                 req_layout.addStretch()
                 layout.addLayout(req_layout)
-                
                 self.bsp_combos[var_name] = combo
     
-    def _update_bsp_combo(self, combo, bsp_type):
+    def _update_bsp_combo(self, combo, bsp_type, gpio_type=None):
-        """更新BSP组合框选项"""
         combo.clear()
-        available_devices = get_available_bsp_devices(self.project_path, bsp_type)
+        available_devices = get_available_bsp_devices(self.project_path, bsp_type, gpio_type)
         if available_devices:
             combo.addItems(available_devices)
         else:
             combo.addItem(f"未找到可用的{bsp_type.upper()}设备")
             combo.setEnabled(False)
 
+    
     def refresh_bsp_combos(self):
         """刷新所有BSP组合框"""
         bsp_requirements = self.device_config.get('bsp_requirements', [])
@@ -247,6 +241,15 @@ class DeviceSimple(QWidget):
             dst_path = os.path.join(self.project_path, f"User/device/{filename}")
 
             if os.path.exists(src_path):
+                # 头文件和源文件都做变量替换
+                with open(src_path, 'r', encoding='utf-8') as f:
+                    content = f.read()
+                for var_name, device_name in bsp_config.items():
+                    content = content.replace(var_name, device_name)
+                os.makedirs(os.path.dirname(dst_path), exist_ok=True)
+                with open(dst_path, 'w', encoding='utf-8') as f:
+                    f.write(content)
+
                 if file_type == 'header':
                     # 头文件直接复制，不做修改
                     os.makedirs(os.path.dirname(dst_path), exist_ok=True)

assets/User_code/bsp/time.c

@@ -16,14 +16,15 @@
 uint32_t BSP_TIME_Get_ms() { return xTaskGetTickCount(); }
 
 uint64_t BSP_TIME_Get_us() {
-  uint32_t ms_old = xTaskGetTickCount();
+  uint32_t tick_freq = osKernelGetTickFreq();
+  uint32_t ticks_old = xTaskGetTickCount()*(1000/tick_freq);
   uint32_t tick_value_old = SysTick->VAL;
-  uint32_t ms_new = xTaskGetTickCount();
+  uint32_t ticks_new = xTaskGetTickCount()*(1000/tick_freq);
   uint32_t tick_value_new = SysTick->VAL;
-  if (ms_old == ms_new) {
+  if (ticks_old == ticks_new) {
-    return ms_new * 1000 + 1000 - tick_value_old * 1000 / (SysTick->LOAD + 1);
+    return ticks_new * 1000 + 1000 - tick_value_old * 1000 / (SysTick->LOAD + 1);
   } else {
-    return ms_new * 1000 + 1000 - tick_value_new * 1000 / (SysTick->LOAD + 1);
+    return ticks_new * 1000 + 1000 - tick_value_new * 1000 / (SysTick->LOAD + 1);
   }
 }
 

assets/User_code/config.csv

@@ -1,4 +1,4 @@
 bsp,can,dwt,gpio,i2c,mm,spi,uart,pwm,time
 component,ahrs,ballistics,capacity,cmd,crc8,crc16,error_detect,filter,FreeRTOS_CLI,limiter,mixer,pid,ui,user_math
-device,dr16,ai,nuc
+device,dr16,bmi088
 module,chassis,gimbal,arm,shoot

assets/User_code/device/bmi088.c

@@ -0,0 +1,372 @@
+/*
+        BMI088 陀螺仪+加速度计传感器。
+
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "bmi088.h"
+
+#include <cmsis_os2.h>
+#include <gpio.h>
+#include <stdbool.h>
+#include <string.h>
+
+#include "bsp/time.h"
+#include "bsp/gpio.h"
+#include "bsp/spi.h"
+#include "component/user_math.h"
+
+/* Private define ----------------------------------------------------------- */
+#define BMI088_REG_ACCL_CHIP_ID (0x00)
+#define BMI088_REG_ACCL_ERR (0x02)
+#define BMI088_REG_ACCL_STATUS (0x03)
+#define BMI088_REG_ACCL_X_LSB (0x12)
+#define BMI088_REG_ACCL_X_MSB (0x13)
+#define BMI088_REG_ACCL_Y_LSB (0x14)
+#define BMI088_REG_ACCL_Y_MSB (0x15)
+#define BMI088_REG_ACCL_Z_LSB (0x16)
+#define BMI088_REG_ACCL_Z_MSB (0x17)
+#define BMI088_REG_ACCL_SENSORTIME_0 (0x18)
+#define BMI088_REG_ACCL_SENSORTIME_1 (0x19)
+#define BMI088_REG_ACCL_SENSORTIME_2 (0x1A)
+#define BMI088_REG_ACCL_INT_STAT_1 (0x1D)
+#define BMI088_REG_ACCL_TEMP_MSB (0x22)
+#define BMI088_REG_ACCL_TEMP_LSB (0x23)
+#define BMI088_REG_ACCL_CONF (0x40)
+#define BMI088_REG_ACCL_RANGE (0x41)
+#define BMI088_REG_ACCL_INT1_IO_CONF (0x53)
+#define BMI088_REG_ACCL_INT2_IO_CONF (0x54)
+#define BMI088_REG_ACCL_INT1_INT2_MAP_DATA (0x58)
+#define BMI088_REG_ACCL_SELF_TEST (0x6D)
+#define BMI088_REG_ACCL_PWR_CONF (0x7C)
+#define BMI088_REG_ACCL_PWR_CTRL (0x7D)
+#define BMI088_REG_ACCL_SOFTRESET (0x7E)
+
+#define BMI088_REG_GYRO_CHIP_ID (0x00)
+#define BMI088_REG_GYRO_X_LSB (0x02)
+#define BMI088_REG_GYRO_X_MSB (0x03)
+#define BMI088_REG_GYRO_Y_LSB (0x04)
+#define BMI088_REG_GYRO_Y_MSB (0x05)
+#define BMI088_REG_GYRO_Z_LSB (0x06)
+#define BMI088_REG_GYRO_Z_MSB (0x07)
+#define BMI088_REG_GYRO_INT_STAT_1 (0x0A)
+#define BMI088_REG_GYRO_RANGE (0x0F)
+#define BMI088_REG_GYRO_BANDWIDTH (0x10)
+#define BMI088_REG_GYRO_LPM1 (0x11)
+#define BMI088_REG_GYRO_SOFTRESET (0x14)
+#define BMI088_REG_GYRO_INT_CTRL (0x15)
+#define BMI088_REG_GYRO_INT3_INT4_IO_CONF (0x16)
+#define BMI088_REG_GYRO_INT3_INT4_IO_MAP (0x18)
+#define BMI088_REG_GYRO_SELF_TEST (0x3C)
+
+#define BMI088_CHIP_ID_ACCL (0x1E)
+#define BMI088_CHIP_ID_GYRO (0x0F)
+
+#define BMI088_LEN_RX_BUFF (19)
+/* Private macro ------------------------------------------------------------ */
+#define BMI088_ACCL_NSS_SET() \
+  BSP_GPIO_WritePin(BSP_GPIO_ACCL_CS, GPIO_PIN_SET)
+#define BMI088_ACCL_NSS_RESET() \
+  BSP_GPIO_WritePin(BSP_GPIO_ACCL_CS, GPIO_PIN_RESET)
+
+#define BMI088_GYRO_NSS_SET() \
+  BSP_GPIO_WritePin(BSP_GPIO_GYRO_CS, GPIO_PIN_SET)
+#define BMI088_GYRO_NSS_RESET() \
+  BSP_GPIO_WritePin(BSP_GPIO_GYRO_CS, GPIO_PIN_RESET)
+
+/* Private typedef ---------------------------------------------------------- */
+typedef enum {
+  BMI_ACCL,
+  BMI_GYRO,
+} BMI_Device_t;
+
+/* Private variables -------------------------------------------------------- */
+static uint8_t buffer[2];
+static uint8_t bmi088_rxbuf[BMI088_LEN_RX_BUFF];
+
+static osThreadId_t thread_alert;
+static bool inited = false;
+
+/* Private function  -------------------------------------------------------- */
+static void BMI_WriteSingle(BMI_Device_t dv, uint8_t reg, uint8_t data) {
+  buffer[0] = (reg & 0x7f);
+  buffer[1] = data;
+
+  BSP_TIME_Delay(1);
+  switch (dv) {
+    case BMI_ACCL:
+      BMI088_ACCL_NSS_RESET();
+      break;
+
+    case BMI_GYRO:
+      BMI088_GYRO_NSS_RESET();
+      break;
+  }
+
+  HAL_SPI_Transmit(BSP_SPI_GetHandle(BSP_SPI_BMI088), buffer, 2u, 20u);
+
+  switch (dv) {
+    case BMI_ACCL:
+      BMI088_ACCL_NSS_SET();
+      break;
+
+    case BMI_GYRO:
+      BMI088_GYRO_NSS_SET();
+      break;
+  }
+}
+
+static uint8_t BMI_ReadSingle(BMI_Device_t dv, uint8_t reg) {
+  BSP_TIME_Delay(1);
+  switch (dv) {
+    case BMI_ACCL:
+      BMI088_ACCL_NSS_RESET();
+      break;
+
+    case BMI_GYRO:
+      BMI088_GYRO_NSS_RESET();
+      break;
+  }
+  buffer[0] = (uint8_t)(reg | 0x80);
+  HAL_SPI_Transmit(BSP_SPI_GetHandle(BSP_SPI_BMI088), buffer, 1u, 20u);
+  HAL_SPI_Receive(BSP_SPI_GetHandle(BSP_SPI_BMI088), buffer, 2u, 20u);
+
+  switch (dv) {
+    case BMI_ACCL:
+      BMI088_ACCL_NSS_SET();
+      return buffer[1];
+
+    case BMI_GYRO:
+      BMI088_GYRO_NSS_SET();
+      return buffer[0];
+  }
+}
+
+static void BMI_Read(BMI_Device_t dv, uint8_t reg, uint8_t *data, uint8_t len) {
+  if (data == NULL) return;
+
+  switch (dv) {
+    case BMI_ACCL:
+      BMI088_ACCL_NSS_RESET();
+      break;
+
+    case BMI_GYRO:
+      BMI088_GYRO_NSS_RESET();
+      break;
+  }
+  buffer[0] = (uint8_t)(reg | 0x80);
+  HAL_SPI_Transmit(BSP_SPI_GetHandle(BSP_SPI_BMI088), buffer, 1u, 20u);
+  HAL_SPI_Receive_DMA(BSP_SPI_GetHandle(BSP_SPI_BMI088), data, len);
+}
+
+static void BMI088_RxCpltCallback(void) {
+  if (HAL_GPIO_ReadPin(ACCL_CS_GPIO_Port, ACCL_CS_Pin) == GPIO_PIN_RESET) {
+    BMI088_ACCL_NSS_SET();
+    osThreadFlagsSet(thread_alert, SIGNAL_BMI088_ACCL_RAW_REDY);
+  }
+  if (HAL_GPIO_ReadPin(GYRO_CS_GPIO_Port, GYRO_CS_Pin) == GPIO_PIN_RESET) {
+    BMI088_GYRO_NSS_SET();
+    osThreadFlagsSet(thread_alert, SIGNAL_BMI088_GYRO_RAW_REDY);
+  }
+}
+
+static void BMI088_AcclIntCallback(void) {
+  osThreadFlagsSet(thread_alert, SIGNAL_BMI088_ACCL_NEW_DATA);
+}
+
+static void BMI088_GyroIntCallback(void) {
+  osThreadFlagsSet(thread_alert, SIGNAL_BMI088_GYRO_NEW_DATA);
+}
+
+/* Exported functions ------------------------------------------------------- */
+int8_t BMI088_Init(BMI088_t *bmi088, const BMI088_Cali_t *cali) {
+  if (bmi088 == NULL) return DEVICE_ERR_NULL;
+  if (cali == NULL) return DEVICE_ERR_NULL;
+  if (inited) return DEVICE_ERR_INITED;
+  if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL;
+
+  bmi088->cali = cali;
+
+  BMI_WriteSingle(BMI_ACCL, BMI088_REG_ACCL_SOFTRESET, 0xB6);
+  BMI_WriteSingle(BMI_GYRO, BMI088_REG_GYRO_SOFTRESET, 0xB6);
+  BSP_TIME_Delay(30);
+
+  /* Switch accl to SPI mode. */
+  BMI_ReadSingle(BMI_ACCL, BMI088_CHIP_ID_ACCL);
+
+  if (BMI_ReadSingle(BMI_ACCL, BMI088_REG_ACCL_CHIP_ID) != BMI088_CHIP_ID_ACCL)
+    return DEVICE_ERR_NO_DEV;
+
+  if (BMI_ReadSingle(BMI_GYRO, BMI088_REG_GYRO_CHIP_ID) != BMI088_CHIP_ID_GYRO)
+    return DEVICE_ERR_NO_DEV;
+
+  BSP_GPIO_DisableIRQ(BSP_GPIO_ACCL_INT);
+  BSP_GPIO_DisableIRQ(BSP_GPIO_GYRO_INT);
+
+  BSP_SPI_RegisterCallback(BSP_SPI_BMI088, BSP_SPI_RX_CPLT_CB,
+                           BMI088_RxCpltCallback);
+  // BSP_GPIO_RegisterCallback(ACCL_INT_Pin, BMI088_AcclIntCallback);
+  // BSP_GPIO_RegisterCallback(GYRO_INT_Pin, BMI088_GyroIntCallback);
+  BSP_GPIO_RegisterCallback(BSP_GPIO_ACCL_INT, BMI088_AcclIntCallback);
+  BSP_GPIO_RegisterCallback(BSP_GPIO_GYRO_INT, BMI088_GyroIntCallback);
+  /* Accl init. */
+  /* Filter setting: Normal. */
+  /* ODR: 0xAB: 800Hz. 0xAA: 400Hz. 0xA9: 200Hz. 0xA8: 100Hz. 0xA6: 25Hz. */
+  BMI_WriteSingle(BMI_ACCL, BMI088_REG_ACCL_CONF, 0xAA);
+
+  /* 0x00: +-3G. 0x01: +-6G. 0x02: +-12G. 0x03: +-24G. */
+  BMI_WriteSingle(BMI_ACCL, BMI088_REG_ACCL_RANGE, 0x01);
+
+  /* INT1 as output. Push-pull. Active low. Output. */
+  BMI_WriteSingle(BMI_ACCL, BMI088_REG_ACCL_INT1_IO_CONF, 0x08);
+
+  /* Map data ready interrupt to INT1. */
+  BMI_WriteSingle(BMI_ACCL, BMI088_REG_ACCL_INT1_INT2_MAP_DATA, 0x04);
+
+  /* Turn on accl. Now we can read data. */
+  BMI_WriteSingle(BMI_ACCL, BMI088_REG_ACCL_PWR_CTRL, 0x04);
+  BSP_TIME_Delay(50);
+
+  /* Gyro init. */
+  /* 0x00: +-2000. 0x01: +-1000. 0x02: +-500. 0x03: +-250. 0x04: +-125. */
+  BMI_WriteSingle(BMI_GYRO, BMI088_REG_GYRO_RANGE, 0x01);
+
+  /* Filter bw: 47Hz. */
+  /* ODR: 0x02: 1000Hz. 0x03: 400Hz. 0x06: 200Hz. 0x07: 100Hz. */
+  BMI_WriteSingle(BMI_GYRO, BMI088_REG_GYRO_BANDWIDTH, 0x03);
+
+  /* INT3 and INT4 as output. Push-pull. Active low. */
+  BMI_WriteSingle(BMI_GYRO, BMI088_REG_GYRO_INT3_INT4_IO_CONF, 0x00);
+
+  /* Map data ready interrupt to INT3. */
+  BMI_WriteSingle(BMI_GYRO, BMI088_REG_GYRO_INT3_INT4_IO_MAP, 0x01);
+
+  /* Enable new data interrupt. */
+  BMI_WriteSingle(BMI_GYRO, BMI088_REG_GYRO_INT_CTRL, 0x80);
+
+  BSP_TIME_Delay(10);
+
+  inited = true;
+
+  // BSP_GPIO_EnableIRQ(ACCL_INT_Pin);
+  // BSP_GPIO_EnableIRQ(GYRO_INT_Pin);
+  BSP_GPIO_EnableIRQ(BSP_GPIO_ACCL_INT);
+  BSP_GPIO_EnableIRQ(BSP_GPIO_GYRO_INT);
+  return DEVICE_OK;
+}
+
+bool BMI088_GyroStable(AHRS_Gyro_t *gyro) {
+  return ((gyro->x < 0.03f) && (gyro->y < 0.03f) && (gyro->z < 0.03f));
+}
+
+uint32_t BMI088_WaitNew() {
+  return osThreadFlagsWait(
+      SIGNAL_BMI088_ACCL_NEW_DATA | SIGNAL_BMI088_GYRO_NEW_DATA, osFlagsWaitAll,
+      osWaitForever);
+}
+
+int8_t BMI088_AcclStartDmaRecv() {
+  BMI_Read(BMI_ACCL, BMI088_REG_ACCL_X_LSB, bmi088_rxbuf, BMI088_LEN_RX_BUFF);
+  return DEVICE_OK;
+}
+
+uint32_t BMI088_AcclWaitDmaCplt() {
+  return osThreadFlagsWait(SIGNAL_BMI088_ACCL_RAW_REDY, osFlagsWaitAll,
+                           osWaitForever);
+}
+
+int8_t BMI088_GyroStartDmaRecv() {
+  BMI_Read(BMI_GYRO, BMI088_REG_GYRO_X_LSB, bmi088_rxbuf + 7, 6u);
+  return DEVICE_OK;
+}
+
+uint32_t BMI088_GyroWaitDmaCplt() {
+  return osThreadFlagsWait(SIGNAL_BMI088_GYRO_RAW_REDY, osFlagsWaitAll,
+                           osWaitForever);
+}
+
+int8_t BMI088_ParseAccl(BMI088_t *bmi088) {
+  if (bmi088 == NULL) return DEVICE_ERR_NULL;
+
+#if 1
+  int16_t raw_x, raw_y, raw_z;
+  memcpy(&raw_x, bmi088_rxbuf + 1, sizeof(raw_x));
+  memcpy(&raw_y, bmi088_rxbuf + 3, sizeof(raw_y));
+  memcpy(&raw_z, bmi088_rxbuf + 5, sizeof(raw_z));
+
+  bmi088->accl.x = (float)raw_x;
+  bmi088->accl.y = (float)raw_y;
+  bmi088->accl.z = (float)raw_z;
+
+#else
+  const int16_t *praw_x = (int16_t *)(bmi088_rxbuf + 1);
+  const int16_t *praw_y = (int16_t *)(bmi088_rxbuf + 3);
+  const int16_t *praw_z = (int16_t *)(bmi088_rxbuf + 5);
+
+  bmi088->accl.x = (float)*praw_x;
+  bmi088->accl.y = (float)*praw_y;
+  bmi088->accl.z = (float)*praw_z;
+
+#endif
+
+  /* 3G: 10920. 6G: 5460. 12G: 2730. 24G: 1365. */
+  bmi088->accl.x /= 5460.0f;
+  bmi088->accl.y /= 5460.0f;
+  bmi088->accl.z /= 5460.0f;
+
+  int16_t raw_temp =
+      (uint16_t)((bmi088_rxbuf[17] << 3) | (bmi088_rxbuf[18] >> 5));
+
+  if (raw_temp > 1023) raw_temp -= 2048;
+
+  bmi088->temp = (float)raw_temp * 0.125f + 23.0f;
+
+  return DEVICE_OK;
+}
+
+int8_t BMI088_ParseGyro(BMI088_t *bmi088) {
+  if (bmi088 == NULL) return DEVICE_ERR_NULL;
+
+#if 1
+  /* Gyroscope imu_raw -> degrees/sec -> radians/sec */
+  int16_t raw_x, raw_y, raw_z;
+  memcpy(&raw_x, bmi088_rxbuf + 7, sizeof(raw_x));
+  memcpy(&raw_y, bmi088_rxbuf + 9, sizeof(raw_y));
+  memcpy(&raw_z, bmi088_rxbuf + 11, sizeof(raw_z));
+
+  bmi088->gyro.x = (float)raw_x;
+  bmi088->gyro.y = (float)raw_y;
+  bmi088->gyro.z = (float)raw_z;
+
+#else
+  /* Gyroscope imu_raw -> degrees/sec -> radians/sec */
+  const int16_t *raw_x = (int16_t *)(bmi088_rxbuf + 7);
+  const int16_t *raw_y = (int16_t *)(bmi088_rxbuf + 9);
+  const int16_t *raw_z = (int16_t *)(bmi088_rxbuf + 11);
+
+  bmi088->gyro.x = (float)*raw_x;
+  bmi088->gyro.y = (float)*raw_y;
+  bmi088->gyro.z = (float)*raw_z;
+#endif
+
+  /* FS125: 262.144. FS250: 131.072. FS500: 65.536. FS1000: 32.768.
+   * FS2000: 16.384.*/
+  bmi088->gyro.x /= 32.768f;
+  bmi088->gyro.y /= 32.768f;
+  bmi088->gyro.z /= 32.768f;
+
+  bmi088->gyro.x *= M_DEG2RAD_MULT;
+  bmi088->gyro.y *= M_DEG2RAD_MULT;
+  bmi088->gyro.z *= M_DEG2RAD_MULT;
+
+  bmi088->gyro.x -= bmi088->cali->gyro_offset.x;
+  bmi088->gyro.y -= bmi088->cali->gyro_offset.y;
+  bmi088->gyro.z -= bmi088->cali->gyro_offset.z;
+
+  return DEVICE_ERR_NULL;
+}
+
+float BMI088_GetUpdateFreq(BMI088_t *bmi088) {
+  (void)bmi088;
+  return 400.0f;
+}

assets/User_code/device/bmi088.h

@@ -0,0 +1,64 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "component/ahrs.h"
+#include "device/device.h"
+
+/* Exported constants ------------------------------------------------------- */
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+typedef struct {
+  struct {
+    float x;
+    float y;
+    float z;
+  } gyro_offset; /* 陀螺仪偏置 */
+} BMI088_Cali_t; /* BMI088校准数据 */
+
+typedef struct {
+  AHRS_Accl_t accl;
+  AHRS_Gyro_t gyro;
+
+  float temp; /* 温度 */
+
+  const BMI088_Cali_t *cali;
+} BMI088_t;
+
+/* Exported functions prototypes -------------------------------------------- */
+int8_t BMI088_Init(BMI088_t *bmi088, const BMI088_Cali_t *cali);
+int8_t BMI088_Restart(void);
+
+bool BMI088_GyroStable(AHRS_Gyro_t *gyro);
+
+/* Sensor use right-handed coordinate system. */
+/*
+                x < R(logo)
+                        y
+                UP is z
+        All implementation should follow this rule.
+ */
+uint32_t BMI088_WaitNew();
+
+/*
+  BMI088的Accl和Gyro共用同一个DMA通道，所以一次只能读一个传感器。
+  即BMI088_AcclStartDmaRecv() 和 BMI088_AcclWaitDmaCplt() 中间不能
+  出现 BMI088_GyroStartDmaRecv()。
+*/
+int8_t BMI088_AcclStartDmaRecv();
+uint32_t BMI088_AcclWaitDmaCplt();
+int8_t BMI088_GyroStartDmaRecv();
+uint32_t BMI088_GyroWaitDmaCplt();
+int8_t BMI088_ParseAccl(BMI088_t *bmi088);
+int8_t BMI088_ParseGyro(BMI088_t *bmi088);
+float BMI088_GetUpdateFreq(BMI088_t *bmi088);
+
+#ifdef __cplusplus
+}
+#endif

assets/User_code/device/config.yaml

@@ -14,3 +14,38 @@ devices:
     files:
       header: "dr16.h"
       source: "dr16.c"
+  
+  bmi088:
+    name: "BMI088"
+    description: "BMI088 陀螺仪+加速度计传感器"
+    dependencies:
+      bsp: ["spi", "gpio"]
+      component: ["user_math"]
+    bsp_requirements:
+      - type: "spi"
+        var_name: "BSP_SPI_BMI088"
+        description: "用于与 BMI088 通信的 SPI 总线"
+      - type: "gpio"
+        var_name: "BSP_GPIO_ACCL_CS"
+        description: "加速度计片选输出引脚"
+        gpio_type: "output"
+      - type: "gpio"
+        var_name: "BSP_GPIO_GYRO_CS"
+        description: "陀螺仪片选输出引脚"
+        gpio_type: "output"
+      - type: "gpio"
+        var_name: "BSP_GPIO_ACCL_INT"
+        description: "加速度计中断输入引脚"
+        gpio_type: "EXTI"
+      - type: "gpio"
+        var_name: "BSP_GPIO_GYRO_INT"
+        description: "陀螺仪中断输入引脚"
+        gpio_type: "EXTI"
+    thread_signals:
+      - name: "SIGNAL_BMI088_ACCL_RAW_REDY"
+      - name: "SIGNAL_BMI088_GYRO_RAW_REDY"
+      - name: "SIGNAL_BMI088_ACCL_NEW_DATA"
+      - name: "SIGNAL_BMI088_GYRO_NEW_DATA"
+    files:
+      header: "bmi088.h"
+      source: "bmi088.c"

bsp_config.yaml

@@ -123,4 +123,6 @@ uart:
   devices:
   - instance: USART3
     name: DR16
+  - instance: UART5
+    name: AI
   enabled: true

gpio.c

@@ -1,93 +0,0 @@
-/* Includes ----------------------------------------------------------------- */
-#include "bsp/gpio.h"
-
-#include <gpio.h>
-#include <main.h>
-
-/* Private define ----------------------------------------------------------- */
-/* Private macro ------------------------------------------------------------ */
-/* Private typedef ---------------------------------------------------------- */
-typedef struct {
-  uint16_t pin;
-  GPIO_TypeDef *gpio;
-} BSP_GPIO_MAP_t;
-
-/* Private variables -------------------------------------------------------- */
-static const BSP_GPIO_MAP_t GPIO_Map[BSP_GPIO_NUM] = {
-    {ACCL_CS_Pin, ACCL_CS_GPIO_Port},
-    {GYRO_CS_Pin, GYRO_CS_GPIO_Port},
-    {ACCL_INT_Pin, ACCL_INT_GPIO_Port},
-    {GYRO_INT_Pin, GYRO_INT_GPIO_Port},
-    {USER_KEY_Pin, USER_KEY_GPIO_Port},
-};
-
-static void (*GPIO_Callback[16])(void);
-
-/* Private function  -------------------------------------------------------- */
-void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
-  for (uint8_t i = 0; i < 16; i++) {
-    if (GPIO_Pin & (1 << i)) {
-      if (GPIO_Callback[i]) {
-        GPIO_Callback[i]();
-      }
-    }
-  }
-}
-
-/* Exported functions ------------------------------------------------------- */
-int8_t BSP_GPIO_RegisterCallback(uint16_t pin, void (*callback)(void)) {
-  if (callback == NULL) return BSP_ERR_NULL;
-
-  for (uint8_t i = 0; i < 16; i++) {
-    if (pin & (1 << i)) {
-      GPIO_Callback[i] = callback;
-      break;
-    }
-  }
-  return BSP_OK;
-}
-
-int8_t BSP_GPIO_EnableIRQ(uint16_t pin) {
-  switch (pin) {
-    case BSP_GPIO_IMU_ACCL_CS:
-      HAL_NVIC_EnableIRQ(ACCL_INT_EXTI_IRQn);
-      break;
-    case BSP_GPIO_IMU_GYRO_CS:
-      HAL_NVIC_EnableIRQ(GYRO_INT_EXTI_IRQn);
-      break;
-    default:
-      return BSP_ERR;
-  }
-  return BSP_OK;
-}
-
-int8_t BSP_GPIO_DisableIRQ(uint16_t pin) {
-  switch (pin) {
-    case BSP_GPIO_IMU_ACCL_INT:
-      HAL_NVIC_DisableIRQ(ACCL_INT_EXTI_IRQn);
-      break;
-    case BSP_GPIO_IMU_GYRO_INT:
-      HAL_NVIC_DisableIRQ(GYRO_INT_EXTI_IRQn);
-      break;
-    default:
-      return BSP_ERR;
-  }
-  return BSP_OK;
-}
-
-int8_t BSP_GPIO_WritePin(BSP_GPIO_t gpio, bool value){
-  if (gpio >= BSP_GPIO_NUM) return BSP_ERR;
-  HAL_GPIO_WritePin(GPIO_Map[gpio].gpio, GPIO_Map[gpio].pin, value);
-  return BSP_OK;
-}
-
-int8_t BSP_GPIO_TogglePin(BSP_GPIO_t gpio){
-  if (gpio >= BSP_GPIO_NUM) return BSP_ERR;
-  HAL_GPIO_TogglePin(GPIO_Map[gpio].gpio, GPIO_Map[gpio].pin);
-  return BSP_OK;
-}
-
-bool BSP_GPIO_ReadPin(BSP_GPIO_t gpio){
-  if (gpio >= BSP_GPIO_NUM) return false;
-  return HAL_GPIO_ReadPin(GPIO_Map[gpio].gpio, GPIO_Map[gpio].pin) == GPIO_PIN_SET;
-}

gpio.h

@@ -1,40 +0,0 @@
-#pragma once
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* Includes ----------------------------------------------------------------- */
-#include <stdint.h>
-#include <stdbool.h>
-
-#include "bsp/bsp.h"
-
-/* Exported constants ------------------------------------------------------- */
-/* Exported macro ----------------------------------------------------------- */
-/* Exported types ----------------------------------------------------------- */
-typedef enum {
-  BSP_GPIO_IMU_ACCL_CS,
-  BSP_GPIO_IMU_GYRO_CS,
-  BSP_GPIO_IMU_ACCL_INT,
-  BSP_GPIO_IMU_GYRO_INT,
-  BSP_GPIO_USER_KEY,
-  BSP_GPIO_NUM,
-  BSP_GPIO_ERR,
-} BSP_GPIO_t;
-
-/* Exported functions prototypes -------------------------------------------- */
-int8_t BSP_GPIO_RegisterCallback(uint16_t pin, void (*callback)(void));
-
-int8_t BSP_GPIO_EnableIRQ(BSP_GPIO_t gpio);
-int8_t BSP_GPIO_DisableIRQ(BSP_GPIO_t gpio);
-
-
-int8_t BSP_GPIO_WritePin(BSP_GPIO_t gpio, bool value);
-int8_t BSP_GPIO_TogglePin(BSP_GPIO_t gpio);
-
-bool BSP_GPIO_ReadPin(BSP_GPIO_t gpio);
-
-#ifdef __cplusplus
-}
-#endif

test.py

@@ -1,17 +0,0 @@
-from PyQt5.QtWidgets import QWidget, QVBoxLayout, QHBoxLayout, QStackedLayout, QFileDialog, QHeaderView
-from qfluentwidgets import TitleLabel, BodyLabel, SubtitleLabel, StrongBodyLabel, HorizontalSeparator, PushButton, TreeWidget, InfoBar, FluentIcon, Dialog, FlowLayout, FluentWindow, MSFluentWindow, SplitFluentWindow
-
-class Demo(SplitFluentWindow):
-
-    def __init__(self):
-        super().__init__()
-        layout = FlowLayout(self, needAni=True)  # 启用动画
-        self.resize(250, 300)
-
-if __name__ == "__main__":
-    from PyQt5.QtWidgets import QApplication
-    import sys
-    app = QApplication(sys.argv)
-    w = Demo()
-    w.show()
-    sys.exit(app.exec_())