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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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19
assets/User_code/device/bmi088.c
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@@ -103,7 +103,7 @@ static void BMI_WriteSingle(BMI_Device_t dv, uint8_t reg, uint8_t data) {
break;
}
HAL_SPI_Transmit(BSP_SPI_GetHandle(BSP_SPI_BMI088), buffer, 2u, 20u);
BSP_SPI_Transmit(BSP_SPI_BMI088, buffer, 2u, false);
switch (dv) {
case BMI_ACCL:
@@ -128,8 +128,8 @@ static uint8_t BMI_ReadSingle(BMI_Device_t dv, uint8_t reg) {
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);
BSP_SPI_Transmit(BSP_SPI_BMI088, buffer, 1u, false);
BSP_SPI_Receive(BSP_SPI_BMI088, buffer, 2u, false);
switch (dv) {
case BMI_ACCL:
@@ -155,16 +155,16 @@ static void BMI_Read(BMI_Device_t dv, uint8_t reg, uint8_t *data, uint8_t len) {
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);
BSP_SPI_Transmit(BSP_SPI_BMI088, buffer, 1u, false);
BSP_SPI_Receive(BSP_SPI_BMI088, data, len, true);
}
static void BMI088_RxCpltCallback(void) {
if (HAL_GPIO_ReadPin(ACCL_CS_GPIO_Port, ACCL_CS_Pin) == GPIO_PIN_RESET) {
if (BSP_GPIO_ReadPin(BSP_GPIO_ACCL_CS) == 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) {
if (BSP_GPIO_ReadPin(BSP_GPIO_GYRO_CS) == GPIO_PIN_RESET) {
BMI088_GYRO_NSS_SET();
osThreadFlagsSet(thread_alert, SIGNAL_BMI088_GYRO_RAW_REDY);
}
@@ -205,10 +205,9 @@ int8_t BMI088_Init(BMI088_t *bmi088, const BMI088_Cali_t *cali) {
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. */
@@ -248,8 +247,6 @@ int8_t BMI088_Init(BMI088_t *bmi088, const BMI088_Cali_t *cali) {
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;