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修复了陀螺仪，也修复了gpio和spi

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Robofish
2025-08-08 00:50:49 +08:00
parent 43749e0391
commit 71c2e83a7a
5 changed files with 24 additions and 20 deletions
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6
assets/User_code/bsp/gpio.c
View File

@@ -31,9 +31,13 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
}
/* Exported functions ------------------------------------------------------- */
int8_t BSP_GPIO_RegisterCallback(uint16_t pin, void (*callback)(void)) {
int8_t BSP_GPIO_RegisterCallback(BSP_GPIO_t gpio, void (*callback)(void)) {
if (callback == NULL) return BSP_ERR_NULL;
if (gpio >= BSP_GPIO_NUM) return BSP_ERR;
// 从GPIO映射中获取对应的pin值
uint16_t pin = GPIO_Map[gpio].pin;
for (uint8_t i = 0; i < 16; i++) {
if (pin & (1 << i)) {
GPIO_Callback[i] = callback;

2
assets/User_code/bsp/gpio.h
View File

@@ -20,7 +20,7 @@ typedef enum {
} BSP_GPIO_t;
/* Exported functions prototypes -------------------------------------------- */
int8_t BSP_GPIO_RegisterCallback(uint16_t pin, void (*callback)(void));
int8_t BSP_GPIO_RegisterCallback(BSP_GPIO_t gpio, void (*callback)(void));
int8_t BSP_GPIO_EnableIRQ(BSP_GPIO_t gpio);
int8_t BSP_GPIO_DisableIRQ(BSP_GPIO_t gpio);

14
assets/User_code/bsp/spi.c
View File

@@ -1,6 +1,6 @@
/* Includes ----------------------------------------------------------------- */
#include <spi.h>
#include "bsp\spi.h"
#include "bsp/spi.h"
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
@@ -10,7 +10,8 @@ static void (*SPI_Callback[BSP_SPI_NUM][BSP_SPI_CB_NUM])(void);
/* Private function -------------------------------------------------------- */
static BSP_SPI_t SPI_Get(SPI_HandleTypeDef *hspi) {
/* AUTO GENERATED SPI_GET */
if (hspi->Instance == SPI1)
return BSP_SPI_BMI088;
else
return BSP_SPI_ERR;
}
@@ -83,7 +84,8 @@ void HAL_SPI_AbortCpltCallback(SPI_HandleTypeDef *hspi) {
/* Exported functions ------------------------------------------------------- */
SPI_HandleTypeDef *BSP_SPI_GetHandle(BSP_SPI_t spi) {
switch (spi) {
/* AUTO GENERATED BSP_SPI_GET_HANDLE */
case BSP_SPI_BMI088:
return &hspi1;
default:
return NULL;
}
@@ -104,7 +106,7 @@ int8_t BSP_SPI_Transmit(BSP_SPI_t spi, uint8_t *data, uint16_t size, bool dma) {
if (dma) {
return HAL_SPI_Transmit_DMA(hspi, data, size)!= HAL_OK;;
} else {
return HAL_SPI_Transmit_IT(hspi, data, size)!= HAL_OK;;
return HAL_SPI_Transmit(hspi, data, size, 20)!= HAL_OK;;
}
}
@@ -116,7 +118,7 @@ int8_t BSP_SPI_Receive(BSP_SPI_t spi, uint8_t *data, uint16_t size, bool dma) {
if (dma) {
return HAL_SPI_Receive_DMA(hspi, data, size)!= HAL_OK;;
} else {
return HAL_SPI_Receive_IT(hspi, data, size)!= HAL_OK;;
return HAL_SPI_Receive(hspi, data, size, 20)!= HAL_OK;;
}
}
@@ -129,7 +131,7 @@ int8_t BSP_SPI_TransmitReceive(BSP_SPI_t spi, uint8_t *txData, uint8_t *rxData,
if (dma) {
return HAL_SPI_TransmitReceive_DMA(hspi, txData, rxData, size)!= HAL_OK;;
} else {
return HAL_SPI_TransmitReceive_IT(hspi, txData, rxData, size)!= HAL_OK;;
return HAL_SPI_TransmitReceive(hspi, txData, rxData, size, 20)!= HAL_OK;;
}
}