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修复了陀螺仪，也修复了gpio和spi

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This commit is contained in:
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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3
.vscode/settings.json vendored
View File

@ -8,6 +8,7 @@
"string_view": "c",
"vector": "c",
"can.h": "c",
"device.h": "c"
"device.h": "c",
"gpio.h": "c"
}
}

6
assets/User_code/bsp/gpio.c
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@ -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;;
}
}

19
assets/User_code/device/bmi088.c
View File

@ -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;