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有分类功能了

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# 财务管理模块 - 分类功能使用指南
## 功能概览
财务模块现已支持完整的分类功能，用户可以：
1. **新建分类** - 在做账标签页左侧点击"新建分类"按钮
2. **选择分类** - 在创建/编辑交易时选择或输入分类
3. **按分类查询** - 在查询标签页通过分类进行筛选
## 功能详细说明
### 1. 新建分类
**操作步骤：**
1. 打开财务模块，进入"做账"标签页
2. 点击左上方"新建分类"按钮
3. 在弹出对话框中输入分类名称（如"工作支出"、"投资收益"等）
4. 点击"创建"按钮
**注意：**
- 系统默认提供10个基础分类：其他、工资、奖金、投资、生活、交通、饮食、娱乐、医疗、教育
- 无法删除默认分类，但可以添加自定义分类
- 同一账户不能有重复的分类名称
### 2. 创建/编辑交易记录
**创建新交易：**
1. 点击"新建记录"按钮
2. 填写交易信息：
- **交易类型**：选择"入账"或"支出"
- **分类**：从下拉框中选择或确认分类
- **日期**：选择交易日期
- **金额**：输入交易金额（正数）
- **交易人**：输入交易对方名称
- **备注**：添加备注说明（可选）
- **相关文件**：上传发票、支付记录、购买记录等（可选）
3. 点击"保存"按钮
**编辑现有交易：**
1. 在记录表中选择要编辑的交易
2. 点击"编辑"按钮
3. 修改任意字段（包括分类）
4. 点击"保存"按钮
### 3. 按分类查询
**操作步骤：**
1. 进入"查询"标签页
2. 设置查询条件：
- **日期范围**：选择起始和结束日期
- **交易类型**：选择"全部"、"收入(正数)"或"支出(负数)"
- **分类**：从下拉框选择要查询的分类（"全部"表示不按分类筛选）
- **金额范围**：输入最小和最大金额范围
- **交易人**：输入交易人名称（支持模糊匹配）
3. 点击"查询"按钮
**查询结果显示：**
- 表格列包括：日期、交易人、**分类**、金额、备注
- 结果按日期倒序排列（最新的在上）
## 数据持久化
所有分类信息被保存到：
```
assets/Finance_Data/accounts/{account_id}/metadata.json
```
交易记录（包括分类）被保存到：
```
assets/Finance_Data/accounts/{account_id}/{transaction_id}/data.json
```
## 导出与导入
### 导出为CSV
- 打开"导出"标签页
- 点击"导出CSV"按钮
- 选择保存位置
- CSV文件将包含：日期、金额、交易人、**分类**、备注、创建时间
### 导出/导入账户
- 支持完整的账户数据迁移（包括所有分类和交易记录）
- 导出为ZIP包后可在其他地方导入
## API 接口
如果需要在代码中直接使用分类功能：
```python
from app.tools.finance_manager import FinanceManager
fm = FinanceManager()
# 添加分类
fm.add_category(account_id, "新分类名称")
# 删除自定义分类
fm.delete_category(account_id, "分类名称")
# 获取所有分类
categories = fm.get_categories(account_id)
# 按分类查询交易
results = fm.query_transactions(
account_id,
category="工资" # 指定分类
)
```
## 常见问题
**Q: 为什么我新建的分类不显示在"新建记录"对话框中？**
A: 确保已点击"创建"按钮完成分类创建，然后再打开新建记录对话框。系统会自动从账户中读取最新的分类列表。
**Q: 能否修改分类名称？**
A: 目前不支持修改分类名称。建议先新建一个新分类，然后为已有交易重新分配分类。
**Q: 删除交易记录后，其分类会被删除吗？**
A: 不会。分类是账户级别的属性，删除交易不会影响分类列表。
**Q: 如何导入包含分类的交易数据？**
A: 使用"导出"标签页的"导入账户"功能，选择之前导出的ZIP包即可恢复所有分类和交易记录。

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# 财务模块分类功能 - 实现总结
## 已完成的功能
### 1. 数据模型扩展
**Transaction 类**
- 添加了 `category` 字段（默认值为"其他"）
- 更新了 `to_dict()` 和 `from_dict()` 方法以支持分类序列化
**Account 类**
- 添加了 `categories` 列表（包含10个默认分类）
- 更新了 `to_dict()` 和 `from_dict()` 方法以支持分类列表序列化
### 2. FinanceManager 新增方法
```python
# 分类管理方法
add_category(account_id, category) # 添加新分类
delete_category(account_id, category) # 删除自定义分类
get_categories(account_id) # 获取所有分类
# 查询方法扩展
query_transactions(..., category=None) # 支持按分类查询
```
### 3. UI 界面更新
**做账标签页（Bookkeeping Tab）**
- 左上方添加"新建分类"按钮
- 记录表新增"分类"列（第3列）
- 表格列顺序：日期、交易人、**分类**、金额、备注
**新建/编辑交易对话框**
- 在"交易类型"下方添加"分类"下拉框
- 支持从账户的分类列表中选择
- 编辑时自动加载原交易的分类
**查询标签页（Query Tab）**
- 新增"分类"下拉框筛选条件
- 查询结果表新增"分类"列
- 支持按分类进行精确查询
- 查询前自动更新分类下拉框以显示最新的账户分类
### 4. 分类创建功能
- 点击"新建分类"打开对话框
- 输入分类名称后创建
- 新分类立即保存到账户元数据中
- 创建后对话框自动关闭
### 5. 数据持久化
所有分类信息被保存在账户元数据中：
```
assets/Finance_Data/accounts/{account_id}/metadata.json
```
包含内容：
- 账户基本信息（ID、名称、描述）
- 所有分类列表
- 创建和更新时间戳
### 6. CSV 导出更新
导出的 CSV 文件现在包含"分类"列：
- 日期、金额、交易人、**分类**、备注、创建时间
### 7. 技术改进
- 修改了 `CreateTransactionDialog` 的初始化方式，支持传入现有的 `FinanceManager` 实例
- 确保分类列表始终与最新的账户数据同步
- 在 `create_new_record()` 和 `edit_record()` 中传入 `finance_manager` 参数
## 文件修改清单
### 修改的文件
1. `/Users/lvzucheng/Documents/R/MRobot/app/tools/finance_manager.py`
- Transaction 类：添加 category 字段
- Account 类：添加 categories 列表
- FinanceManager 类：新增分类管理方法、更新查询和导出方法
2. `/Users/lvzucheng/Documents/R/MRobot/app/finance_interface.py`
- CreateTransactionDialog：添加分类选择
- FinanceInterface：新增分类创建UI、更新表格显示、更新查询功能
### 新建的文件
1. `/Users/lvzucheng/Documents/R/MRobot/test_category.py` - 单元测试（已验证通过）
2. `/Users/lvzucheng/Documents/R/MRobot/CATEGORY_GUIDE.md` - 使用指南
## 功能验证
✅ 数据模型测试通过
✅ 分类创建功能正常
✅ 交易记录分类存储正确
✅ 按分类查询功能正常
✅ CSV 导出包含分类信息
✅ 账户导入导出保留分类信息
## 使用示例
### 创建新分类
1. 点击做账标签页的"新建分类"按钮
2. 输入分类名称（如"房租"）
3. 点击"创建"
### 创建分类交易
1. 点击"新建记录"
2. 选择分类（如"生活"）
3. 填写其他信息并保存
### 按分类查询
1. 进入查询标签页
2. 从"分类"下拉框选择要查询的分类
3. 点击"查询"
## 默认分类列表
系统为每个新账户预设以下分类：
- 其他
- 工资
- 奖金
- 投资
- 生活
- 交通
- 饮食
- 娱乐
- 医疗
- 教育
用户可以根据需要添加自定义分类。
## 技术架构
```
财务管理系统架构
├── FinanceManager（数据层）
│ ├── 分类管理：add_category, delete_category, get_categories
│ ├── 交易查询：query_transactions(category=None)
│ └── 数据持久化
│
├── CreateTransactionDialog（UI层 - 交易编辑）
│ ├── 分类选择下拉框
│ └── 支持创建和编辑时选择分类
│
├── FinanceInterface（UI层 - 主界面）
│ ├── 新建分类功能
│ ├── 做账标签页（显示分类列）
│ └── 查询标签页（按分类筛选）
│
└── 数据存储
├── 账户元数据：metadata.json（包含分类列表）
└── 交易记录：transaction/data.json（包含分类字段）
```
## 后续可能的改进
- [ ] 支持修改分类名称
- [ ] 支持删除已使用的分类（需要迁移交易记录）
- [ ] 为分类配置颜色标签
- [ ] 按分类生成统计报表
- [ ] 分类快速切换功能
- [ ] 分类使用频率排序

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# 财务模块分类功能改进总结
## 已完成的功能
### 1. 删除默认分类
- ✅ 移除了硬编码的默认分类列表（"其他", "工资", "奖金", "投资", "生活", "交通", "饮食", "娱乐", "医疗", "教育"）
- ✅ 新建账户时，分类列表为空
- ✅ 用户需要手动创建所需的分类
### 2. 自动创建Admin账户
- ✅ FinanceManager初始化时，如果没有任何账户，自动创建名为"admin"的默认账户
- ✅ 如果admin账户已存在，则直接使用
- ✅ FinanceInterface初始化时，优先选择admin账户
### 3. 分类管理功能
- ✅ 在做账页面左侧添加"新建分类"按钮
- ✅ 用户可以通过对话框输入新分类名称
- ✅ 用户可以删除自定义分类
- ✅ 所有分类操作都会持久化保存
### 4. 交易记录与分类关联
- ✅ 创建交易时必须选择分类
- ✅ 如果没有分类，则禁用分类下拉框并提示"请先在做账页创建分类"
- ✅ 交易记录显示分类信息
- ✅ 支持按分类查询交易
- ✅ CSV导出包含分类列
## 数据结构变化
### Transaction类
```python
class Transaction:
# ...其他字段...
category: str = "" # 默认为空字符串，用户自定义
```
### Account类
```python
class Account:
# ...其他字段...
categories: List[str] = [] # 默认为空列表，用户自定义分类
```
## UI改进
### 做账页面
1. **记录表格**：新增"分类"列显示交易分类
2. **操作按钮**：在"新建记录"按钮左侧添加"新建分类"按钮
3. **新建分类对话框**：输入分类名称并创建
### 新建/编辑交易对话框
1. **分类选择框**：
- 如果有分类，显示所有可用分类
- 如果没有分类，禁用并显示提示信息
2. **验证**：保存前检查是否选择了有效分类
### 查询页面
1. **分类过滤**：新增"分类"过滤条件
2. **结果表格**：显示交易的分类信息
## 使用流程
### 首次使用
1. 应用启动时自动创建"admin"账户（无默认分类）
2. 在做账页面点击"新建分类"按钮
3. 输入所需的分类名称（如"工资"、"房租"等）
4. 点击"创建"按钮
5. 现在可以创建交易记录并选择相应分类
### 后续使用
1. 在做账页面点击"新建分类"添加新分类
2. 在"新建记录"对话框中选择分类
3. 在查询页面可以按分类过滤交易
## 文件修改
### app/tools/finance_manager.py
- ✅ 修改Transaction.__init__：category默认值改为""
- ✅ 修改Account.__init__：categories默认值改为[]
- ✅ 修改FinanceManager.__init__：自动创建admin账户
- ✅ 修改load_all_accounts()：从元数据加载分类
- ✅ 修改delete_category()：允许删除任何分类
- ✅ 修改query_transactions()：支持按分类查询
- ✅ 修改export_to_csv()：包含分类列
### app/finance_interface.py
- ✅ 修改CreateTransactionDialog.init_ui()：分类下拉框显示提示
- ✅ 修改CreateTransactionDialog.save_transaction()：验证分类
- ✅ 修改CreateTransactionDialog.load_transaction_data()：加载分类
- ✅ 修改create_bookkeeping_tab()：添加"新建分类"按钮
- ✅ 修改记录表格列：添加分类列
- ✅ 修改create_query_tab()：添加分类过滤
- ✅ 修改perform_query()：支持分类查询
- ✅ 新增on_create_category_clicked()：处理新建分类
## 测试覆盖
- ✅ test_admin_account.py：验证admin账户自动创建
- ✅ test_no_default_categories.py：验证删除默认分类和分类管理功能
## 向后兼容性
- ✅ 现有账户数据可以正常加载
- ✅ 分类为空的旧交易可以继续显示
- ✅ CSV导出保持兼容

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@ -26,11 +26,11 @@ from .tools.finance_manager import FinanceManager, TransactionType, Transaction,
class CreateTransactionDialog(QDialog):
"""创建/编辑交易记录对话框"""
def __init__(self, parent=None, transaction: Optional[Transaction] = None, account_id: Optional[str] = None):
def __init__(self, parent=None, transaction: Optional[Transaction] = None, account_id: Optional[str] = None, finance_manager=None):
super().__init__(parent)
self.transaction = transaction
self.account_id = account_id
self.finance_manager = FinanceManager()
self.finance_manager = finance_manager if finance_manager else FinanceManager()
self.setWindowTitle("新建交易记录" if not transaction else "编辑交易记录")
self.setGeometry(100, 100, 600, 500)
@ -59,6 +59,32 @@ class CreateTransactionDialog(QDialog):
type_layout.addStretch()
layout.addLayout(type_layout)
# 分类
category_layout = QHBoxLayout()
category_layout.addWidget(BodyLabel("分类:"))
self.category_combo = ComboBox()
# 从财务管理器获取分类列表
categories = []
if self.account_id:
# 确保账户数据已加载
account = self.finance_manager.get_account(self.account_id)
if account:
categories = account.categories
# 如果没有分类，提示用户创建
if not categories:
self.category_combo.addItem("请先在做账页创建分类")
self.category_combo.setEnabled(False)
else:
for cat in categories:
self.category_combo.addItem(cat)
self.category_combo.setEnabled(True)
self.category_combo.setMaximumWidth(200)
category_layout.addWidget(self.category_combo)
category_layout.addStretch()
layout.addLayout(category_layout)
# 日期
date_layout = QHBoxLayout()
date_layout.addWidget(BodyLabel("日期:"))
@ -176,6 +202,13 @@ class CreateTransactionDialog(QDialog):
else:
self.transaction_type_combo.setCurrentIndex(1) # 支出
# 设置分类
category_index = self.category_combo.findText(transaction.category)
if category_index >= 0:
self.category_combo.setCurrentIndex(category_index)
else:
self.category_combo.setCurrentIndex(0) # 默认为第一个
self.date_edit.setDate(QDate.fromString(transaction.date, "yyyy-MM-dd"))
# 显示绝对值
self.amount_spin.setValue(abs(transaction.amount))
@ -206,6 +239,19 @@ class CreateTransactionDialog(QDialog):
amount = self.amount_spin.value()
trader = self.trader_edit.text().strip()
notes = self.notes_edit.toPlainText().strip()
category = self.category_combo.currentText()
# 检查分类是否有效
if not category or category == "请先在做账页创建分类":
dialog = Dialog(
title="验证错误",
content="请先创建分类后再添加交易",
parent=self
)
dialog.yesButton.setText("确定")
dialog.cancelButton.hide()
dialog.exec()
return
if not trader:
dialog = Dialog(
@ -239,13 +285,13 @@ class CreateTransactionDialog(QDialog):
self.finance_manager.update_transaction(
self.account_id, trans_id,
date=date_str, amount=final_amount,
trader=trader, notes=notes
trader=trader, notes=notes, category=category
)
else:
# 创建新交易记录
transaction = Transaction(
date=date_str, amount=final_amount,
trader=trader, notes=notes
trader=trader, notes=notes, category=category
)
self.finance_manager.add_transaction(self.account_id, transaction)
trans_id = transaction.id
@ -455,6 +501,13 @@ class FinanceInterface(QWidget):
# 标题和操作按钮
title_layout = QHBoxLayout()
title_layout.addWidget(SubtitleLabel("交易记录"))
# 新建分类按钮
new_category_btn = PushButton("新建分类")
new_category_btn.setFixedWidth(90)
new_category_btn.clicked.connect(self.on_create_category_clicked)
title_layout.addWidget(new_category_btn)
title_layout.addStretch()
new_record_btn = PrimaryPushButton("新建记录")
@ -465,7 +518,7 @@ class FinanceInterface(QWidget):
# 记录表格 - 使用 TreeWidget 风格
self.records_table = TreeWidget()
self.records_table.setHeaderLabels(["日期", "交易人", "金额 (元)", "备注"])
self.records_table.setHeaderLabels(["日期", "交易人", "分类", "金额 (元)", "备注"])
self.records_table.setSelectionMode(self.records_table.SingleSelection)
self.records_table.setIndentation(0)
@ -477,7 +530,8 @@ class FinanceInterface(QWidget):
header.setSectionResizeMode(0, QHeaderView.ResizeToContents)
header.setSectionResizeMode(1, QHeaderView.ResizeToContents)
header.setSectionResizeMode(2, QHeaderView.ResizeToContents)
header.setSectionResizeMode(3, QHeaderView.Stretch)
header.setSectionResizeMode(3, QHeaderView.ResizeToContents)
header.setSectionResizeMode(4, QHeaderView.Stretch)
# 启用列宽可拖动
header.setSectionsMovable(False)
header.setStretchLastSection(False)
@ -545,7 +599,7 @@ class FinanceInterface(QWidget):
filter_card = CardWidget()
filter_layout = QVBoxLayout(filter_card)
filter_layout.setContentsMargins(20, 15, 20, 15)
filter_layout.setSpacing(12)
filter_layout.setSpacing(15) # 增加间距为15
# 第一行：日期范围
date_layout = QHBoxLayout()
@ -559,29 +613,44 @@ class FinanceInterface(QWidget):
date_layout.addWidget(self.query_date_end, 1)
filter_layout.addLayout(date_layout)
# 第二行：交易类型和金额范围
type_amount_layout = QHBoxLayout()
type_amount_layout.addWidget(BodyLabel("交易类型:"))
# 第二行：交易类型和分类
type_category_layout = QHBoxLayout()
type_category_layout.addWidget(BodyLabel("交易类型:"))
self.query_transaction_type = ComboBox()
self.query_transaction_type.addItem("全部")
self.query_transaction_type.addItem("收入 (正数)")
self.query_transaction_type.addItem("支出 (负数)")
type_amount_layout.addWidget(self.query_transaction_type, 1)
type_category_layout.addWidget(self.query_transaction_type, 1)
type_amount_layout.addWidget(BodyLabel("金额范围:"))
type_category_layout.addWidget(BodyLabel("分类:"))
self.query_category = ComboBox()
self.query_category.addItem("全部")
# 初始化时加载现有分类
account_id = self.get_current_account_id()
if account_id:
account = self.finance_manager.get_account(account_id)
if account:
for cat in account.categories:
self.query_category.addItem(cat)
type_category_layout.addWidget(self.query_category, 1)
filter_layout.addLayout(type_category_layout)
# 第三行：金额范围
amount_layout = QHBoxLayout()
amount_layout.addWidget(BodyLabel("金额范围:"))
self.query_amount_min = DoubleSpinBox()
self.query_amount_min.setRange(0, 999999999)
self.query_amount_min.setRange(0, 999999)
self.query_amount_min.setPrefix("¥ ")
type_amount_layout.addWidget(self.query_amount_min, 1)
type_amount_layout.addWidget(BodyLabel("至"))
amount_layout.addWidget(self.query_amount_min, 1)
amount_layout.addWidget(BodyLabel("至"))
self.query_amount_max = DoubleSpinBox()
self.query_amount_max.setRange(0, 999999999)
self.query_amount_max.setValue(999999999)
self.query_amount_max.setRange(0, 999999)
self.query_amount_max.setValue(999999)
self.query_amount_max.setPrefix("¥ ")
type_amount_layout.addWidget(self.query_amount_max, 1)
filter_layout.addLayout(type_amount_layout)
amount_layout.addWidget(self.query_amount_max, 1)
filter_layout.addLayout(amount_layout)
# 第三行：交易人搜索和查询按钮
# 第四行：交易人搜索和查询按钮
trader_layout = QHBoxLayout()
trader_layout.addWidget(BodyLabel("交易人:"))
self.query_trader_edit = SearchLineEdit()
@ -598,7 +667,7 @@ class FinanceInterface(QWidget):
# 查询结果表格 - 使用 TreeWidget 风格
self.query_result_table = TreeWidget()
self.query_result_table.setHeaderLabels(["日期", "交易人", "金额 (元)", "备注"])
self.query_result_table.setHeaderLabels(["日期", "交易人", "分类", "金额 (元)", "备注"])
self.query_result_table.setSelectionMode(self.query_result_table.SingleSelection)
self.query_result_table.setIndentation(0)
@ -610,7 +679,8 @@ class FinanceInterface(QWidget):
header.setSectionResizeMode(0, QHeaderView.ResizeToContents)
header.setSectionResizeMode(1, QHeaderView.ResizeToContents)
header.setSectionResizeMode(2, QHeaderView.ResizeToContents)
header.setSectionResizeMode(3, QHeaderView.Stretch)
header.setSectionResizeMode(3, QHeaderView.ResizeToContents)
header.setSectionResizeMode(4, QHeaderView.Stretch)
# 启用列宽可拖动
header.setSectionsMovable(False)
header.setStretchLastSection(False)
@ -701,14 +771,31 @@ class FinanceInterface(QWidget):
return widget
def init_default_account(self):
"""初始化默认账户"""
"""初始化默认账户为 'admin'"""
accounts = self.finance_manager.get_all_accounts()
if accounts:
# 查找 admin 账户（通常应该存在，因为 FinanceManager 会自动创建）
admin_account = None
for account in accounts:
if account.name == "admin":
admin_account = account
break
# 设置为当前账户
if admin_account:
self.default_account_id = admin_account.id
elif accounts:
# 备用方案：如果找不到 admin，使用第一个账户
self.default_account_id = accounts[0].id
self.refresh_records_display()
else:
self.default_account_id = None
self.clear_records_table()
# 如果没有任何账户（不应该发生），创建 admin
admin_account = self.finance_manager.create_account(
account_name="admin",
description="默认管理账户"
)
self.default_account_id = admin_account.id
self.refresh_records_display()
def refresh_account_list(self):
"""刷新账户列表（已移除，保留兼容性）"""
@ -748,8 +835,9 @@ class FinanceInterface(QWidget):
item = QTreeWidgetItem()
item.setText(0, transaction.date)
item.setText(1, transaction.trader)
item.setText(2, f"¥ {transaction.amount:.2f}")
item.setText(3, transaction.notes or "")
item.setText(2, transaction.category)
item.setText(3, f"¥ {transaction.amount:.2f}")
item.setText(4, transaction.notes or "")
# 存储交易ID到第一列的 UserRole (Qt.UserRole = 32)
item.setData(0, 32, transaction.id)
@ -788,7 +876,7 @@ class FinanceInterface(QWidget):
)
return
dialog = CreateTransactionDialog(self, account_id=account_id)
dialog = CreateTransactionDialog(self, account_id=account_id, finance_manager=self.finance_manager)
result = dialog.exec_()
# 无论是否成功，都尝试刷新表格
if result == QDialog.Accepted:
@ -816,7 +904,7 @@ class FinanceInterface(QWidget):
if not transaction:
return
dialog = CreateTransactionDialog(self, transaction=transaction, account_id=account_id)
dialog = CreateTransactionDialog(self, transaction=transaction, account_id=account_id, finance_manager=self.finance_manager)
result = dialog.exec_()
if result == QDialog.Accepted:
self.refresh_records_display()
@ -890,17 +978,42 @@ class FinanceInterface(QWidget):
# 重新加载最新数据
self.finance_manager.load_all_accounts()
# 更新分类下拉框（如果分类列表发生变化）
account = self.finance_manager.get_account(account_id)
if account:
# 检查分类是否已经存在于下拉框中
current_count = self.query_category.count()
expected_count = len(account.categories) + 1 # +1 是因为有"全部"选项
# 只有在分类数量变化时才重新加载
if current_count != expected_count:
current_category = self.query_category.currentText()
self.query_category.clear()
self.query_category.addItem("全部")
for cat in account.categories:
self.query_category.addItem(cat)
# 尽量恢复之前的选择
index = self.query_category.findText(current_category)
if index >= 0:
self.query_category.setCurrentIndex(index)
else:
self.query_category.setCurrentIndex(0) # 默认选择"全部"
date_start = self.query_date_start.date().toString("yyyy-MM-dd")
date_end = self.query_date_end.date().toString("yyyy-MM-dd")
amount_min = self.query_amount_min.value() if self.query_amount_min.value() > 0 else None
amount_max = self.query_amount_max.value() if self.query_amount_max.value() < 999999999 else None
trader = self.query_trader_edit.text().strip() or None
# 分类查询 - 获取当前选择的分类
category_text = self.query_category.currentText()
category = None if category_text == "全部" else category_text
results = self.finance_manager.query_transactions(
account_id,
date_start=date_start, date_end=date_end,
amount_min=amount_min, amount_max=amount_max,
trader=trader
trader=trader, category=category
)
# 根据交易类型过滤
@ -918,8 +1031,9 @@ class FinanceInterface(QWidget):
item = QTreeWidgetItem()
item.setText(0, transaction.date)
item.setText(1, transaction.trader)
item.setText(2, f"¥ {transaction.amount:.2f}")
item.setText(3, transaction.notes or "")
item.setText(2, transaction.category)
item.setText(3, f"¥ {transaction.amount:.2f}")
item.setText(4, transaction.notes or "")
# 存储交易ID
item.setData(0, 32, transaction.id)
@ -1109,3 +1223,86 @@ class FinanceInterface(QWidget):
trans_id = current_item.data(0, 32) # Qt.UserRole = 32
if trans_id:
self.view_record(trans_id)
def on_create_category_clicked(self):
"""新建分类按钮点击"""
account_id = self.get_current_account_id()
if not account_id:
InfoBar.warning(
title="提示",
content="请先创建或选择一个账户",
isClosable=True,
position=InfoBarPosition.TOP,
duration=3000,
parent=self
)
return
# 创建自定义对话框
from PyQt5.QtWidgets import QDialog as QStdDialog, QLabel
category_dialog = QStdDialog(self)
category_dialog.setWindowTitle("新建分类")
category_dialog.setGeometry(100, 100, 400, 150)
layout = QVBoxLayout(category_dialog)
layout.addWidget(BodyLabel("分类名称:"))
input_edit = LineEdit()
input_edit.setPlaceholderText("例如：食品、交通、娱乐等")
layout.addWidget(input_edit)
# 按钮
btn_layout = QHBoxLayout()
btn_layout.addStretch()
def on_create():
category_name = input_edit.text().strip()
if not category_name:
InfoBar.warning(
title="提示",
content="分类名称不能为空",
isClosable=True,
position=InfoBarPosition.TOP,
duration=2000,
parent=self
)
return
if self.finance_manager.add_category(account_id, category_name):
InfoBar.success(
title="成功",
content=f"分类 '{category_name}' 创建成功",
isClosable=True,
position=InfoBarPosition.TOP,
duration=2000,
parent=self
)
# 更新查询页面的分类下拉框
if hasattr(self, 'query_category'):
# 检查是否已经存在
if self.query_category.findText(category_name) < 0:
self.query_category.addItem(category_name)
category_dialog.accept()
else:
InfoBar.warning(
title="提示",
content="分类已存在",
isClosable=True,
position=InfoBarPosition.TOP,
duration=2000,
parent=self
)
cancel_btn = PushButton("取消")
cancel_btn.clicked.connect(category_dialog.reject)
btn_layout.addWidget(cancel_btn)
create_btn = PrimaryPushButton("创建")
create_btn.clicked.connect(on_create)
btn_layout.addWidget(create_btn)
layout.addLayout(btn_layout)
category_dialog.exec()

65
app/tools/finance_manager.py
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@ -26,7 +26,8 @@ class Transaction:
def __init__(self, trans_id: Optional[str] = None, date: Optional[str] = None, amount: float = 0.0,
trader: str = "", notes: str = "", invoice_path: Optional[str] = None,
payment_path: Optional[str] = None, purchase_path: Optional[str] = None):
payment_path: Optional[str] = None, purchase_path: Optional[str] = None,
category: str = ""):
self.id = trans_id or str(uuid.uuid4())
self.date = date or datetime.now().strftime("%Y-%m-%d")
self.amount = amount
@ -35,6 +36,7 @@ class Transaction:
self.invoice_path = invoice_path # 相对路径
self.payment_path = payment_path
self.purchase_path = purchase_path
self.category = category # 交易分类，用户自定义
self.created_at = datetime.now().isoformat()
self.updated_at = datetime.now().isoformat()
@ -49,6 +51,7 @@ class Transaction:
'invoice_path': self.invoice_path,
'payment_path': self.payment_path,
'purchase_path': self.purchase_path,
'category': self.category,
'created_at': self.created_at,
'updated_at': self.updated_at
}
@ -64,7 +67,8 @@ class Transaction:
notes=data.get('notes', ''),
invoice_path=data.get('invoice_path'),
payment_path=data.get('payment_path'),
purchase_path=data.get('purchase_path')
purchase_path=data.get('purchase_path'),
category=data.get('category', '')
)
if 'created_at' in data:
trans.created_at = data['created_at']
@ -81,6 +85,7 @@ class Account:
self.name = account_name
self.description = description
self.transactions: List[Transaction] = []
self.categories: List[str] = [] # 空列表，用户自定义分类
self.created_at = datetime.now().isoformat()
self.updated_at = datetime.now().isoformat()
@ -111,6 +116,7 @@ class Account:
'id': self.id,
'name': self.name,
'description': self.description,
'categories': self.categories,
'transactions': [t.to_dict() for t in self.transactions],
'created_at': self.created_at,
'updated_at': self.updated_at
@ -124,6 +130,7 @@ class Account:
account_name=data.get('name', ''),
description=data.get('description', '')
)
account.categories = data.get('categories', []) # 使用存储的分类，如果没有则为空列表
account.transactions = [Transaction.from_dict(t) for t in data.get('transactions', [])]
if 'created_at' in data:
account.created_at = data['created_at']
@ -153,6 +160,13 @@ class FinanceManager:
self.accounts: Dict[str, Account] = {}
self.load_all_accounts()
# 如果没有账户，自动创建 admin 账户
if len(self.accounts) == 0:
self.create_account(
account_name="admin",
description="默认管理账户"
)
def _ensure_directory_structure(self) -> None:
"""确保目录结构完整"""
self.data_root.mkdir(parents=True, exist_ok=True)
@ -183,6 +197,7 @@ class FinanceManager:
'id': account.id,
'name': account.name,
'description': account.description,
'categories': account.categories,
'created_at': account.created_at,
'updated_at': account.updated_at
}
@ -325,7 +340,7 @@ class FinanceManager:
# 更新允许的字段
allowed_fields = ['date', 'amount', 'trader', 'notes', 'invoice_path',
'payment_path', 'purchase_path']
'payment_path', 'purchase_path', 'category']
for field, value in kwargs.items():
if field in allowed_fields:
setattr(transaction, field, value)
@ -343,7 +358,8 @@ class FinanceManager:
def query_transactions(self, account_id: str, date_start: Optional[str] = None,
date_end: Optional[str] = None, amount_min: Optional[float] = None,
amount_max: Optional[float] = None, trader: Optional[str] = None) -> List[Transaction]:
amount_max: Optional[float] = None, trader: Optional[str] = None,
category: Optional[str] = None) -> List[Transaction]:
"""查询交易记录（支持多条件筛选）"""
account = self.accounts.get(account_id)
if not account:
@ -367,6 +383,10 @@ class FinanceManager:
if trader and trader.lower() not in trans.trader.lower():
continue
# 分类筛选
if category and trans.category != category:
continue
results.append(trans)
# 按日期排序
@ -498,6 +518,7 @@ class FinanceManager:
account_name=metadata['name'],
description=metadata.get('description', '')
)
account.categories = metadata.get('categories', []) # 从元数据加载分类
account.created_at = metadata.get('created_at')
account.updated_at = metadata.get('updated_at')
@ -525,13 +546,14 @@ class FinanceManager:
import csv
with open(csv_path, 'w', newline='', encoding='utf-8-sig') as f:
writer = csv.writer(f)
writer.writerow(['日期', '金额', '交易人', '备注', '创建时间'])
writer.writerow(['日期', '金额', '交易人', '分类', '备注', '创建时间'])
for trans in account.transactions:
writer.writerow([
trans.date,
trans.amount,
trans.trader,
trans.category,
trans.notes,
trans.created_at
])
@ -540,3 +562,36 @@ class FinanceManager:
except Exception as e:
print(f"导出CSV出错: {e}")
return False
def add_category(self, account_id: str, category: str) -> bool:
"""添加交易分类"""
account = self.accounts.get(account_id)
if not account:
return False
if category not in account.categories:
account.categories.append(category)
account.updated_at = datetime.now().isoformat()
self._save_account_metadata(account)
return True
return False
def delete_category(self, account_id: str, category: str) -> bool:
"""删除交易分类"""
account = self.accounts.get(account_id)
if not account:
return False
if category in account.categories:
account.categories.remove(category)
account.updated_at = datetime.now().isoformat()
self._save_account_metadata(account)
return True
return False
def get_categories(self, account_id: str) -> List[str]:
"""获取账户的所有分类"""
account = self.accounts.get(account_id)
if not account:
return []
return account.categories

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12
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@ -1,12 +0,0 @@
{
"id": "0bfee564-fed1-4d4a-8663-af8aed3c07f7",
"date": "2024-11-25",
"amount": 100.0,
"trader": "测试商家",
"notes": "测试交易记录",
"invoice_path": "accounts/f78adb43-cf2c-49be-8e36-361908db6d68/0bfee564-fed1-4d4a-8663-af8aed3c07f7/invoice/截屏2025-11-25 02.51.10 (2).png",
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"purchase_path": null,
"created_at": "2025-11-25T16:31:43.919024",
"updated_at": "2025-11-25T16:46:26.419127"
}

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{
"id": "7e649206-9896-48e6-bd47-862e43bec7f9",
"date": "2025-11-25",
"amount": 123.45,
"trader": "测试商户",
"notes": "这是一个测试交易",
"invoice_path": null,
"payment_path": null,
"purchase_path": null,
"created_at": "2025-11-25T17:22:00.296189",
"updated_at": "2025-11-25T17:22:00.296190"
}

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@ -1,7 +0,0 @@
{
"id": "1c4b2c9f-1629-463d-b7a0-cbcff93c9942",
"name": "测试账户",
"description": "用于调试的测试账户",
"created_at": "2025-11-25T16:31:43.918835",
"updated_at": "2025-11-25T16:31:43.918836"
}

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@ -1,12 +0,0 @@
{
"id": "0446276a-731d-493d-b854-4f9a1c300f4d",
"date": "2025-11-25",
"amount": 2.0,
"trader": "22",
"notes": "",
"invoice_path": null,
"payment_path": null,
"purchase_path": null,
"created_at": "2025-11-25T19:00:09.322631",
"updated_at": "2025-11-25T19:00:09.322638"
}

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@ -1,12 +0,0 @@
{
"id": "05466ef1-a604-4146-ac88-d2531afdbbca",
"date": "2025-11-25",
"amount": 2.0,
"trader": "123",
"notes": "",
"invoice_path": null,
"payment_path": null,
"purchase_path": null,
"created_at": "2025-11-25T19:02:23.952756",
"updated_at": "2025-11-25T19:02:23.952761"
}

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@ -1,12 +0,0 @@
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"id": "073897b0-dd62-477b-9522-aa74bd79f3e7",
"date": "2025-11-25",
"amount": 20.0,
"trader": "吕祖成、",
"notes": "asd",
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"purchase_path": "accounts/578ac4f1-9e00-4ee4-97c5-749ef846efc9/073897b0-dd62-477b-9522-aa74bd79f3e7/purchase/截屏2025-11-21 16.36.54.png",
"created_at": "2025-11-25T19:27:03.518689",
"updated_at": "2025-11-25T19:27:03.522646"
}

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"trader": "jj",
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日期,金额,交易人,备注,创建时间
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2024-11-25,100.0,测试商家,测试交易记录,2025-11-25T16:31:43.919024
1 日期 金额 交易人 备注 创建时间
2 2025-11-25 123.45 测试商户 这是一个测试交易 2025-11-25T17:22:00.296189
3 2024-11-25 100.0 测试商家 测试交易记录 2025-11-25T16:31:43.919024

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#pragma once
#ifdef __cplusplus
extern "C" {
#endif
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
#define BSP_OK (0)
#define BSP_ERR (-1)
#define BSP_ERR_NULL (-2)
#define BSP_ERR_INITED (-3)
#define BSP_ERR_NO_DEV (-4)
#define BSP_ERR_TIMEOUT (-5)
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

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/* Includes ----------------------------------------------------------------- */
#include "bsp/can.h"
#include "bsp/bsp.h"
#include <can.h>
#include <cmsis_os2.h>
#include <string.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */
#define CAN_QUEUE_MUTEX_TIMEOUT 100 /* 队列互斥锁超时时间(ms) */
#define CAN_TX_MAILBOX_NUM 3 /* CAN发送邮箱数量 */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */
typedef struct BSP_CAN_QueueNode {
BSP_CAN_t can; /* CAN通道 */
uint32_t can_id; /* 解析后的CAN ID */
osMessageQueueId_t queue; /* 消息队列ID */
uint8_t queue_size; /* 队列大小 */
struct BSP_CAN_QueueNode *next; /* 指向下一个节点的指针 */
} BSP_CAN_QueueNode_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Private variables -------------------------------------------------------- */
static BSP_CAN_QueueNode_t *queue_list = NULL;
static osMutexId_t queue_mutex = NULL;
static void (*CAN_Callback[BSP_CAN_NUM][BSP_CAN_CB_NUM])(void);
static bool inited = false;
static BSP_CAN_IdParser_t id_parser = NULL; /* ID解析器 */
static BSP_CAN_TxQueue_t tx_queues[BSP_CAN_NUM]; /* 每个CAN的发送队列 */
/* Private function prototypes ---------------------------------------------- */
static BSP_CAN_t CAN_Get(CAN_HandleTypeDef *hcan);
static osMessageQueueId_t BSP_CAN_FindQueue(BSP_CAN_t can, uint32_t can_id);
static int8_t BSP_CAN_CreateIdQueue(BSP_CAN_t can, uint32_t can_id, uint8_t queue_size);
static void BSP_CAN_RxFifo0Callback(void);
static void BSP_CAN_RxFifo1Callback(void);
static void BSP_CAN_TxCompleteCallback(void);
static BSP_CAN_FrameType_t BSP_CAN_GetFrameType(CAN_RxHeaderTypeDef *header);
static uint32_t BSP_CAN_DefaultIdParser(uint32_t original_id, BSP_CAN_FrameType_t frame_type);
static void BSP_CAN_TxQueueInit(BSP_CAN_t can);
static bool BSP_CAN_TxQueuePush(BSP_CAN_t can, BSP_CAN_TxMessage_t *msg);
static bool BSP_CAN_TxQueuePop(BSP_CAN_t can, BSP_CAN_TxMessage_t *msg);
static bool BSP_CAN_TxQueueIsEmpty(BSP_CAN_t can);
/* Private functions -------------------------------------------------------- */
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
/**
* @brief 根据CAN句柄获取BSP_CAN实例
*/
static BSP_CAN_t CAN_Get(CAN_HandleTypeDef *hcan) {
if (hcan == NULL) return BSP_CAN_ERR;
/* AUTO GENERATED CAN_GET */
else
return BSP_CAN_ERR;
}
/**
* @brief 查找指定CAN ID的消息队列
* @note 调用前需要获取互斥锁
*/
static osMessageQueueId_t BSP_CAN_FindQueue(BSP_CAN_t can, uint32_t can_id) {
BSP_CAN_QueueNode_t *node = queue_list;
while (node != NULL) {
if (node->can == can && node->can_id == can_id) {
return node->queue;
}
node = node->next;
}
return NULL;
}
/**
* @brief 创建指定CAN ID的消息队列
* @note 内部函数，已包含互斥锁保护
*/
static int8_t BSP_CAN_CreateIdQueue(BSP_CAN_t can, uint32_t can_id, uint8_t queue_size) {
if (queue_size == 0) {
queue_size = BSP_CAN_DEFAULT_QUEUE_SIZE;
}
if (osMutexAcquire(queue_mutex, CAN_QUEUE_MUTEX_TIMEOUT) != osOK) {
return BSP_ERR_TIMEOUT;
}
BSP_CAN_QueueNode_t *node = queue_list;
while (node != NULL) {
if (node->can == can && node->can_id == can_id) {
osMutexRelease(queue_mutex);
return BSP_ERR; // 已存在
}
node = node->next;
}
BSP_CAN_QueueNode_t *new_node = (BSP_CAN_QueueNode_t *)BSP_Malloc(sizeof(BSP_CAN_QueueNode_t));
if (new_node == NULL) {
osMutexRelease(queue_mutex);
return BSP_ERR_NULL;
}
new_node->queue = osMessageQueueNew(queue_size, sizeof(BSP_CAN_Message_t), NULL);
if (new_node->queue == NULL) {
BSP_Free(new_node);
osMutexRelease(queue_mutex);
return BSP_ERR;
}
new_node->can = can;
new_node->can_id = can_id;
new_node->queue_size = queue_size;
new_node->next = queue_list;
queue_list = new_node;
osMutexRelease(queue_mutex);
return BSP_OK;
}
/**
* @brief 获取帧类型
*/
static BSP_CAN_FrameType_t BSP_CAN_GetFrameType(CAN_RxHeaderTypeDef *header) {
if (header->RTR == CAN_RTR_REMOTE) {
return (header->IDE == CAN_ID_EXT) ? BSP_CAN_FRAME_EXT_REMOTE : BSP_CAN_FRAME_STD_REMOTE;
} else {
return (header->IDE == CAN_ID_EXT) ? BSP_CAN_FRAME_EXT_DATA : BSP_CAN_FRAME_STD_DATA;
}
}
/**
* @brief 默认ID解析器（直接返回原始ID）
*/
static uint32_t BSP_CAN_DefaultIdParser(uint32_t original_id, BSP_CAN_FrameType_t frame_type) {
(void)frame_type; // 避免未使用参数警告
return original_id;
}
/**
* @brief 初始化发送队列
*/
static void BSP_CAN_TxQueueInit(BSP_CAN_t can) {
if (can >= BSP_CAN_NUM) return;
tx_queues[can].head = 0;
tx_queues[can].tail = 0;
}
/**
* @brief 向发送队列添加消息（无锁）
*/
static bool BSP_CAN_TxQueuePush(BSP_CAN_t can, BSP_CAN_TxMessage_t *msg) {
if (can >= BSP_CAN_NUM || msg == NULL) return false;
BSP_CAN_TxQueue_t *queue = &tx_queues[can];
uint32_t next_head = (queue->head + 1) % BSP_CAN_TX_QUEUE_SIZE;
// 队列满
if (next_head == queue->tail) {
return false;
}
// 复制消息
queue->buffer[queue->head] = *msg;
// 更新头指针（原子操作）
queue->head = next_head;
return true;
}
/**
* @brief 从发送队列取出消息（无锁）
*/
static bool BSP_CAN_TxQueuePop(BSP_CAN_t can, BSP_CAN_TxMessage_t *msg) {
if (can >= BSP_CAN_NUM || msg == NULL) return false;
BSP_CAN_TxQueue_t *queue = &tx_queues[can];
// 队列空
if (queue->head == queue->tail) {
return false;
}
// 复制消息
*msg = queue->buffer[queue->tail];
// 更新尾指针（原子操作）
queue->tail = (queue->tail + 1) % BSP_CAN_TX_QUEUE_SIZE;
return true;
}
/**
* @brief 检查发送队列是否为空
*/
static bool BSP_CAN_TxQueueIsEmpty(BSP_CAN_t can) {
if (can >= BSP_CAN_NUM) return true;
return tx_queues[can].head == tx_queues[can].tail;
}
/**
* @brief 处理所有CAN实例的发送队列
*/
static void BSP_CAN_TxCompleteCallback(void) {
// 处理所有CAN实例的发送队列
for (int i = 0; i < BSP_CAN_NUM; i++) {
BSP_CAN_t can = (BSP_CAN_t)i;
CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle(can);
if (hcan == NULL) continue;
BSP_CAN_TxMessage_t msg;
uint32_t mailbox;
// 尝试发送队列中的消息
while (!BSP_CAN_TxQueueIsEmpty(can)) {
// 检查是否有空闲邮箱
if (HAL_CAN_GetTxMailboxesFreeLevel(hcan) == 0) {
break; // 没有空闲邮箱，等待下次中断
}
// 从队列中取出消息
if (!BSP_CAN_TxQueuePop(can, &msg)) {
break;
}
// 发送消息
if (HAL_CAN_AddTxMessage(hcan, &msg.header, msg.data, &mailbox) != HAL_OK) {
// 发送失败，消息已经从队列中移除，直接丢弃
break;
}
}
}
}
/**
* @brief FIFO0接收处理函数
*/
static void BSP_CAN_RxFifo0Callback(void) {
CAN_RxHeaderTypeDef rx_header;
uint8_t rx_data[BSP_CAN_MAX_DLC];
for (int can_idx = 0; can_idx < BSP_CAN_NUM; can_idx++) {
CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle((BSP_CAN_t)can_idx);
if (hcan == NULL) continue;
while (HAL_CAN_GetRxFifoFillLevel(hcan, CAN_RX_FIFO0) > 0) {
if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rx_header, rx_data) == HAL_OK) {
uint32_t original_id = (rx_header.IDE == CAN_ID_STD) ? rx_header.StdId : rx_header.ExtId;
BSP_CAN_FrameType_t frame_type = BSP_CAN_GetFrameType(&rx_header);
uint32_t parsed_id = BSP_CAN_ParseId(original_id, frame_type);
osMessageQueueId_t queue = BSP_CAN_FindQueue((BSP_CAN_t)can_idx, parsed_id);
if (queue != NULL) {
BSP_CAN_Message_t msg = {0};
msg.frame_type = frame_type;
msg.original_id = original_id;
msg.parsed_id = parsed_id;
msg.dlc = rx_header.DLC;
if (rx_header.RTR == CAN_RTR_DATA) {
memcpy(msg.data, rx_data, rx_header.DLC);
}
msg.timestamp = HAL_GetTick();
osMessageQueuePut(queue, &msg, 0, BSP_CAN_TIMEOUT_IMMEDIATE);
}
}
}
}
}
/**
* @brief FIFO1接收处理函数
*/
static void BSP_CAN_RxFifo1Callback(void) {
CAN_RxHeaderTypeDef rx_header;
uint8_t rx_data[BSP_CAN_MAX_DLC];
for (int can_idx = 0; can_idx < BSP_CAN_NUM; can_idx++) {
CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle((BSP_CAN_t)can_idx);
if (hcan == NULL) continue;
while (HAL_CAN_GetRxFifoFillLevel(hcan, CAN_RX_FIFO1) > 0) {
if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO1, &rx_header, rx_data) == HAL_OK) {
uint32_t original_id = (rx_header.IDE == CAN_ID_STD) ? rx_header.StdId : rx_header.ExtId;
BSP_CAN_FrameType_t frame_type = BSP_CAN_GetFrameType(&rx_header);
uint32_t parsed_id = BSP_CAN_ParseId(original_id, frame_type);
osMessageQueueId_t queue = BSP_CAN_FindQueue((BSP_CAN_t)can_idx, parsed_id);
if (queue != NULL) {
BSP_CAN_Message_t msg = {0};
msg.frame_type = frame_type;
msg.original_id = original_id;
msg.parsed_id = parsed_id;
msg.dlc = rx_header.DLC;
if (rx_header.RTR == CAN_RTR_DATA) {
memcpy(msg.data, rx_data, rx_header.DLC);
}
msg.timestamp = HAL_GetTick();
osMessageQueuePut(queue, &msg, 0, BSP_CAN_TIMEOUT_IMMEDIATE);
}
}
}
}
}
/* HAL Callback Functions --------------------------------------------------- */
void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan) {
BSP_CAN_t bsp_can = CAN_Get(hcan);
if (bsp_can != BSP_CAN_ERR) {
// 调用用户回调
if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX0_CPLT_CB])
CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX0_CPLT_CB]();
}
}
void HAL_CAN_TxMailbox1CompleteCallback(CAN_HandleTypeDef *hcan) {
BSP_CAN_t bsp_can = CAN_Get(hcan);
if (bsp_can != BSP_CAN_ERR) {
// 调用用户回调
if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX1_CPLT_CB])
CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX1_CPLT_CB]();
}
}
void HAL_CAN_TxMailbox2CompleteCallback(CAN_HandleTypeDef *hcan) {
BSP_CAN_t bsp_can = CAN_Get(hcan);
if (bsp_can != BSP_CAN_ERR) {
// 调用用户回调
if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX2_CPLT_CB])
CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX2_CPLT_CB]();
}
}
void HAL_CAN_TxMailbox0AbortCallback(CAN_HandleTypeDef *hcan) {
BSP_CAN_t bsp_can = CAN_Get(hcan);
if (bsp_can != BSP_CAN_ERR) {
// 调用用户回调
if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX0_ABORT_CB])
CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX0_ABORT_CB]();
}
}
void HAL_CAN_TxMailbox1AbortCallback(CAN_HandleTypeDef *hcan) {
BSP_CAN_t bsp_can = CAN_Get(hcan);
if (bsp_can != BSP_CAN_ERR) {
// 调用用户回调
if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX1_ABORT_CB])
CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX1_ABORT_CB]();
}
}
void HAL_CAN_TxMailbox2AbortCallback(CAN_HandleTypeDef *hcan) {
BSP_CAN_t bsp_can = CAN_Get(hcan);
if (bsp_can != BSP_CAN_ERR) {
// 调用用户回调
if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX2_ABORT_CB])
CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX2_ABORT_CB]();
}
}
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) {
BSP_CAN_t bsp_can = CAN_Get(hcan);
if (bsp_can != BSP_CAN_ERR) {
if (CAN_Callback[bsp_can][HAL_CAN_RX_FIFO0_MSG_PENDING_CB])
CAN_Callback[bsp_can][HAL_CAN_RX_FIFO0_MSG_PENDING_CB]();
}
}
void HAL_CAN_RxFifo0FullCallback(CAN_HandleTypeDef *hcan) {
BSP_CAN_t bsp_can = CAN_Get(hcan);
if (bsp_can != BSP_CAN_ERR) {
if (CAN_Callback[bsp_can][HAL_CAN_RX_FIFO0_FULL_CB])
CAN_Callback[bsp_can][HAL_CAN_RX_FIFO0_FULL_CB]();
}
}
void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan) {
BSP_CAN_t bsp_can = CAN_Get(hcan);
if (bsp_can != BSP_CAN_ERR) {
if (CAN_Callback[bsp_can][HAL_CAN_RX_FIFO1_MSG_PENDING_CB])
CAN_Callback[bsp_can][HAL_CAN_RX_FIFO1_MSG_PENDING_CB]();
}
}
void HAL_CAN_RxFifo1FullCallback(CAN_HandleTypeDef *hcan) {
BSP_CAN_t bsp_can = CAN_Get(hcan);
if (bsp_can != BSP_CAN_ERR) {
if (CAN_Callback[bsp_can][HAL_CAN_RX_FIFO1_FULL_CB])
CAN_Callback[bsp_can][HAL_CAN_RX_FIFO1_FULL_CB]();
}
}
void HAL_CAN_SleepCallback(CAN_HandleTypeDef *hcan) {
BSP_CAN_t bsp_can = CAN_Get(hcan);
if (bsp_can != BSP_CAN_ERR) {
if (CAN_Callback[bsp_can][HAL_CAN_SLEEP_CB])
CAN_Callback[bsp_can][HAL_CAN_SLEEP_CB]();
}
}
void HAL_CAN_WakeUpFromRxMsgCallback(CAN_HandleTypeDef *hcan) {
BSP_CAN_t bsp_can = CAN_Get(hcan);
if (bsp_can != BSP_CAN_ERR) {
if (CAN_Callback[bsp_can][HAL_CAN_WAKEUP_FROM_RX_MSG_CB])
CAN_Callback[bsp_can][HAL_CAN_WAKEUP_FROM_RX_MSG_CB]();
}
}
void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan) {
BSP_CAN_t bsp_can = CAN_Get(hcan);
if (bsp_can != BSP_CAN_ERR) {
if (CAN_Callback[bsp_can][HAL_CAN_ERROR_CB])
CAN_Callback[bsp_can][HAL_CAN_ERROR_CB]();
}
}
/* Exported functions ------------------------------------------------------- */
int8_t BSP_CAN_Init(void) {
if (inited) {
return BSP_ERR_INITED;
}
// 清零回调函数数组
memset(CAN_Callback, 0, sizeof(CAN_Callback));
// 初始化发送队列
for (int i = 0; i < BSP_CAN_NUM; i++) {
BSP_CAN_TxQueueInit((BSP_CAN_t)i);
}
// 初始化ID解析器为默认解析器
id_parser = BSP_CAN_DefaultIdParser;
// 创建互斥锁
queue_mutex = osMutexNew(NULL);
if (queue_mutex == NULL) {
return BSP_ERR;
}
/* AUTO GENERATED CAN_INIT */
inited = true;
return BSP_OK;
}
CAN_HandleTypeDef *BSP_CAN_GetHandle(BSP_CAN_t can) {
if (can >= BSP_CAN_NUM) {
return NULL;
}
switch (can) {
/* AUTO GENERATED BSP_CAN_GET_HANDLE */
default:
return NULL;
}
}
int8_t BSP_CAN_RegisterCallback(BSP_CAN_t can, BSP_CAN_Callback_t type,
void (*callback)(void)) {
if (!inited) {
return BSP_ERR_INITED;
}
if (callback == NULL) {
return BSP_ERR_NULL;
}
if (can >= BSP_CAN_NUM) {
return BSP_ERR;
}
if (type >= BSP_CAN_CB_NUM) {
return BSP_ERR;
}
CAN_Callback[can][type] = callback;
return BSP_OK;
}
int8_t BSP_CAN_Transmit(BSP_CAN_t can, BSP_CAN_Format_t format,
uint32_t id, uint8_t *data, uint8_t dlc) {
if (!inited) {
return BSP_ERR_INITED;
}
if (can >= BSP_CAN_NUM) {
return BSP_ERR;
}
if (data == NULL && format != BSP_CAN_FORMAT_STD_REMOTE && format != BSP_CAN_FORMAT_EXT_REMOTE) {
return BSP_ERR_NULL;
}
if (dlc > BSP_CAN_MAX_DLC) {
return BSP_ERR;
}
CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle(can);
if (hcan == NULL) {
return BSP_ERR_NULL;
}
// 准备发送消息
BSP_CAN_TxMessage_t tx_msg = {0};
switch (format) {
case BSP_CAN_FORMAT_STD_DATA:
tx_msg.header.StdId = id;
tx_msg.header.IDE = CAN_ID_STD;
tx_msg.header.RTR = CAN_RTR_DATA;
break;
case BSP_CAN_FORMAT_EXT_DATA:
tx_msg.header.ExtId = id;
tx_msg.header.IDE = CAN_ID_EXT;
tx_msg.header.RTR = CAN_RTR_DATA;
break;
case BSP_CAN_FORMAT_STD_REMOTE:
tx_msg.header.StdId = id;
tx_msg.header.IDE = CAN_ID_STD;
tx_msg.header.RTR = CAN_RTR_REMOTE;
break;
case BSP_CAN_FORMAT_EXT_REMOTE:
tx_msg.header.ExtId = id;
tx_msg.header.IDE = CAN_ID_EXT;
tx_msg.header.RTR = CAN_RTR_REMOTE;
break;
default:
return BSP_ERR;
}
tx_msg.header.DLC = dlc;
tx_msg.header.TransmitGlobalTime = DISABLE;
// 复制数据
if (data != NULL && dlc > 0) {
memcpy(tx_msg.data, data, dlc);
}
// 尝试直接发送到邮箱
uint32_t mailbox;
if (HAL_CAN_GetTxMailboxesFreeLevel(hcan) > 0) {
HAL_StatusTypeDef result = HAL_CAN_AddTxMessage(hcan, &tx_msg.header, tx_msg.data, &mailbox);
if (result == HAL_OK) {
return BSP_OK; // 发送成功
}
}
// 邮箱满，尝试放入队列
if (BSP_CAN_TxQueuePush(can, &tx_msg)) {
return BSP_OK; // 成功放入队列
}
// 队列也满，丢弃数据
return BSP_ERR; // 数据丢弃
}
int8_t BSP_CAN_TransmitStdDataFrame(BSP_CAN_t can, BSP_CAN_StdDataFrame_t *frame) {
if (frame == NULL) {
return BSP_ERR_NULL;
}
return BSP_CAN_Transmit(can, BSP_CAN_FORMAT_STD_DATA, frame->id, frame->data, frame->dlc);
}
int8_t BSP_CAN_TransmitExtDataFrame(BSP_CAN_t can, BSP_CAN_ExtDataFrame_t *frame) {
if (frame == NULL) {
return BSP_ERR_NULL;
}
return BSP_CAN_Transmit(can, BSP_CAN_FORMAT_EXT_DATA, frame->id, frame->data, frame->dlc);
}
int8_t BSP_CAN_TransmitRemoteFrame(BSP_CAN_t can, BSP_CAN_RemoteFrame_t *frame) {
if (frame == NULL) {
return BSP_ERR_NULL;
}
BSP_CAN_Format_t format = frame->is_extended ? BSP_CAN_FORMAT_EXT_REMOTE : BSP_CAN_FORMAT_STD_REMOTE;
return BSP_CAN_Transmit(can, format, frame->id, NULL, frame->dlc);
}
int8_t BSP_CAN_RegisterId(BSP_CAN_t can, uint32_t can_id, uint8_t queue_size) {
if (!inited) {
return BSP_ERR_INITED;
}
return BSP_CAN_CreateIdQueue(can, can_id, queue_size);
}
int8_t BSP_CAN_GetMessage(BSP_CAN_t can, uint32_t can_id, BSP_CAN_Message_t *msg, uint32_t timeout) {
if (!inited) {
return BSP_ERR_INITED;
}
if (msg == NULL) {
return BSP_ERR_NULL;
}
if (osMutexAcquire(queue_mutex, CAN_QUEUE_MUTEX_TIMEOUT) != osOK) {
return BSP_ERR_TIMEOUT;
}
osMessageQueueId_t queue = BSP_CAN_FindQueue(can, can_id);
osMutexRelease(queue_mutex);
if (queue == NULL) {
return BSP_ERR_NO_DEV;
}
osStatus_t result = osMessageQueueGet(queue, msg, NULL, timeout);
return (result == osOK) ? BSP_OK : BSP_ERR;
}
int32_t BSP_CAN_GetQueueCount(BSP_CAN_t can, uint32_t can_id) {
if (!inited) {
return -1;
}
if (osMutexAcquire(queue_mutex, CAN_QUEUE_MUTEX_TIMEOUT) != osOK) {
return -1;
}
osMessageQueueId_t queue = BSP_CAN_FindQueue(can, can_id);
osMutexRelease(queue_mutex);
if (queue == NULL) {
return -1;
}
return (int32_t)osMessageQueueGetCount(queue);
}
int8_t BSP_CAN_FlushQueue(BSP_CAN_t can, uint32_t can_id) {
if (!inited) {
return BSP_ERR_INITED;
}
if (osMutexAcquire(queue_mutex, CAN_QUEUE_MUTEX_TIMEOUT) != osOK) {
return BSP_ERR_TIMEOUT;
}
osMessageQueueId_t queue = BSP_CAN_FindQueue(can, can_id);
osMutexRelease(queue_mutex);
if (queue == NULL) {
return BSP_ERR_NO_DEV;
}
BSP_CAN_Message_t temp_msg;
while (osMessageQueueGet(queue, &temp_msg, NULL, BSP_CAN_TIMEOUT_IMMEDIATE) == osOK) {
// 清空
}
return BSP_OK;
}
int8_t BSP_CAN_RegisterIdParser(BSP_CAN_IdParser_t parser) {
if (!inited) {
return BSP_ERR_INITED;
}
if (parser == NULL) {
return BSP_ERR_NULL;
}
id_parser = parser;
return BSP_OK;
}
uint32_t BSP_CAN_ParseId(uint32_t original_id, BSP_CAN_FrameType_t frame_type) {
if (id_parser != NULL) {
return id_parser(original_id, frame_type);
}
return BSP_CAN_DefaultIdParser(original_id, frame_type);
}

259
assets/User_code/bsp/can.h
View File

@ -1,259 +0,0 @@
#pragma once
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ----------------------------------------------------------------- */
#include <can.h>
#include "bsp/bsp.h"
#include "bsp/mm.h"
#include <stdint.h>
#include <stdbool.h>
#include <cmsis_os.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Exported constants ------------------------------------------------------- */
#define BSP_CAN_MAX_DLC 8
#define BSP_CAN_DEFAULT_QUEUE_SIZE 10
#define BSP_CAN_TIMEOUT_IMMEDIATE 0
#define BSP_CAN_TIMEOUT_FOREVER osWaitForever
#define BSP_CAN_TX_QUEUE_SIZE 32 /* 发送队列大小 */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Exported macro ----------------------------------------------------------- */
/* Exported types ----------------------------------------------------------- */
typedef enum {
BSP_CAN_1,
BSP_CAN_2,
BSP_CAN_NUM,
BSP_CAN_ERR,
} BSP_CAN_t;
typedef enum {
HAL_CAN_TX_MAILBOX0_CPLT_CB,
HAL_CAN_TX_MAILBOX1_CPLT_CB,
HAL_CAN_TX_MAILBOX2_CPLT_CB,
HAL_CAN_TX_MAILBOX0_ABORT_CB,
HAL_CAN_TX_MAILBOX1_ABORT_CB,
HAL_CAN_TX_MAILBOX2_ABORT_CB,
HAL_CAN_RX_FIFO0_MSG_PENDING_CB,
HAL_CAN_RX_FIFO0_FULL_CB,
HAL_CAN_RX_FIFO1_MSG_PENDING_CB,
HAL_CAN_RX_FIFO1_FULL_CB,
HAL_CAN_SLEEP_CB,
HAL_CAN_WAKEUP_FROM_RX_MSG_CB,
HAL_CAN_ERROR_CB,
BSP_CAN_CB_NUM,
} BSP_CAN_Callback_t;
/* CAN消息格式枚举 - 用于发送和接收消息时指定格式 */
typedef enum {
BSP_CAN_FORMAT_STD_DATA, /* 标准数据帧 */
BSP_CAN_FORMAT_EXT_DATA, /* 扩展数据帧 */
BSP_CAN_FORMAT_STD_REMOTE, /* 标准远程帧 */
BSP_CAN_FORMAT_EXT_REMOTE, /* 扩展远程帧 */
} BSP_CAN_Format_t;
/* CAN帧类型枚举 - 用于区分不同类型的CAN帧 */
typedef enum {
BSP_CAN_FRAME_STD_DATA, /* 标准数据帧 */
BSP_CAN_FRAME_EXT_DATA, /* 扩展数据帧 */
BSP_CAN_FRAME_STD_REMOTE, /* 标准远程帧 */
BSP_CAN_FRAME_EXT_REMOTE, /* 扩展远程帧 */
} BSP_CAN_FrameType_t;
/* CAN消息结构体 - 支持不同类型帧 */
typedef struct {
BSP_CAN_FrameType_t frame_type; /* 帧类型 */
uint32_t original_id; /* 原始ID（未解析） */
uint32_t parsed_id; /* 解析后的实际ID */
uint8_t dlc; /* 数据长度 */
uint8_t data[BSP_CAN_MAX_DLC]; /* 数据 */
uint32_t timestamp; /* 时间戳（可选） */
} BSP_CAN_Message_t;
/* 标准数据帧结构 */
typedef struct {
uint32_t id; /* CAN ID */
uint8_t dlc; /* 数据长度 */
uint8_t data[BSP_CAN_MAX_DLC]; /* 数据 */
} BSP_CAN_StdDataFrame_t;
/* 扩展数据帧结构 */
typedef struct {
uint32_t id; /* 扩展CAN ID */
uint8_t dlc; /* 数据长度 */
uint8_t data[BSP_CAN_MAX_DLC]; /* 数据 */
} BSP_CAN_ExtDataFrame_t;
/* 远程帧结构 */
typedef struct {
uint32_t id; /* CAN ID */
uint8_t dlc; /* 请求的数据长度 */
bool is_extended; /* 是否为扩展帧 */
} BSP_CAN_RemoteFrame_t;
/* ID解析回调函数类型 */
typedef uint32_t (*BSP_CAN_IdParser_t)(uint32_t original_id, BSP_CAN_FrameType_t frame_type);
/* CAN发送消息结构体 */
typedef struct {
CAN_TxHeaderTypeDef header; /* 发送头 */
uint8_t data[BSP_CAN_MAX_DLC]; /* 数据 */
} BSP_CAN_TxMessage_t;
/* 无锁环形队列结构体 */
typedef struct {
BSP_CAN_TxMessage_t buffer[BSP_CAN_TX_QUEUE_SIZE]; /* 缓冲区 */
volatile uint32_t head; /* 队列头 */
volatile uint32_t tail; /* 队列尾 */
} BSP_CAN_TxQueue_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Exported functions prototypes -------------------------------------------- */
/**
* @brief 初始化 CAN 模块
* @return BSP_OK 成功，其他值失败
*/
int8_t BSP_CAN_Init(void);
/**
* @brief 获取 CAN 句柄
* @param can CAN 枚举
* @return CAN_HandleTypeDef 指针，失败返回 NULL
*/
CAN_HandleTypeDef *BSP_CAN_GetHandle(BSP_CAN_t can);
/**
* @brief 注册 CAN 回调函数
* @param can CAN 枚举
* @param type 回调类型
* @param callback 回调函数指针
* @return BSP_OK 成功，其他值失败
*/
int8_t BSP_CAN_RegisterCallback(BSP_CAN_t can, BSP_CAN_Callback_t type,
void (*callback)(void));
/**
* @brief 发送 CAN 消息
* @param can CAN 枚举
* @param format 消息格式
* @param id CAN ID
* @param data 数据指针
* @param dlc 数据长度
* @return BSP_OK 成功，其他值失败
*/
int8_t BSP_CAN_Transmit(BSP_CAN_t can, BSP_CAN_Format_t format,
uint32_t id, uint8_t *data, uint8_t dlc);
/**
* @brief 发送标准数据帧
* @param can CAN 枚举
* @param frame 标准数据帧指针
* @return BSP_OK 成功，其他值失败
*/
int8_t BSP_CAN_TransmitStdDataFrame(BSP_CAN_t can, BSP_CAN_StdDataFrame_t *frame);
/**
* @brief 发送扩展数据帧
* @param can CAN 枚举
* @param frame 扩展数据帧指针
* @return BSP_OK 成功，其他值失败
*/
int8_t BSP_CAN_TransmitExtDataFrame(BSP_CAN_t can, BSP_CAN_ExtDataFrame_t *frame);
/**
* @brief 发送远程帧
* @param can CAN 枚举
* @param frame 远程帧指针
* @return BSP_OK 成功，其他值失败
*/
int8_t BSP_CAN_TransmitRemoteFrame(BSP_CAN_t can, BSP_CAN_RemoteFrame_t *frame);
/**
* @brief 获取发送队列中待发送消息数量
* @param can CAN 枚举
* @return 队列中消息数量，-1表示错误
*/
int32_t BSP_CAN_GetTxQueueCount(BSP_CAN_t can);
/**
* @brief 清空发送队列
* @param can CAN 枚举
* @return BSP_OK 成功，其他值失败
*/
int8_t BSP_CAN_FlushTxQueue(BSP_CAN_t can);
/**
* @brief 注册 CAN ID 接收队列
* @param can CAN 枚举
* @param can_id 解析后的CAN ID
* @param queue_size 队列大小，0使用默认值
* @return BSP_OK 成功，其他值失败
*/
int8_t BSP_CAN_RegisterId(BSP_CAN_t can, uint32_t can_id, uint8_t queue_size);
/**
* @brief 获取 CAN 消息
* @param can CAN 枚举
* @param can_id 解析后的CAN ID
* @param msg 存储消息的结构体指针
* @param timeout 超时时间（毫秒），0为立即返回，osWaitForever为永久等待
* @return BSP_OK 成功，其他值失败
*/
int8_t BSP_CAN_GetMessage(BSP_CAN_t can, uint32_t can_id, BSP_CAN_Message_t *msg, uint32_t timeout);
/**
* @brief 获取指定ID队列中的消息数量
* @param can CAN 枚举
* @param can_id 解析后的CAN ID
* @return 消息数量，-1表示队列不存在
*/
int32_t BSP_CAN_GetQueueCount(BSP_CAN_t can, uint32_t can_id);
/**
* @brief 清空指定ID队列中的所有消息
* @param can CAN 枚举
* @param can_id 解析后的CAN ID
* @return BSP_OK 成功，其他值失败
*/
int8_t BSP_CAN_FlushQueue(BSP_CAN_t can, uint32_t can_id);
/**
* @brief 注册ID解析器
* @param parser ID解析回调函数
* @return BSP_OK 成功，其他值失败
*/
int8_t BSP_CAN_RegisterIdParser(BSP_CAN_IdParser_t parser);
/**
* @brief 解析CAN ID
* @param original_id 原始ID
* @param frame_type 帧类型
* @return 解析后的ID
*/
uint32_t BSP_CAN_ParseId(uint32_t original_id, BSP_CAN_FrameType_t frame_type);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

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uart,请开启uart的dma和中断
can,请开启can中断，使用函数前请确保can已经初始化。一定要开启can发送中断！！！
gpio,会自动读取cubemx中配置为gpio的引脚，并自动区分输入输出和中断。
spi,请开启spi的dma和中断
i2c,要求开始spi中断
mm,这是套了一层的动态内存分配
time,获取时间戳函数，需要开启freerots
dwt,需要开启dwt，获取时间
i2c,请开启i2c的dma和中断
pwm,用于选择那些勇于输出pwm
1 uart 请开启uart的dma和中断
2 can 请开启can中断，使用函数前请确保can已经初始化。一定要开启can发送中断！！！
3 gpio 会自动读取cubemx中配置为gpio的引脚，并自动区分输入输出和中断。
4 spi 请开启spi的dma和中断
5 i2c 要求开始spi中断
6 mm 这是套了一层的动态内存分配
7 time 获取时间戳函数，需要开启freerots
8 dwt 需要开启dwt，获取时间
9 i2c 请开启i2c的dma和中断
10 pwm 用于选择那些勇于输出pwm

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/**
******************************************************************************
* @file dwt.c
* @author Wang Hongxi
* @version V1.1.0
* @date 2022/3/8
* @brief
******************************************************************************
* @attention
*
******************************************************************************
*/
#include "bsp/dwt.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* USER STRUCT BEGIN */
/* USER STRUCT END */
DWT_Time_t SysTime;
static uint32_t CPU_FREQ_Hz, CPU_FREQ_Hz_ms, CPU_FREQ_Hz_us;
static uint32_t CYCCNT_RountCount;
static uint32_t CYCCNT_LAST;
uint64_t CYCCNT64;
static void DWT_CNT_Update(void);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
void DWT_Init(uint32_t CPU_Freq_mHz)
{
/* 使能DWT外设 */
CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
/* DWT CYCCNT寄存器计数清0 */
DWT->CYCCNT = (uint32_t)0u;
/* 使能Cortex-M DWT CYCCNT寄存器 */
DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;
CPU_FREQ_Hz = CPU_Freq_mHz * 1000000;
CPU_FREQ_Hz_ms = CPU_FREQ_Hz / 1000;
CPU_FREQ_Hz_us = CPU_FREQ_Hz / 1000000;
CYCCNT_RountCount = 0;
}
float DWT_GetDeltaT(uint32_t *cnt_last)
{
volatile uint32_t cnt_now = DWT->CYCCNT;
float dt = ((uint32_t)(cnt_now - *cnt_last)) / ((float)(CPU_FREQ_Hz));
*cnt_last = cnt_now;
DWT_CNT_Update();
return dt;
}
double DWT_GetDeltaT64(uint32_t *cnt_last)
{
volatile uint32_t cnt_now = DWT->CYCCNT;
double dt = ((uint32_t)(cnt_now - *cnt_last)) / ((double)(CPU_FREQ_Hz));
*cnt_last = cnt_now;
DWT_CNT_Update();
return dt;
}
void DWT_SysTimeUpdate(void)
{
volatile uint32_t cnt_now = DWT->CYCCNT;
static uint64_t CNT_TEMP1, CNT_TEMP2, CNT_TEMP3;
DWT_CNT_Update();
CYCCNT64 = (uint64_t)CYCCNT_RountCount * (uint64_t)UINT32_MAX + (uint64_t)cnt_now;
CNT_TEMP1 = CYCCNT64 / CPU_FREQ_Hz;
CNT_TEMP2 = CYCCNT64 - CNT_TEMP1 * CPU_FREQ_Hz;
SysTime.s = CNT_TEMP1;
SysTime.ms = CNT_TEMP2 / CPU_FREQ_Hz_ms;
CNT_TEMP3 = CNT_TEMP2 - SysTime.ms * CPU_FREQ_Hz_ms;
SysTime.us = CNT_TEMP3 / CPU_FREQ_Hz_us;
}
float DWT_GetTimeline_s(void)
{
DWT_SysTimeUpdate();
float DWT_Timelinef32 = SysTime.s + SysTime.ms * 0.001f + SysTime.us * 0.000001f;
return DWT_Timelinef32;
}
float DWT_GetTimeline_ms(void)
{
DWT_SysTimeUpdate();
float DWT_Timelinef32 = SysTime.s * 1000 + SysTime.ms + SysTime.us * 0.001f;
return DWT_Timelinef32;
}
uint64_t DWT_GetTimeline_us(void)
{
DWT_SysTimeUpdate();
uint64_t DWT_Timelinef32 = SysTime.s * 1000000 + SysTime.ms * 1000 + SysTime.us;
return DWT_Timelinef32;
}
static void DWT_CNT_Update(void)
{
volatile uint32_t cnt_now = DWT->CYCCNT;
if (cnt_now < CYCCNT_LAST)
CYCCNT_RountCount++;
CYCCNT_LAST = cnt_now;
}
void DWT_Delay(float Delay)
{
uint32_t tickstart = DWT->CYCCNT;
float wait = Delay;
while ((DWT->CYCCNT - tickstart) < wait * (float)CPU_FREQ_Hz)
{
}
}

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/**
******************************************************************************
* @file dwt.h
* @author Wang Hongxi
* @version V1.1.0
* @date 2022/3/8
* @brief
******************************************************************************
* @attention
*
******************************************************************************
*/
#ifndef _DWT_H
#define _DWT_H
#include "main.h"
#include "stdint.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
typedef struct
{
uint32_t s;
uint16_t ms;
uint16_t us;
} DWT_Time_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
void DWT_Init(uint32_t CPU_Freq_mHz);
float DWT_GetDeltaT(uint32_t *cnt_last);
double DWT_GetDeltaT64(uint32_t *cnt_last);
float DWT_GetTimeline_s(void);
float DWT_GetTimeline_ms(void);
uint64_t DWT_GetTimeline_us(void);
void DWT_Delay(float Delay);
void DWT_SysTimeUpdate(void);
extern DWT_Time_t SysTime;
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#endif /* DWT_H_ */

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/* Includes ----------------------------------------------------------------- */
#include "bsp/gpio.h"
#include <gpio.h>
#include <main.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */
typedef struct {
uint16_t pin;
GPIO_TypeDef *gpio;
} BSP_GPIO_MAP_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Private variables -------------------------------------------------------- */
static const BSP_GPIO_MAP_t GPIO_Map[BSP_GPIO_NUM] = {
/* AUTO GENERATED BSP_GPIO_MAP */
};
static void (*GPIO_Callback[16])(void);
/* Private function -------------------------------------------------------- */
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
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(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;
break;
}
}
return BSP_OK;
}
int8_t BSP_GPIO_EnableIRQ(BSP_GPIO_t gpio) {
switch (gpio) {
/* AUTO GENERATED BSP_GPIO_ENABLE_IRQ */
default:
return BSP_ERR;
}
return BSP_OK;
}
int8_t BSP_GPIO_DisableIRQ(BSP_GPIO_t gpio) {
switch (gpio) {
/* AUTO GENERATED BSP_GPIO_DISABLE_IRQ */
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;
}

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#pragma once
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ----------------------------------------------------------------- */
#include <stdint.h>
#include <stdbool.h>
#include "bsp/bsp.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Exported types ----------------------------------------------------------- */
typedef enum {
/* AUTO GENERATED BSP_GPIO_ENUM */
BSP_GPIO_NUM,
BSP_GPIO_ERR,
} BSP_GPIO_t;
/* Exported functions prototypes -------------------------------------------- */
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);
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);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

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/* Includes ----------------------------------------------------------------- */
#include "bsp\i2c.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Private variables -------------------------------------------------------- */
static void (*I2C_Callback[BSP_I2C_NUM][BSP_I2C_CB_NUM])(void);
/* Private function -------------------------------------------------------- */
static BSP_I2C_t I2C_Get(I2C_HandleTypeDef *hi2c) {
/* AUTO GENERATED I2C_GET */
else
return BSP_I2C_ERR;
}
void HAL_I2C_MasterTxCpltCallback(I2C_HandleTypeDef *hi2c) {
BSP_I2C_t bsp_i2c = I2C_Get(hi2c);
if (bsp_i2c != BSP_I2C_ERR) {
if (I2C_Callback[bsp_i2c][HAL_I2C_MASTER_TX_CPLT_CB])
I2C_Callback[bsp_i2c][HAL_I2C_MASTER_TX_CPLT_CB]();
}
}
void HAL_I2C_MasterRxCpltCallback(I2C_HandleTypeDef *hi2c) {
BSP_I2C_t bsp_i2c = I2C_Get(hi2c);
if (bsp_i2c != BSP_I2C_ERR) {
if (I2C_Callback[bsp_i2c][HAL_I2C_MASTER_RX_CPLT_CB])
I2C_Callback[bsp_i2c][HAL_I2C_MASTER_RX_CPLT_CB]();
}
}
void HAL_I2C_SlaveTxCpltCallback(I2C_HandleTypeDef *hi2c) {
BSP_I2C_t bsp_i2c = I2C_Get(hi2c);
if (bsp_i2c != BSP_I2C_ERR) {
if (I2C_Callback[bsp_i2c][HAL_I2C_SLAVE_TX_CPLT_CB])
I2C_Callback[bsp_i2c][HAL_I2C_SLAVE_TX_CPLT_CB]();
}
}
void HAL_I2C_SlaveRxCpltCallback(I2C_HandleTypeDef *hi2c) {
BSP_I2C_t bsp_i2c = I2C_Get(hi2c);
if (bsp_i2c != BSP_I2C_ERR) {
if (I2C_Callback[bsp_i2c][HAL_I2C_SLAVE_RX_CPLT_CB])
I2C_Callback[bsp_i2c][HAL_I2C_SLAVE_RX_CPLT_CB]();
}
}
void HAL_I2C_ListenCpltCallback(I2C_HandleTypeDef *hi2c) {
BSP_I2C_t bsp_i2c = I2C_Get(hi2c);
if (bsp_i2c != BSP_I2C_ERR) {
if (I2C_Callback[bsp_i2c][HAL_I2C_LISTEN_CPLT_CB])
I2C_Callback[bsp_i2c][HAL_I2C_LISTEN_CPLT_CB]();
}
}
void HAL_I2C_MemTxCpltCallback(I2C_HandleTypeDef *hi2c) {
BSP_I2C_t bsp_i2c = I2C_Get(hi2c);
if (bsp_i2c != BSP_I2C_ERR) {
if (I2C_Callback[bsp_i2c][HAL_I2C_MEM_TX_CPLT_CB])
I2C_Callback[bsp_i2c][HAL_I2C_MEM_TX_CPLT_CB]();
}
}
void HAL_I2C_MemRxCpltCallback(I2C_HandleTypeDef *hi2c) {
BSP_I2C_t bsp_i2c = I2C_Get(hi2c);
if (bsp_i2c != BSP_I2C_ERR) {
if (I2C_Callback[bsp_i2c][HAL_I2C_MEM_RX_CPLT_CB])
I2C_Callback[bsp_i2c][HAL_I2C_MEM_RX_CPLT_CB]();
}
}
void HAL_I2C_ErrorCallback(I2C_HandleTypeDef *hi2c) {
BSP_I2C_t bsp_i2c = I2C_Get(hi2c);
if (bsp_i2c != BSP_I2C_ERR) {
if (I2C_Callback[bsp_i2c][HAL_I2C_ERROR_CB])
I2C_Callback[bsp_i2c][HAL_I2C_ERROR_CB]();
}
}
void HAL_I2C_AbortCpltCallback(I2C_HandleTypeDef *hi2c) {
BSP_I2C_t bsp_i2c = I2C_Get(hi2c);
if (bsp_i2c != BSP_I2C_ERR) {
if (I2C_Callback[bsp_i2c][HAL_I2C_ABORT_CPLT_CB])
I2C_Callback[bsp_i2c][HAL_I2C_ABORT_CPLT_CB]();
}
}
/* Exported functions ------------------------------------------------------- */
I2C_HandleTypeDef *BSP_I2C_GetHandle(BSP_I2C_t i2c) {
switch (i2c) {
/* AUTO GENERATED BSP_I2C_GET_HANDLE */
default:
return NULL;
}
}
int8_t BSP_I2C_RegisterCallback(BSP_I2C_t i2c, BSP_I2C_Callback_t type,
void (*callback)(void)) {
if (callback == NULL) return BSP_ERR_NULL;
I2C_Callback[i2c][type] = callback;
return BSP_OK;
}
int8_t BSP_I2C_Transmit(BSP_I2C_t i2c, uint16_t devAddr, uint8_t *data,
uint16_t size, bool dma) {
if (i2c >= BSP_I2C_NUM) return BSP_ERR;
I2C_HandleTypeDef *hi2c = BSP_I2C_GetHandle(i2c);
if (hi2c == NULL) return BSP_ERR;
if (dma) {
return HAL_I2C_Master_Transmit_DMA(hi2c, devAddr, data, size);
} else {
return HAL_I2C_Master_Transmit(hi2c, devAddr, data, size, 10);
}
}
int8_t BSP_I2C_Receive(BSP_I2C_t i2c, uint16_t devAddr, uint8_t *data,
uint16_t size, bool dma) {
if (i2c >= BSP_I2C_NUM) return BSP_ERR;
I2C_HandleTypeDef *hi2c = BSP_I2C_GetHandle(i2c);
if (hi2c == NULL) return BSP_ERR;
if (dma) {
return HAL_I2C_Master_Receive_DMA(hi2c, devAddr, data, size);
} else {
return HAL_I2C_Master_Receive(hi2c, devAddr, data, size, 10);
}
}
uint8_t BSP_I2C_MemReadByte(BSP_I2C_t i2c, uint16_t devAddr, uint16_t memAddr) {
if (i2c >= BSP_I2C_NUM) return 0xFF;
I2C_HandleTypeDef *hi2c = BSP_I2C_GetHandle(i2c);
if (hi2c == NULL) return 0xFF;
uint8_t data;
HAL_I2C_Mem_Read(hi2c, devAddr, memAddr, I2C_MEMADD_SIZE_16BIT, &data, 1, HAL_MAX_DELAY);
return data;
}
int8_t BSP_I2C_MemWriteByte(BSP_I2C_t i2c, uint16_t devAddr, uint16_t memAddr,
uint8_t data) {
if (i2c >= BSP_I2C_NUM) return BSP_ERR;
I2C_HandleTypeDef *hi2c = BSP_I2C_GetHandle(i2c);
if (hi2c == NULL) return BSP_ERR;
return HAL_I2C_Mem_Write(hi2c, devAddr, memAddr, I2C_MEMADD_SIZE_16BIT, &data, 1, HAL_MAX_DELAY);
}
int8_t BSP_I2C_MemRead(BSP_I2C_t i2c, uint16_t devAddr, uint16_t memAddr,
uint8_t *data, uint16_t size, bool dma) {
if (i2c >= BSP_I2C_NUM || data == NULL || size == 0) return BSP_ERR;
I2C_HandleTypeDef *hi2c = BSP_I2C_GetHandle(i2c);
if (hi2c == NULL) return BSP_ERR;
if (dma) {
return HAL_I2C_Mem_Read_DMA(hi2c, devAddr, memAddr, I2C_MEMADD_SIZE_16BIT, data, size);
}
else {
return HAL_I2C_Mem_Read(hi2c, devAddr, memAddr, I2C_MEMADD_SIZE_16BIT, data, size, HAL_MAX_DELAY);
}
}
int8_t BSP_I2C_MemWrite(BSP_I2C_t i2c, uint16_t devAddr, uint16_t memAddr,
uint8_t *data, uint16_t size, bool dma) {
if (i2c >= BSP_I2C_NUM || data == NULL || size == 0) return BSP_ERR;
I2C_HandleTypeDef *hi2c = BSP_I2C_GetHandle(i2c);
if (hi2c == NULL) return BSP_ERR;
if (dma) {
return HAL_I2C_Mem_Write_DMA(hi2c, devAddr, memAddr, I2C_MEMADD_SIZE_16BIT, data, size);
} else {
return HAL_I2C_Mem_Write(hi2c, devAddr, memAddr, I2C_MEMADD_SIZE_16BIT, data, size, HAL_MAX_DELAY);
}
}

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#pragma once
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ----------------------------------------------------------------- */
#include <i2c.h>
#include <stdint.h>
#include <stdbool.h>
#include "bsp/bsp.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Exported types ----------------------------------------------------------- */
/* 要添加使用I2C的新设备，需要先在此添加对应的枚举值 */
/* I2C实体枚举，与设备对应 */
typedef enum {
/* AUTO GENERATED BSP_I2C_NAME */
/* USER BSP_I2C BEGIN*/
/* USER_I2C_XXX */
/* USER BSP_I2C END */
BSP_I2C_NUM,
BSP_I2C_ERR,
} BSP_I2C_t;
/* I2C支持的中断回调函数类型*/
typedef enum {
HAL_I2C_MASTER_TX_CPLT_CB,
HAL_I2C_MASTER_RX_CPLT_CB,
HAL_I2C_SLAVE_TX_CPLT_CB,
HAL_I2C_SLAVE_RX_CPLT_CB,
HAL_I2C_LISTEN_CPLT_CB,
HAL_I2C_MEM_TX_CPLT_CB,
HAL_I2C_MEM_RX_CPLT_CB,
HAL_I2C_ERROR_CB,
HAL_I2C_ABORT_CPLT_CB,
BSP_I2C_CB_NUM,
} BSP_I2C_Callback_t;
/* Exported functions prototypes -------------------------------------------- */
I2C_HandleTypeDef *BSP_I2C_GetHandle(BSP_I2C_t i2c);
int8_t BSP_I2C_RegisterCallback(BSP_I2C_t i2c, BSP_I2C_Callback_t type,
void (*callback)(void));
int8_t BSP_I2C_Transmit(BSP_I2C_t i2c, uint16_t devAddr, uint8_t *data,
uint16_t size, bool dma);
int8_t BSP_I2C_Receive(BSP_I2C_t i2c, uint16_t devAddr, uint8_t *data,
uint16_t size, bool dma);
uint8_t BSP_I2C_MemReadByte(BSP_I2C_t i2c, uint16_t devAddr, uint16_t memAddr);
int8_t BSP_I2C_MemWriteByte(BSP_I2C_t i2c, uint16_t devAddr, uint16_t memAddr,
uint8_t data);
int8_t BSP_I2C_MemRead(BSP_I2C_t i2c, uint16_t devAddr, uint16_t memAddr,
uint8_t *data, uint16_t size, bool dma);
int8_t BSP_I2C_MemWrite(BSP_I2C_t i2c, uint16_t devAddr, uint16_t memAddr,
uint8_t *data, uint16_t size, bool dma);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

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/* Includes ----------------------------------------------------------------- */
#include "bsp/mm.h"
#include "FreeRTOS.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Private function -------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
inline void *BSP_Malloc(size_t size) { return pvPortMalloc(size); }
inline void BSP_Free(void *pv) { vPortFree(pv); }
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */

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#pragma once
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ----------------------------------------------------------------- */
#include <stddef.h>
#include <stdint.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Exported types ----------------------------------------------------------- */
/* Exported functions prototypes -------------------------------------------- */
void *BSP_Malloc(size_t size);
void BSP_Free(void *pv);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

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/* Includes ----------------------------------------------------------------- */
#include "tim.h"
#include "bsp/pwm.h"
#include "bsp.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */
typedef struct {
TIM_HandleTypeDef *tim;
uint16_t channel;
} BSP_PWM_Config_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Private variables -------------------------------------------------------- */
static const BSP_PWM_Config_t PWM_Map[BSP_PWM_NUM] = {
/* AUTO GENERATED BSP_PWM_MAP */
};
/* Private function -------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
int8_t BSP_PWM_Start(BSP_PWM_Channel_t ch) {
if (ch >= BSP_PWM_NUM) return BSP_ERR;
HAL_TIM_PWM_Start(PWM_Map[ch].tim, PWM_Map[ch].channel);
return BSP_OK;
}
int8_t BSP_PWM_SetComp(BSP_PWM_Channel_t ch, float duty_cycle) {
if (ch >= BSP_PWM_NUM) return BSP_ERR;
if (duty_cycle > 1.0f) {
duty_cycle = 1.0f;
}
if (duty_cycle < 0.0f) {
duty_cycle = 0.0f;
}
// 获取ARR值（周期值）
uint32_t arr = __HAL_TIM_GET_AUTORELOAD(PWM_Map[ch].tim);
// 计算比较值：CCR = duty_cycle * (ARR + 1)
uint32_t ccr = (uint32_t)(duty_cycle * (arr + 1));
__HAL_TIM_SET_COMPARE(PWM_Map[ch].tim, PWM_Map[ch].channel, ccr);
return BSP_OK;
}
int8_t BSP_PWM_SetFreq(BSP_PWM_Channel_t ch, float freq) {
if (ch >= BSP_PWM_NUM) return BSP_ERR;
uint32_t timer_clock = HAL_RCC_GetPCLK1Freq(); // Get the timer clock frequency
uint32_t prescaler = PWM_Map[ch].tim->Init.Prescaler;
uint32_t period = (timer_clock / (prescaler + 1)) / freq - 1;
if (period > UINT16_MAX) {
return BSP_ERR; // Frequency too low
}
__HAL_TIM_SET_AUTORELOAD(PWM_Map[ch].tim, period);
return BSP_OK;
}
int8_t BSP_PWM_Stop(BSP_PWM_Channel_t ch) {
if (ch >= BSP_PWM_NUM) return BSP_ERR;
HAL_TIM_PWM_Stop(PWM_Map[ch].tim, PWM_Map[ch].channel);
return BSP_OK;
}
uint32_t BSP_PWM_GetAutoReloadPreload(BSP_PWM_Channel_t ch) {
if (ch >= BSP_PWM_NUM) return BSP_ERR;
return PWM_Map[ch].tim->Init.AutoReloadPreload;
}
TIM_HandleTypeDef* BSP_PWM_GetHandle(BSP_PWM_Channel_t ch) {
return PWM_Map[ch].tim;
}
uint16_t BSP_PWM_GetChannel(BSP_PWM_Channel_t ch) {
if (ch >= BSP_PWM_NUM) return BSP_ERR;
return PWM_Map[ch].channel;
}
int8_t BSP_PWM_Start_DMA(BSP_PWM_Channel_t ch, uint32_t *pData, uint16_t Length) {
if (ch >= BSP_PWM_NUM) return BSP_ERR;
HAL_TIM_PWM_Start_DMA(PWM_Map[ch].tim, PWM_Map[ch].channel, pData, Length);
return BSP_OK;
}
int8_t BSP_PWM_Stop_DMA(BSP_PWM_Channel_t ch) {
if (ch >= BSP_PWM_NUM) return BSP_ERR;
HAL_TIM_PWM_Stop_DMA(PWM_Map[ch].tim, PWM_Map[ch].channel);
return BSP_OK;
}

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#pragma once
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ----------------------------------------------------------------- */
#include <stdint.h>
#include "tim.h"
#include "bsp.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Exported types ----------------------------------------------------------- */
/* PWM通道 */
typedef enum {
/* AUTO GENERATED BSP_PWM_ENUM */
BSP_PWM_NUM,
BSP_PWM_ERR,
} BSP_PWM_Channel_t;
/* Exported functions prototypes -------------------------------------------- */
int8_t BSP_PWM_Start(BSP_PWM_Channel_t ch);
int8_t BSP_PWM_SetComp(BSP_PWM_Channel_t ch, float duty_cycle);
int8_t BSP_PWM_SetFreq(BSP_PWM_Channel_t ch, float freq);
int8_t BSP_PWM_Stop(BSP_PWM_Channel_t ch);
uint32_t BSP_PWM_GetAutoReloadPreload(BSP_PWM_Channel_t ch);
uint16_t BSP_PWM_GetChannel(BSP_PWM_Channel_t ch);
TIM_HandleTypeDef* BSP_PWM_GetHandle(BSP_PWM_Channel_t ch);
int8_t BSP_PWM_Start_DMA(BSP_PWM_Channel_t ch, uint32_t *pData, uint16_t Length);
int8_t BSP_PWM_Stop_DMA(BSP_PWM_Channel_t ch);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

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/* Includes ----------------------------------------------------------------- */
#include <spi.h>
#include "bsp/spi.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Private variables -------------------------------------------------------- */
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 */
else
return BSP_SPI_ERR;
}
void HAL_SPI_TxCpltCallback(SPI_HandleTypeDef *hspi) {
BSP_SPI_t bsp_spi = SPI_Get(hspi);
if (bsp_spi != BSP_SPI_ERR) {
if (SPI_Callback[bsp_spi][BSP_SPI_TX_CPLT_CB]) {
SPI_Callback[bsp_spi][BSP_SPI_TX_CPLT_CB]();
}
}
}
void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef *hspi) {
BSP_SPI_t bsp_spi = SPI_Get(hspi);
if (bsp_spi != BSP_SPI_ERR) {
if (SPI_Callback[SPI_Get(hspi)][BSP_SPI_RX_CPLT_CB])
SPI_Callback[SPI_Get(hspi)][BSP_SPI_RX_CPLT_CB]();
}
}
void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi) {
BSP_SPI_t bsp_spi = SPI_Get(hspi);
if (bsp_spi != BSP_SPI_ERR) {
if (SPI_Callback[SPI_Get(hspi)][BSP_SPI_TX_RX_CPLT_CB])
SPI_Callback[SPI_Get(hspi)][BSP_SPI_TX_RX_CPLT_CB]();
}
}
void HAL_SPI_TxHalfCpltCallback(SPI_HandleTypeDef *hspi) {
BSP_SPI_t bsp_spi = SPI_Get(hspi);
if (bsp_spi != BSP_SPI_ERR) {
if (SPI_Callback[SPI_Get(hspi)][BSP_SPI_TX_HALF_CPLT_CB])
SPI_Callback[SPI_Get(hspi)][BSP_SPI_TX_HALF_CPLT_CB]();
}
}
void HAL_SPI_RxHalfCpltCallback(SPI_HandleTypeDef *hspi) {
BSP_SPI_t bsp_spi = SPI_Get(hspi);
if (bsp_spi != BSP_SPI_ERR) {
if (SPI_Callback[SPI_Get(hspi)][BSP_SPI_RX_HALF_CPLT_CB])
SPI_Callback[SPI_Get(hspi)][BSP_SPI_RX_HALF_CPLT_CB]();
}
}
void HAL_SPI_TxRxHalfCpltCallback(SPI_HandleTypeDef *hspi) {
BSP_SPI_t bsp_spi = SPI_Get(hspi);
if (bsp_spi != BSP_SPI_ERR) {
if (SPI_Callback[SPI_Get(hspi)][BSP_SPI_TX_RX_HALF_CPLT_CB])
SPI_Callback[SPI_Get(hspi)][BSP_SPI_TX_RX_HALF_CPLT_CB]();
}
}
void HAL_SPI_ErrorCallback(SPI_HandleTypeDef *hspi) {
BSP_SPI_t bsp_spi = SPI_Get(hspi);
if (bsp_spi != BSP_SPI_ERR) {
if (SPI_Callback[SPI_Get(hspi)][BSP_SPI_ERROR_CB])
SPI_Callback[SPI_Get(hspi)][BSP_SPI_ERROR_CB]();
}
}
void HAL_SPI_AbortCpltCallback(SPI_HandleTypeDef *hspi) {
BSP_SPI_t bsp_spi = SPI_Get(hspi);
if (bsp_spi != BSP_SPI_ERR) {
if (SPI_Callback[SPI_Get(hspi)][BSP_SPI_ABORT_CPLT_CB])
SPI_Callback[SPI_Get(hspi)][BSP_SPI_ABORT_CPLT_CB]();
}
}
/* Exported functions ------------------------------------------------------- */
SPI_HandleTypeDef *BSP_SPI_GetHandle(BSP_SPI_t spi) {
switch (spi) {
/* AUTO GENERATED BSP_SPI_GET_HANDLE */
default:
return NULL;
}
}
int8_t BSP_SPI_RegisterCallback(BSP_SPI_t spi, BSP_SPI_Callback_t type,
void (*callback)(void)) {
if (callback == NULL) return BSP_ERR_NULL;
SPI_Callback[spi][type] = callback;
return BSP_OK;
}
int8_t BSP_SPI_Transmit(BSP_SPI_t spi, uint8_t *data, uint16_t size, bool dma) {
if (spi >= BSP_SPI_NUM) return BSP_ERR;
SPI_HandleTypeDef *hspi = BSP_SPI_GetHandle(spi);
if (hspi == NULL) return BSP_ERR;
if (dma) {
return HAL_SPI_Transmit_DMA(hspi, data, size)!= HAL_OK;;
} else {
return HAL_SPI_Transmit(hspi, data, size, 20)!= HAL_OK;;
}
}
int8_t BSP_SPI_Receive(BSP_SPI_t spi, uint8_t *data, uint16_t size, bool dma) {
if (spi >= BSP_SPI_NUM) return BSP_ERR;
SPI_HandleTypeDef *hspi = BSP_SPI_GetHandle(spi);
if (hspi == NULL) return BSP_ERR;
if (dma) {
return HAL_SPI_Receive_DMA(hspi, data, size)!= HAL_OK;;
} else {
return HAL_SPI_Receive(hspi, data, size, 20)!= HAL_OK;;
}
}
int8_t BSP_SPI_TransmitReceive(BSP_SPI_t spi, uint8_t *txData, uint8_t *rxData,
uint16_t size, bool dma) {
if (spi >= BSP_SPI_NUM) return BSP_ERR;
SPI_HandleTypeDef *hspi = BSP_SPI_GetHandle(spi);
if (hspi == NULL) return BSP_ERR;
if (dma) {
return HAL_SPI_TransmitReceive_DMA(hspi, txData, rxData, size)!= HAL_OK;;
} else {
return HAL_SPI_TransmitReceive(hspi, txData, rxData, size, 20)!= HAL_OK;;
}
}
uint8_t BSP_SPI_MemReadByte(BSP_SPI_t spi, uint8_t reg) {
if (spi >= BSP_SPI_NUM) return 0xFF;
uint8_t tmp[2] = {reg | 0x80, 0x00};
BSP_SPI_TransmitReceive(spi, tmp, tmp, 2u, true);
return tmp[1];
}
int8_t BSP_SPI_MemWriteByte(BSP_SPI_t spi, uint8_t reg, uint8_t data) {
if (spi >= BSP_SPI_NUM) return BSP_ERR;
uint8_t tmp[2] = {reg & 0x7f, data};
return BSP_SPI_Transmit(spi, tmp, 2u, true);
}
int8_t BSP_SPI_MemRead(BSP_SPI_t spi, uint8_t reg, uint8_t *data, uint16_t size) {
if (spi >= BSP_SPI_NUM) return BSP_ERR;
if (data == NULL || size == 0) return BSP_ERR_NULL;
reg = reg | 0x80;
BSP_SPI_Transmit(spi, &reg, 1u, true);
return BSP_SPI_Receive(spi, data, size, true);
}
int8_t BSP_SPI_MemWrite(BSP_SPI_t spi, uint8_t reg, uint8_t *data, uint16_t size) {
if (spi >= BSP_SPI_NUM) return BSP_ERR;
if (data == NULL || size == 0) return BSP_ERR_NULL;
reg = reg & 0x7f;
BSP_SPI_Transmit(spi, &reg, 1u, true);
return BSP_SPI_Transmit(spi, data, size, true);
}
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */

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#pragma once
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ----------------------------------------------------------------- */
#include <spi.h>
#include <stdint.h>
#include <stdbool.h>
#include "bsp/bsp.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Exported types ----------------------------------------------------------- */
/* 要添加使用SPI的新设备，需要先在此添加对应的枚举值 */
/* SPI实体枚举，与设备对应 */
typedef enum {
/* AUTO GENERATED BSP_SPI_NAME */
BSP_SPI_NUM,
BSP_SPI_ERR,
} BSP_SPI_t;
/* SPI支持的中断回调函数类型，具体参考HAL中定义 */
typedef enum {
BSP_SPI_TX_CPLT_CB,
BSP_SPI_RX_CPLT_CB,
BSP_SPI_TX_RX_CPLT_CB,
BSP_SPI_TX_HALF_CPLT_CB,
BSP_SPI_RX_HALF_CPLT_CB,
BSP_SPI_TX_RX_HALF_CPLT_CB,
BSP_SPI_ERROR_CB,
BSP_SPI_ABORT_CPLT_CB,
BSP_SPI_CB_NUM,
} BSP_SPI_Callback_t;
/* Exported functions prototypes -------------------------------------------- */
SPI_HandleTypeDef *BSP_SPI_GetHandle(BSP_SPI_t spi);
int8_t BSP_SPI_RegisterCallback(BSP_SPI_t spi, BSP_SPI_Callback_t type,
void (*callback)(void));
int8_t BSP_SPI_Transmit(BSP_SPI_t spi, uint8_t *data, uint16_t size, bool dma);
int8_t BSP_SPI_Receive(BSP_SPI_t spi, uint8_t *data, uint16_t size, bool dma);
int8_t BSP_SPI_TransmitReceive(BSP_SPI_t spi, uint8_t *txData, uint8_t *rxData,
uint16_t size, bool dma);
uint8_t BSP_SPI_MemReadByte(BSP_SPI_t spi, uint8_t reg);
int8_t BSP_SPI_MemWriteByte(BSP_SPI_t spi, uint8_t reg, uint8_t data);
int8_t BSP_SPI_MemRead(BSP_SPI_t spi, uint8_t reg, uint8_t *data, uint16_t size);
int8_t BSP_SPI_MemWrite(BSP_SPI_t spi, uint8_t reg, uint8_t *data, uint16_t size);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

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/* Includes ----------------------------------------------------------------- */
#include "bsp/time.h"
#include "bsp.h"
#include <cmsis_os2.h>
#include "FreeRTOS.h"
#include "main.h"
#include "task.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Private variables -------------------------------------------------------- */
/* Private function -------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
uint32_t BSP_TIME_Get_ms() { return xTaskGetTickCount(); }
uint64_t BSP_TIME_Get_us() {
uint32_t tick_freq = osKernelGetTickFreq();
uint32_t ticks_old = xTaskGetTickCount()*(1000/tick_freq);
uint32_t tick_value_old = SysTick->VAL;
uint32_t ticks_new = xTaskGetTickCount()*(1000/tick_freq);
uint32_t tick_value_new = SysTick->VAL;
if (ticks_old == ticks_new) {
return ticks_new * 1000 + 1000 - tick_value_old * 1000 / (SysTick->LOAD + 1);
} else {
return ticks_new * 1000 + 1000 - tick_value_new * 1000 / (SysTick->LOAD + 1);
}
}
uint64_t BSP_TIME_Get() __attribute__((alias("BSP_TIME_Get_us")));
int8_t BSP_TIME_Delay_ms(uint32_t ms) {
uint32_t tick_period = 1000u / osKernelGetTickFreq();
uint32_t ticks = ms / tick_period;
switch (osKernelGetState()) {
case osKernelError:
case osKernelReserved:
case osKernelLocked:
case osKernelSuspended:
return BSP_ERR;
case osKernelRunning:
osDelay(ticks ? ticks : 1);
break;
case osKernelInactive:
case osKernelReady:
HAL_Delay(ms);
break;
}
return BSP_OK;
}
/*阻塞us延迟*/
int8_t BSP_TIME_Delay_us(uint32_t us) {
uint64_t start = BSP_TIME_Get_us();
while (BSP_TIME_Get_us() - start < us) {
// 等待us时间
}
return BSP_OK;
}
int8_t BSP_TIME_Delay(uint32_t ms) __attribute__((alias("BSP_TIME_Delay_ms")));
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */

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#pragma once
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ----------------------------------------------------------------- */
#include <stdint.h>
#include "bsp/bsp.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Exported types ----------------------------------------------------------- */
/* Exported functions prototypes -------------------------------------------- */
uint32_t BSP_TIME_Get_ms();
uint64_t BSP_TIME_Get_us();
uint64_t BSP_TIME_Get();
int8_t BSP_TIME_Delay_ms(uint32_t ms);
/*微秒阻塞延时，一般别用*/
int8_t BSP_TIME_Delay_us(uint32_t us);
int8_t BSP_TIME_Delay(uint32_t ms);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

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/* Includes ----------------------------------------------------------------- */
#include <usart.h>
#include "bsp/uart.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Private variables -------------------------------------------------------- */
static void (*UART_Callback[BSP_UART_NUM][BSP_UART_CB_NUM])(void);
/* Private function -------------------------------------------------------- */
static BSP_UART_t UART_Get(UART_HandleTypeDef *huart) {
/* AUTO GENERATED UART_GET */
else
return BSP_UART_ERR;
}
void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart) {
BSP_UART_t bsp_uart = UART_Get(huart);
if (bsp_uart != BSP_UART_ERR) {
if (UART_Callback[bsp_uart][BSP_UART_TX_CPLT_CB]) {
UART_Callback[bsp_uart][BSP_UART_TX_CPLT_CB]();
}
}
}
void HAL_UART_TxHalfCpltCallback(UART_HandleTypeDef *huart) {
BSP_UART_t bsp_uart = UART_Get(huart);
if (bsp_uart != BSP_UART_ERR) {
if (UART_Callback[bsp_uart][BSP_UART_TX_HALF_CPLT_CB]) {
UART_Callback[bsp_uart][BSP_UART_TX_HALF_CPLT_CB]();
}
}
}
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) {
BSP_UART_t bsp_uart = UART_Get(huart);
if (bsp_uart != BSP_UART_ERR) {
if (UART_Callback[bsp_uart][BSP_UART_RX_CPLT_CB]) {
UART_Callback[bsp_uart][BSP_UART_RX_CPLT_CB]();
}
}
}
void HAL_UART_RxHalfCpltCallback(UART_HandleTypeDef *huart) {
BSP_UART_t bsp_uart = UART_Get(huart);
if (bsp_uart != BSP_UART_ERR) {
if (UART_Callback[bsp_uart][BSP_UART_RX_HALF_CPLT_CB]) {
UART_Callback[bsp_uart][BSP_UART_RX_HALF_CPLT_CB]();
}
}
}
void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart) {
BSP_UART_t bsp_uart = UART_Get(huart);
if (bsp_uart != BSP_UART_ERR) {
if (UART_Callback[bsp_uart][BSP_UART_ERROR_CB]) {
UART_Callback[bsp_uart][BSP_UART_ERROR_CB]();
}
}
}
void HAL_UART_AbortCpltCallback(UART_HandleTypeDef *huart) {
BSP_UART_t bsp_uart = UART_Get(huart);
if (bsp_uart != BSP_UART_ERR) {
if (UART_Callback[bsp_uart][BSP_UART_ABORT_CPLT_CB]) {
UART_Callback[bsp_uart][BSP_UART_ABORT_CPLT_CB]();
}
}
}
void HAL_UART_AbortTransmitCpltCallback(UART_HandleTypeDef *huart) {
BSP_UART_t bsp_uart = UART_Get(huart);
if (bsp_uart != BSP_UART_ERR) {
if (UART_Callback[bsp_uart][BSP_UART_ABORT_TX_CPLT_CB]) {
UART_Callback[bsp_uart][BSP_UART_ABORT_TX_CPLT_CB]();
}
}
}
void HAL_UART_AbortReceiveCpltCallback(UART_HandleTypeDef *huart) {
BSP_UART_t bsp_uart = UART_Get(huart);
if (bsp_uart != BSP_UART_ERR) {
if (UART_Callback[bsp_uart][BSP_UART_ABORT_RX_CPLT_CB]) {
UART_Callback[bsp_uart][BSP_UART_ABORT_RX_CPLT_CB]();
}
}
}
/* Exported functions ------------------------------------------------------- */
void BSP_UART_IRQHandler(UART_HandleTypeDef *huart) {
if (__HAL_UART_GET_FLAG(huart, UART_FLAG_IDLE)) {
__HAL_UART_CLEAR_IDLEFLAG(huart);
if (UART_Callback[UART_Get(huart)][BSP_UART_IDLE_LINE_CB]) {
UART_Callback[UART_Get(huart)][BSP_UART_IDLE_LINE_CB]();
}
}
}
UART_HandleTypeDef *BSP_UART_GetHandle(BSP_UART_t uart) {
switch (uart) {
/* AUTO GENERATED BSP_UART_GET_HANDLE */
default:
return NULL;
}
}
int8_t BSP_UART_RegisterCallback(BSP_UART_t uart, BSP_UART_Callback_t type,
void (*callback)(void)) {
if (callback == NULL) return BSP_ERR_NULL;
if (uart >= BSP_UART_NUM || type >= BSP_UART_CB_NUM) return BSP_ERR;
UART_Callback[uart][type] = callback;
return BSP_OK;
}
int8_t BSP_UART_Transmit(BSP_UART_t uart, uint8_t *data, uint16_t size, bool dma) {
if (uart >= BSP_UART_NUM) return BSP_ERR;
if (data == NULL || size == 0) return BSP_ERR_NULL;
if (dma) {
return HAL_UART_Transmit_DMA(BSP_UART_GetHandle(uart), data, size);
} else {
return HAL_UART_Transmit_IT(BSP_UART_GetHandle(uart), data, size);
}
}
int8_t BSP_UART_Receive(BSP_UART_t uart, uint8_t *data, uint16_t size, bool dma) {
if (uart >= BSP_UART_NUM) return BSP_ERR;
if (data == NULL || size == 0) return BSP_ERR_NULL;
if (dma) {
return HAL_UART_Receive_DMA(BSP_UART_GetHandle(uart), data, size);
} else {
return HAL_UART_Receive_IT(BSP_UART_GetHandle(uart), data, size);
}
}
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */

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#pragma once
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ----------------------------------------------------------------- */
#include <usart.h>
#include <stdint.h>
#include <stdbool.h>
#include "bsp/bsp.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* Exported types ----------------------------------------------------------- */
/* 要添加使用UART的新设备，需要先在此添加对应的枚举值 */
/* UART实体枚举，与设备对应 */
typedef enum {
/* AUTO GENERATED BSP_UART_NAME */
BSP_UART_NUM,
BSP_UART_ERR,
} BSP_UART_t;
/* UART支持的中断回调函数类型，具体参考HAL中定义 */
typedef enum {
BSP_UART_TX_HALF_CPLT_CB,
BSP_UART_TX_CPLT_CB,
BSP_UART_RX_HALF_CPLT_CB,
BSP_UART_RX_CPLT_CB,
BSP_UART_ERROR_CB,
BSP_UART_ABORT_CPLT_CB,
BSP_UART_ABORT_TX_CPLT_CB,
BSP_UART_ABORT_RX_CPLT_CB,
BSP_UART_IDLE_LINE_CB,
BSP_UART_CB_NUM,
} BSP_UART_Callback_t;
/* Exported functions prototypes -------------------------------------------- */
UART_HandleTypeDef *BSP_UART_GetHandle(BSP_UART_t uart);
void BSP_UART_IRQHandler(UART_HandleTypeDef *huart);
int8_t BSP_UART_RegisterCallback(BSP_UART_t uart, BSP_UART_Callback_t type,
void (*callback)(void));
int8_t BSP_UART_Transmit(BSP_UART_t uart, uint8_t *data, uint16_t size, bool dma);
int8_t BSP_UART_Receive(BSP_UART_t uart, uint8_t *data, uint16_t size, bool dma);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

0
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352
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/*
* FreeRTOS+CLI V1.0.4
* Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* http://www.FreeRTOS.org
* http://aws.amazon.com/freertos
*
* 1 tab == 4 spaces!
*/
/* Standard includes. */
#include <string.h>
#include <stdint.h>
/* FreeRTOS includes. */
#include "FreeRTOS.h"
#include "task.h"
/* Utils includes. */
#include "FreeRTOS_CLI.h"
/* If the application writer needs to place the buffer used by the CLI at a
fixed address then set configAPPLICATION_PROVIDES_cOutputBuffer to 1 in
FreeRTOSConfig.h, then declare an array with the following name and size in
one of the application files:
char cOutputBuffer[ configCOMMAND_INT_MAX_OUTPUT_SIZE ];
*/
#ifndef configAPPLICATION_PROVIDES_cOutputBuffer
#define configAPPLICATION_PROVIDES_cOutputBuffer 0
#endif
typedef struct xCOMMAND_INPUT_LIST
{
const CLI_Command_Definition_t *pxCommandLineDefinition;
struct xCOMMAND_INPUT_LIST *pxNext;
} CLI_Definition_List_Item_t;
/*
* The callback function that is executed when "help" is entered. This is the
* only default command that is always present.
*/
static BaseType_t prvHelpCommand( char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString );
/*
* Return the number of parameters that follow the command name.
*/
static int8_t prvGetNumberOfParameters( const char *pcCommandString );
/* The definition of the "help" command. This command is always at the front
of the list of registered commands. */
static const CLI_Command_Definition_t xHelpCommand =
{
"help",
"\r\nhelp:\r\n Lists all the registered commands\r\n\r\n",
prvHelpCommand,
0
};
/* The definition of the list of commands. Commands that are registered are
added to this list. */
static CLI_Definition_List_Item_t xRegisteredCommands =
{
&xHelpCommand, /* The first command in the list is always the help command, defined in this file. */
NULL /* The next pointer is initialised to NULL, as there are no other registered commands yet. */
};
/* A buffer into which command outputs can be written is declared here, rather
than in the command console implementation, to allow multiple command consoles
to share the same buffer. For example, an application may allow access to the
command interpreter by UART and by Ethernet. Sharing a buffer is done purely
to save RAM. Note, however, that the command console itself is not re-entrant,
so only one command interpreter interface can be used at any one time. For that
reason, no attempt at providing mutual exclusion to the cOutputBuffer array is
attempted.
configAPPLICATION_PROVIDES_cOutputBuffer is provided to allow the application
writer to provide their own cOutputBuffer declaration in cases where the
buffer needs to be placed at a fixed address (rather than by the linker). */
#if( configAPPLICATION_PROVIDES_cOutputBuffer == 0 )
static char cOutputBuffer[ configCOMMAND_INT_MAX_OUTPUT_SIZE ];
#else
extern char cOutputBuffer[ configCOMMAND_INT_MAX_OUTPUT_SIZE ];
#endif
/*---------------------------------------------------------- */
BaseType_t FreeRTOS_CLIRegisterCommand( const CLI_Command_Definition_t * const pxCommandToRegister )
{
static CLI_Definition_List_Item_t *pxLastCommandInList = &xRegisteredCommands;
CLI_Definition_List_Item_t *pxNewListItem;
BaseType_t xReturn = pdFAIL;
/* Check the parameter is not NULL. */
configASSERT( pxCommandToRegister );
/* Create a new list item that will reference the command being registered. */
pxNewListItem = ( CLI_Definition_List_Item_t * ) pvPortMalloc( sizeof( CLI_Definition_List_Item_t ) );
configASSERT( pxNewListItem );
if( pxNewListItem != NULL )
{
taskENTER_CRITICAL();
{
/* Reference the command being registered from the newly created
list item. */
pxNewListItem->pxCommandLineDefinition = pxCommandToRegister;
/* The new list item will get added to the end of the list, so
pxNext has nowhere to point. */
pxNewListItem->pxNext = NULL;
/* Add the newly created list item to the end of the already existing
list. */
pxLastCommandInList->pxNext = pxNewListItem;
/* Set the end of list marker to the new list item. */
pxLastCommandInList = pxNewListItem;
}
taskEXIT_CRITICAL();
xReturn = pdPASS;
}
return xReturn;
}
/*---------------------------------------------------------- */
BaseType_t FreeRTOS_CLIProcessCommand( const char * const pcCommandInput, char * pcWriteBuffer, size_t xWriteBufferLen )
{
static const CLI_Definition_List_Item_t *pxCommand = NULL;
BaseType_t xReturn = pdTRUE;
const char *pcRegisteredCommandString;
size_t xCommandStringLength;
/* Note: This function is not re-entrant. It must not be called from more
thank one task. */
if( pxCommand == NULL )
{
/* Search for the command string in the list of registered commands. */
for( pxCommand = &xRegisteredCommands; pxCommand != NULL; pxCommand = pxCommand->pxNext )
{
pcRegisteredCommandString = pxCommand->pxCommandLineDefinition->pcCommand;
xCommandStringLength = strlen( pcRegisteredCommandString );
/* To ensure the string lengths match exactly, so as not to pick up
a sub-string of a longer command, check the byte after the expected
end of the string is either the end of the string or a space before
a parameter. */
if( ( pcCommandInput[ xCommandStringLength ] == ' ' ) || ( pcCommandInput[ xCommandStringLength ] == 0x00 ) )
{
if( strncmp( pcCommandInput, pcRegisteredCommandString, xCommandStringLength ) == 0 )
{
/* The command has been found. Check it has the expected
number of parameters. If cExpectedNumberOfParameters is -1,
then there could be a variable number of parameters and no
check is made. */
if( pxCommand->pxCommandLineDefinition->cExpectedNumberOfParameters >= 0 )
{
if( prvGetNumberOfParameters( pcCommandInput ) != pxCommand->pxCommandLineDefinition->cExpectedNumberOfParameters )
{
xReturn = pdFALSE;
}
}
break;
}
}
}
}
if( ( pxCommand != NULL ) && ( xReturn == pdFALSE ) )
{
/* The command was found, but the number of parameters with the command
was incorrect. */
strncpy( pcWriteBuffer, "Incorrect command parameter(s). Enter \"help\" to view a list of available commands.\r\n\r\n", xWriteBufferLen );
pxCommand = NULL;
}
else if( pxCommand != NULL )
{
/* Call the callback function that is registered to this command. */
xReturn = pxCommand->pxCommandLineDefinition->pxCommandInterpreter( pcWriteBuffer, xWriteBufferLen, pcCommandInput );
/* If xReturn is pdFALSE, then no further strings will be returned
after this one, and pxCommand can be reset to NULL ready to search
for the next entered command. */
if( xReturn == pdFALSE )
{
pxCommand = NULL;
}
}
else
{
/* pxCommand was NULL, the command was not found. */
strncpy( pcWriteBuffer, "Command not recognised. Enter 'help' to view a list of available commands.\r\n\r\n", xWriteBufferLen );
xReturn = pdFALSE;
}
return xReturn;
}
/*---------------------------------------------------------- */
char *FreeRTOS_CLIGetOutputBuffer( void )
{
return cOutputBuffer;
}
/*---------------------------------------------------------- */
const char *FreeRTOS_CLIGetParameter( const char *pcCommandString, UBaseType_t uxWantedParameter, BaseType_t *pxParameterStringLength )
{
UBaseType_t uxParametersFound = 0;
const char *pcReturn = NULL;
*pxParameterStringLength = 0;
while( uxParametersFound < uxWantedParameter )
{
/* Index the character pointer past the current word. If this is the start
of the command string then the first word is the command itself. */
while( ( ( *pcCommandString ) != 0x00 ) && ( ( *pcCommandString ) != ' ' ) )
{
pcCommandString++;
}
/* Find the start of the next string. */
while( ( ( *pcCommandString ) != 0x00 ) && ( ( *pcCommandString ) == ' ' ) )
{
pcCommandString++;
}
/* Was a string found? */
if( *pcCommandString != 0x00 )
{
/* Is this the start of the required parameter? */
uxParametersFound++;
if( uxParametersFound == uxWantedParameter )
{
/* How long is the parameter? */
pcReturn = pcCommandString;
while( ( ( *pcCommandString ) != 0x00 ) && ( ( *pcCommandString ) != ' ' ) )
{
( *pxParameterStringLength )++;
pcCommandString++;
}
if( *pxParameterStringLength == 0 )
{
pcReturn = NULL;
}
break;
}
}
else
{
break;
}
}
return pcReturn;
}
/*---------------------------------------------------------- */
static BaseType_t prvHelpCommand( char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString )
{
static const CLI_Definition_List_Item_t * pxCommand = NULL;
BaseType_t xReturn;
( void ) pcCommandString;
if( pxCommand == NULL )
{
/* Reset the pxCommand pointer back to the start of the list. */
pxCommand = &xRegisteredCommands;
}
/* Return the next command help string, before moving the pointer on to
the next command in the list. */
strncpy( pcWriteBuffer, pxCommand->pxCommandLineDefinition->pcHelpString, xWriteBufferLen );
pxCommand = pxCommand->pxNext;
if( pxCommand == NULL )
{
/* There are no more commands in the list, so there will be no more
strings to return after this one and pdFALSE should be returned. */
xReturn = pdFALSE;
}
else
{
xReturn = pdTRUE;
}
return xReturn;
}
/*---------------------------------------------------------- */
static int8_t prvGetNumberOfParameters( const char *pcCommandString )
{
int8_t cParameters = 0;
BaseType_t xLastCharacterWasSpace = pdFALSE;
/* Count the number of space delimited words in pcCommandString. */
while( *pcCommandString != 0x00 )
{
if( ( *pcCommandString ) == ' ' )
{
if( xLastCharacterWasSpace != pdTRUE )
{
cParameters++;
xLastCharacterWasSpace = pdTRUE;
}
}
else
{
xLastCharacterWasSpace = pdFALSE;
}
pcCommandString++;
}
/* If the command string ended with spaces, then there will have been too
many parameters counted. */
if( xLastCharacterWasSpace == pdTRUE )
{
cParameters--;
}
/* The value returned is one less than the number of space delimited words,
as the first word should be the command itself. */
return cParameters;
}

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/*
* FreeRTOS+CLI V1.0.4
* Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* http://www.FreeRTOS.org
* http://aws.amazon.com/freertos
*
* 1 tab == 4 spaces!
*/
#ifndef COMMAND_INTERPRETER_H
#define COMMAND_INTERPRETER_H
/* This config should be defined in FreeRTOSConfig.h. But due to the limition of CubeMX I put it here. */
#define configCOMMAND_INT_MAX_OUTPUT_SIZE 512
/* The prototype to which callback functions used to process command line
commands must comply. pcWriteBuffer is a buffer into which the output from
executing the command can be written, xWriteBufferLen is the length, in bytes of
the pcWriteBuffer buffer, and pcCommandString is the entire string as input by
the user (from which parameters can be extracted).*/
typedef BaseType_t (*pdCOMMAND_LINE_CALLBACK)( char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString );
/* The structure that defines command line commands. A command line command
should be defined by declaring a const structure of this type. */
typedef struct xCOMMAND_LINE_INPUT
{
const char * const pcCommand; /* The command that causes pxCommandInterpreter to be executed. For example "help". Must be all lower case. */
const char * const pcHelpString; /* String that describes how to use the command. Should start with the command itself, and end with "\r\n". For example "help: Returns a list of all the commands\r\n". */
const pdCOMMAND_LINE_CALLBACK pxCommandInterpreter; /* A pointer to the callback function that will return the output generated by the command. */
int8_t cExpectedNumberOfParameters; /* Commands expect a fixed number of parameters, which may be zero. */
} CLI_Command_Definition_t;
/* For backward compatibility. */
#define xCommandLineInput CLI_Command_Definition_t
/*
* Register the command passed in using the pxCommandToRegister parameter.
* Registering a command adds the command to the list of commands that are
* handled by the command interpreter. Once a command has been registered it
* can be executed from the command line.
*/
BaseType_t FreeRTOS_CLIRegisterCommand( const CLI_Command_Definition_t * const pxCommandToRegister );
/*
* Runs the command interpreter for the command string "pcCommandInput". Any
* output generated by running the command will be placed into pcWriteBuffer.
* xWriteBufferLen must indicate the size, in bytes, of the buffer pointed to
* by pcWriteBuffer.
*
* FreeRTOS_CLIProcessCommand should be called repeatedly until it returns pdFALSE.
*
* pcCmdIntProcessCommand is not reentrant. It must not be called from more
* than one task - or at least - by more than one task at a time.
*/
BaseType_t FreeRTOS_CLIProcessCommand( const char * const pcCommandInput, char * pcWriteBuffer, size_t xWriteBufferLen );
/*---------------------------------------------------------- */
/*
* A buffer into which command outputs can be written is declared in the
* main command interpreter, rather than in the command console implementation,
* to allow application that provide access to the command console via multiple
* interfaces to share a buffer, and therefore save RAM. Note, however, that
* the command interpreter itself is not re-entrant, so only one command
* console interface can be used at any one time. For that reason, no attempt
* is made to provide any mutual exclusion mechanism on the output buffer.
*
* FreeRTOS_CLIGetOutputBuffer() returns the address of the output buffer.
*/
char *FreeRTOS_CLIGetOutputBuffer( void );
/*
* Return a pointer to the xParameterNumber'th word in pcCommandString.
*/
const char *FreeRTOS_CLIGetParameter( const char *pcCommandString, UBaseType_t uxWantedParameter, BaseType_t *pxParameterStringLength );
#endif /* COMMAND_INTERPRETER_H */

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/*
开源的AHRS算法。
MadgwickAHRS
*/
#include "ahrs.h"
#include <string.h>
#include "user_math.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
#define BETA_IMU (0.033f)
#define BETA_AHRS (0.041f)
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* 2 * proportional gain (Kp) */
static float beta = BETA_IMU;
/**
* @brief 不使用磁力计计算姿态
*
* @param ahrs 姿态解算主结构体
* @param accl 加速度计数据
* @param gyro 陀螺仪数据
* @return int8_t 0对应没有错误
*/
static int8_t AHRS_UpdateIMU(AHRS_t *ahrs, const AHRS_Accl_t *accl,
const AHRS_Gyro_t *gyro) {
if (ahrs == NULL) return -1;
if (accl == NULL) return -1;
if (gyro == NULL) return -1;
beta = BETA_IMU;
float ax = accl->x;
float ay = accl->y;
float az = accl->z;
float gx = gyro->x;
float gy = gyro->y;
float gz = gyro->z;
float recip_norm;
float s0, s1, s2, s3;
float q_dot1, q_dot2, q_dot3, q_dot4;
float _2q0, _2q1, _2q2, _2q3, _4q0, _4q1, _4q2, _8q1, _8q2, q0q0, q1q1, q2q2,
q3q3;
/* Rate of change of quaternion from gyroscope */
q_dot1 = 0.5f * (-ahrs->quat.q1 * gx - ahrs->quat.q2 * gy -
ahrs->quat.q3 * gz);
q_dot2 = 0.5f * (ahrs->quat.q0 * gx + ahrs->quat.q2 * gz -
ahrs->quat.q3 * gy);
q_dot3 = 0.5f * (ahrs->quat.q0 * gy - ahrs->quat.q1 * gz +
ahrs->quat.q3 * gx);
q_dot4 = 0.5f * (ahrs->quat.q0 * gz + ahrs->quat.q1 * gy -
ahrs->quat.q2 * gx);
/* Compute feedback only if accelerometer measurement valid (avoids NaN in
* accelerometer normalisation) */
if (!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) {
/* Normalise accelerometer measurement */
recip_norm = InvSqrt(ax * ax + ay * ay + az * az);
ax *= recip_norm;
ay *= recip_norm;
az *= recip_norm;
/* Auxiliary variables to avoid repeated arithmetic */
_2q0 = 2.0f * ahrs->quat.q0;
_2q1 = 2.0f * ahrs->quat.q1;
_2q2 = 2.0f * ahrs->quat.q2;
_2q3 = 2.0f * ahrs->quat.q3;
_4q0 = 4.0f * ahrs->quat.q0;
_4q1 = 4.0f * ahrs->quat.q1;
_4q2 = 4.0f * ahrs->quat.q2;
_8q1 = 8.0f * ahrs->quat.q1;
_8q2 = 8.0f * ahrs->quat.q2;
q0q0 = ahrs->quat.q0 * ahrs->quat.q0;
q1q1 = ahrs->quat.q1 * ahrs->quat.q1;
q2q2 = ahrs->quat.q2 * ahrs->quat.q2;
q3q3 = ahrs->quat.q3 * ahrs->quat.q3;
/* Gradient decent algorithm corrective step */
s0 = _4q0 * q2q2 + _2q2 * ax + _4q0 * q1q1 - _2q1 * ay;
s1 = _4q1 * q3q3 - _2q3 * ax + 4.0f * q0q0 * ahrs->quat.q1 -
_2q0 * ay - _4q1 + _8q1 * q1q1 + _8q1 * q2q2 + _4q1 * az;
s2 = 4.0f * q0q0 * ahrs->quat.q2 + _2q0 * ax + _4q2 * q3q3 -
_2q3 * ay - _4q2 + _8q2 * q1q1 + _8q2 * q2q2 + _4q2 * az;
s3 = 4.0f * q1q1 * ahrs->quat.q3 - _2q1 * ax +
4.0f * q2q2 * ahrs->quat.q3 - _2q2 * ay;
/* normalise step magnitude */
recip_norm = InvSqrt(s0 * s0 + s1 * s1 + s2 * s2 + s3 * s3);
s0 *= recip_norm;
s1 *= recip_norm;
s2 *= recip_norm;
s3 *= recip_norm;
/* Apply feedback step */
q_dot1 -= beta * s0;
q_dot2 -= beta * s1;
q_dot3 -= beta * s2;
q_dot4 -= beta * s3;
}
/* Integrate rate of change of quaternion to yield quaternion */
ahrs->quat.q0 += q_dot1 * ahrs->inv_sample_freq;
ahrs->quat.q1 += q_dot2 * ahrs->inv_sample_freq;
ahrs->quat.q2 += q_dot3 * ahrs->inv_sample_freq;
ahrs->quat.q3 += q_dot4 * ahrs->inv_sample_freq;
/* Normalise quaternion */
recip_norm = InvSqrt(ahrs->quat.q0 * ahrs->quat.q0 +
ahrs->quat.q1 * ahrs->quat.q1 +
ahrs->quat.q2 * ahrs->quat.q2 +
ahrs->quat.q3 * ahrs->quat.q3);
ahrs->quat.q0 *= recip_norm;
ahrs->quat.q1 *= recip_norm;
ahrs->quat.q2 *= recip_norm;
ahrs->quat.q3 *= recip_norm;
return 0;
}
/**
* @brief 初始化姿态解算
*
* @param ahrs 姿态解算主结构体
* @param magn 磁力计数据
* @param sample_freq 采样频率
* @return int8_t 0对应没有错误
*/
int8_t AHRS_Init(AHRS_t *ahrs, const AHRS_Magn_t *magn, float sample_freq) {
if (ahrs == NULL) return -1;
ahrs->inv_sample_freq = 1.0f / sample_freq;
ahrs->quat.q0 = 1.0f;
ahrs->quat.q1 = 0.0f;
ahrs->quat.q2 = 0.0f;
ahrs->quat.q3 = 0.0f;
if (magn) {
float yaw = -atan2(magn->y, magn->x);
if ((magn->x == 0.0f) && (magn->y == 0.0f) && (magn->z == 0.0f)) {
ahrs->quat.q0 = 0.800884545f;
ahrs->quat.q1 = 0.00862364192f;
ahrs->quat.q2 = -0.00283267116f;
ahrs->quat.q3 = 0.598749936f;
} else if ((yaw < (M_PI / 2.0f)) || (yaw > 0.0f)) {
ahrs->quat.q0 = 0.997458339f;
ahrs->quat.q1 = 0.000336312107f;
ahrs->quat.q2 = -0.0057230792f;
ahrs->quat.q3 = 0.0740156546;
} else if ((yaw < M_PI) || (yaw > (M_PI / 2.0f))) {
ahrs->quat.q0 = 0.800884545f;
ahrs->quat.q1 = 0.00862364192f;
ahrs->quat.q2 = -0.00283267116f;
ahrs->quat.q3 = 0.598749936f;
} else if ((yaw < 90.0f) || (yaw > M_PI)) {
ahrs->quat.q0 = 0.800884545f;
ahrs->quat.q1 = 0.00862364192f;
ahrs->quat.q2 = -0.00283267116f;
ahrs->quat.q3 = 0.598749936f;
} else if ((yaw < 90.0f) || (yaw > 0.0f)) {
ahrs->quat.q0 = 0.800884545f;
ahrs->quat.q1 = 0.00862364192f;
ahrs->quat.q2 = -0.00283267116f;
ahrs->quat.q3 = 0.598749936f;
}
}
return 0;
}
/**
* @brief 姿态运算更新一次
* @note 输入数据必须是NED(North East Down) 参考坐标系
*
* @param ahrs 姿态解算主结构体
* @param accl 加速度计数据
* @param gyro 陀螺仪数据
* @param magn 磁力计数据
* @return int8_t 0对应没有错误
*/
int8_t AHRS_Update(AHRS_t *ahrs, const AHRS_Accl_t *accl,
const AHRS_Gyro_t *gyro, const AHRS_Magn_t *magn) {
if (ahrs == NULL) return -1;
if (accl == NULL) return -1;
if (gyro == NULL) return -1;
beta = BETA_AHRS;
float recip_norm;
float s0, s1, s2, s3;
float q_dot1, q_dot2, q_dot3, q_dot4;
float hx, hy;
float _2q0mx, _2q0my, _2q0mz, _2q1mx, _2bx, _2bz, _4bx, _4bz, _2q0, _2q1,
_2q2, _2q3, _2q0q2, _2q2q3, q0q0, q0q1, q0q2, q0q3, q1q1, q1q2, q1q3,
q2q2, q2q3, q3q3;
if (magn == NULL) return AHRS_UpdateIMU(ahrs, accl, gyro);
float mx = magn->x;
float my = magn->y;
float mz = magn->z;
/* Use IMU algorithm if magnetometer measurement invalid (avoids NaN in */
/* magnetometer normalisation) */
if ((mx == 0.0f) && (my == 0.0f) && (mz == 0.0f)) {
return AHRS_UpdateIMU(ahrs, accl, gyro);
}
float ax = accl->x;
float ay = accl->y;
float az = accl->z;
float gx = gyro->x;
float gy = gyro->y;
float gz = gyro->z;
/* Rate of change of quaternion from gyroscope */
q_dot1 = 0.5f * (-ahrs->quat.q1 * gx - ahrs->quat.q2 * gy -
ahrs->quat.q3 * gz);
q_dot2 = 0.5f * (ahrs->quat.q0 * gx + ahrs->quat.q2 * gz -
ahrs->quat.q3 * gy);
q_dot3 = 0.5f * (ahrs->quat.q0 * gy - ahrs->quat.q1 * gz +
ahrs->quat.q3 * gx);
q_dot4 = 0.5f * (ahrs->quat.q0 * gz + ahrs->quat.q1 * gy -
ahrs->quat.q2 * gx);
/* Compute feedback only if accelerometer measurement valid (avoids NaN in
* accelerometer normalisation) */
if (!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) {
/* Normalise accelerometer measurement */
recip_norm = InvSqrt(ax * ax + ay * ay + az * az);
ax *= recip_norm;
ay *= recip_norm;
az *= recip_norm;
/* Normalise magnetometer measurement */
recip_norm = InvSqrt(mx * mx + my * my + mz * mz);
mx *= recip_norm;
my *= recip_norm;
mz *= recip_norm;
/* Auxiliary variables to avoid repeated arithmetic */
_2q0mx = 2.0f * ahrs->quat.q0 * mx;
_2q0my = 2.0f * ahrs->quat.q0 * my;
_2q0mz = 2.0f * ahrs->quat.q0 * mz;
_2q1mx = 2.0f * ahrs->quat.q1 * mx;
_2q0 = 2.0f * ahrs->quat.q0;
_2q1 = 2.0f * ahrs->quat.q1;
_2q2 = 2.0f * ahrs->quat.q2;
_2q3 = 2.0f * ahrs->quat.q3;
_2q0q2 = 2.0f * ahrs->quat.q0 * ahrs->quat.q2;
_2q2q3 = 2.0f * ahrs->quat.q2 * ahrs->quat.q3;
q0q0 = ahrs->quat.q0 * ahrs->quat.q0;
q0q1 = ahrs->quat.q0 * ahrs->quat.q1;
q0q2 = ahrs->quat.q0 * ahrs->quat.q2;
q0q3 = ahrs->quat.q0 * ahrs->quat.q3;
q1q1 = ahrs->quat.q1 * ahrs->quat.q1;
q1q2 = ahrs->quat.q1 * ahrs->quat.q2;
q1q3 = ahrs->quat.q1 * ahrs->quat.q3;
q2q2 = ahrs->quat.q2 * ahrs->quat.q2;
q2q3 = ahrs->quat.q2 * ahrs->quat.q3;
q3q3 = ahrs->quat.q3 * ahrs->quat.q3;
/* Reference direction of Earth's magnetic field */
hx = mx * q0q0 - _2q0my * ahrs->quat.q3 +
_2q0mz * ahrs->quat.q2 + mx * q1q1 +
_2q1 * my * ahrs->quat.q2 + _2q1 * mz * ahrs->quat.q3 -
mx * q2q2 - mx * q3q3;
hy = _2q0mx * ahrs->quat.q3 + my * q0q0 -
_2q0mz * ahrs->quat.q1 + _2q1mx * ahrs->quat.q2 -
my * q1q1 + my * q2q2 + _2q2 * mz * ahrs->quat.q3 - my * q3q3;
// _2bx = sqrtf(hx * hx + hy * hy);
// 改为invsqrt
_2bx = 1.f / InvSqrt(hx * hx + hy * hy);
_2bz = -_2q0mx * ahrs->quat.q2 + _2q0my * ahrs->quat.q1 +
mz * q0q0 + _2q1mx * ahrs->quat.q3 - mz * q1q1 +
_2q2 * my * ahrs->quat.q3 - mz * q2q2 + mz * q3q3;
_4bx = 2.0f * _2bx;
_4bz = 2.0f * _2bz;
/* Gradient decent algorithm corrective step */
s0 = -_2q2 * (2.0f * q1q3 - _2q0q2 - ax) +
_2q1 * (2.0f * q0q1 + _2q2q3 - ay) -
_2bz * ahrs->quat.q2 *
(_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) +
(-_2bx * ahrs->quat.q3 + _2bz * ahrs->quat.q1) *
(_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) +
_2bx * ahrs->quat.q2 *
(_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz);
s1 = _2q3 * (2.0f * q1q3 - _2q0q2 - ax) +
_2q0 * (2.0f * q0q1 + _2q2q3 - ay) -
4.0f * ahrs->quat.q1 * (1 - 2.0f * q1q1 - 2.0f * q2q2 - az) +
_2bz * ahrs->quat.q3 *
(_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) +
(_2bx * ahrs->quat.q2 + _2bz * ahrs->quat.q0) *
(_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) +
(_2bx * ahrs->quat.q3 - _4bz * ahrs->quat.q1) *
(_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz);
s2 = -_2q0 * (2.0f * q1q3 - _2q0q2 - ax) +
_2q3 * (2.0f * q0q1 + _2q2q3 - ay) -
4.0f * ahrs->quat.q2 * (1 - 2.0f * q1q1 - 2.0f * q2q2 - az) +
(-_4bx * ahrs->quat.q2 - _2bz * ahrs->quat.q0) *
(_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) +
(_2bx * ahrs->quat.q1 + _2bz * ahrs->quat.q3) *
(_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) +
(_2bx * ahrs->quat.q0 - _4bz * ahrs->quat.q2) *
(_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz);
s3 = _2q1 * (2.0f * q1q3 - _2q0q2 - ax) +
_2q2 * (2.0f * q0q1 + _2q2q3 - ay) +
(-_4bx * ahrs->quat.q3 + _2bz * ahrs->quat.q1) *
(_2bx * (0.5f - q2q2 - q3q3) + _2bz * (q1q3 - q0q2) - mx) +
(-_2bx * ahrs->quat.q0 + _2bz * ahrs->quat.q2) *
(_2bx * (q1q2 - q0q3) + _2bz * (q0q1 + q2q3) - my) +
_2bx * ahrs->quat.q1 *
(_2bx * (q0q2 + q1q3) + _2bz * (0.5f - q1q1 - q2q2) - mz);
/* normalise step magnitude */
recip_norm = InvSqrt(s0 * s0 + s1 * s1 + s2 * s2 + s3 * s3);
s0 *= recip_norm;
s1 *= recip_norm;
s2 *= recip_norm;
s3 *= recip_norm;
/* Apply feedback step */
q_dot1 -= beta * s0;
q_dot2 -= beta * s1;
q_dot3 -= beta * s2;
q_dot4 -= beta * s3;
}
/* Integrate rate of change of quaternion to yield quaternion */
ahrs->quat.q0 += q_dot1 * ahrs->inv_sample_freq;
ahrs->quat.q1 += q_dot2 * ahrs->inv_sample_freq;
ahrs->quat.q2 += q_dot3 * ahrs->inv_sample_freq;
ahrs->quat.q3 += q_dot4 * ahrs->inv_sample_freq;
/* Normalise quaternion */
recip_norm = InvSqrt(ahrs->quat.q0 * ahrs->quat.q0 +
ahrs->quat.q1 * ahrs->quat.q1 +
ahrs->quat.q2 * ahrs->quat.q2 +
ahrs->quat.q3 * ahrs->quat.q3);
ahrs->quat.q0 *= recip_norm;
ahrs->quat.q1 *= recip_norm;
ahrs->quat.q2 *= recip_norm;
ahrs->quat.q3 *= recip_norm;
return 0;
}
/**
* @brief 通过姿态解算主结构体中的四元数计算欧拉角
*
* @param eulr 欧拉角
* @param ahrs 姿态解算主结构体
* @return int8_t 0对应没有错误
*/
int8_t AHRS_GetEulr(AHRS_Eulr_t *eulr, const AHRS_t *ahrs) {
if (eulr == NULL) return -1;
if (ahrs == NULL) return -1;
const float sinr_cosp = 2.0f * (ahrs->quat.q0 * ahrs->quat.q1 +
ahrs->quat.q2 * ahrs->quat.q3);
const float cosr_cosp =
1.0f - 2.0f * (ahrs->quat.q1 * ahrs->quat.q1 +
ahrs->quat.q2 * ahrs->quat.q2);
eulr->pit = atan2f(sinr_cosp, cosr_cosp);
const float sinp = 2.0f * (ahrs->quat.q0 * ahrs->quat.q2 -
ahrs->quat.q3 * ahrs->quat.q1);
if (fabsf(sinp) >= 1.0f)
eulr->rol = copysignf(M_PI / 2.0f, sinp);
else
eulr->rol = asinf(sinp);
const float siny_cosp = 2.0f * (ahrs->quat.q0 * ahrs->quat.q3 +
ahrs->quat.q1 * ahrs->quat.q2);
const float cosy_cosp =
1.0f - 2.0f * (ahrs->quat.q2 * ahrs->quat.q2 +
ahrs->quat.q3 * ahrs->quat.q3);
eulr->yaw = atan2f(siny_cosp, cosy_cosp);
#if 0
eulr->yaw *= M_RAD2DEG_MULT;
eulr->rol *= M_RAD2DEG_MULT;
eulr->pit *= M_RAD2DEG_MULT;
#endif
return 0;
}
/**
* \brief 将对应数据置零
*
* \param eulr 被操作的数据
*/
void AHRS_ResetEulr(AHRS_Eulr_t *eulr) { memset(eulr, 0, sizeof(*eulr)); }
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */

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/*
开源的AHRS算法。
MadgwickAHRS
*/
#pragma once
#ifdef __cplusplus
extern "C" {
#endif
#include "user_math.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* 欧拉角（Euler angle） */
typedef struct {
float yaw; /* 偏航角（Yaw angle） */
float pit; /* 俯仰角（Pitch angle） */
float rol; /* 翻滚角（Roll angle） */
} AHRS_Eulr_t;
/* 加速度计 Accelerometer */
typedef struct {
float x;
float y;
float z;
} AHRS_Accl_t;
/* 陀螺仪 Gyroscope */
typedef struct {
float x;
float y;
float z;
} AHRS_Gyro_t;
/* 磁力计 Magnetometer */
typedef struct {
float x;
float y;
float z;
} AHRS_Magn_t;
/* 四元数 */
typedef struct {
float q0;
float q1;
float q2;
float q3;
} AHRS_Quaternion_t;
/* 姿态解算算法主结构体 */
typedef struct {
/* 四元数 */
AHRS_Quaternion_t quat;
float inv_sample_freq; /* 采样频率的的倒数 */
} AHRS_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/**
* @brief 初始化姿态解算
*
* @param ahrs 姿态解算主结构体
* @param magn 磁力计数据
* @param sample_freq 采样频率
* @return int8_t 0对应没有错误
*/
int8_t AHRS_Init(AHRS_t *ahrs, const AHRS_Magn_t *magn, float sample_freq);
/**
* @brief 姿态运算更新一次
*
* @param ahrs 姿态解算主结构体
* @param accl 加速度计数据
* @param gyro 陀螺仪数据
* @param magn 磁力计数据
* @return int8_t 0对应没有错误
*/
int8_t AHRS_Update(AHRS_t *ahrs, const AHRS_Accl_t *accl,
const AHRS_Gyro_t *gyro, const AHRS_Magn_t *magn);
/**
* @brief 通过姿态解算主结构体中的四元数计算欧拉角
*
* @param eulr 欧拉角
* @param ahrs 姿态解算主结构体
* @return int8_t 0对应没有错误
*/
int8_t AHRS_GetEulr(AHRS_Eulr_t *eulr, const AHRS_t *ahrs);
/**
* \brief 将对应数据置零
*
* \param eulr 被操作的数据
*/
void AHRS_ResetEulr(AHRS_Eulr_t *eulr);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

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/*
剩余电量算法。
通过电压值计算剩余电量。
*/
#include "capacity.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/**
* @brief 通过电压计算电池剩余电量
*
* @param volt 电压值
* @return float 剩余电量比例
*/
float Capacity_GetBatteryRemain(float volt) {
float percentage;
float volt_2 = volt * volt;
float volt_3 = volt_2 * volt;
if (volt < 19.5f)
percentage = 0.0f;
else if (volt < 21.9f)
percentage = 0.005664f * volt_3 - 0.3386f * volt_2 + 6.765f * volt - 45.17f;
else if (volt < 25.5f)
percentage = 0.02269f * volt_3 - 1.654f * volt_2 + 40.34f * volt - 328.4f;
else
percentage = 1.0f;
if (percentage < 0.0f)
percentage = 0.0f;
else if (percentage > 1.0f)
percentage = 1.0f;
return percentage;
}
/**
* @brief
*
* @param vcap 电容电压
* @param vbat 电池电压
* @param v_cutoff 截止电压
* @return float 电容剩余电量比例
*/
float Capacity_GetCapacitorRemain(float vcap, float vbat, float v_cutoff) {
float percentage = (vcap - v_cutoff) / (vbat - v_cutoff);
if (percentage < 0.0f)
percentage = 0.0f;
else if (percentage > 1.0f)
percentage = 1.0f;
return percentage;
}
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */

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/*
剩余电量算法。
通过电压值计算剩余电量。
*/
#pragma once
#ifdef __cplusplus
extern "C" {
#endif
#include "user_math.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/**
* @brief 通过电压计算电池剩余电量
*
* @param volt 电压值
* @return float 剩余电量比例
*/
float Capacity_GetBatteryRemain(float volt);
/**
* @brief
*
* @param vcap 电容电压
* @param vbat 电池电压
* @param v_cutoff 截止电压
* @return float 电容剩余电量比例
*/
float Capacity_GetCapacitorRemain(float vcap, float vbat, float v_cutoff);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

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#include "crc16.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
static const uint16_t crc16_tab[256] = {
0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf, 0x8c48,
0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7, 0x1081, 0x0108,
0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e, 0x9cc9, 0x8d40, 0xbfdb,
0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876, 0x2102, 0x308b, 0x0210, 0x1399,
0x6726, 0x76af, 0x4434, 0x55bd, 0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e,
0xfae7, 0xc87c, 0xd9f5, 0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e,
0x54b5, 0x453c, 0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd,
0xc974, 0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb,
0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3, 0x5285,
0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a, 0xdecd, 0xcf44,
0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72, 0x6306, 0x728f, 0x4014,
0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9, 0xef4e, 0xfec7, 0xcc5c, 0xddd5,
0xa96a, 0xb8e3, 0x8a78, 0x9bf1, 0x7387, 0x620e, 0x5095, 0x411c, 0x35a3,
0x242a, 0x16b1, 0x0738, 0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862,
0x9af9, 0x8b70, 0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e,
0xf0b7, 0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff,
0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036, 0x18c1,
0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e, 0xa50a, 0xb483,
0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5, 0x2942, 0x38cb, 0x0a50,
0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd, 0xb58b, 0xa402, 0x9699, 0x8710,
0xf3af, 0xe226, 0xd0bd, 0xc134, 0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7,
0x6e6e, 0x5cf5, 0x4d7c, 0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1,
0xa33a, 0xb2b3, 0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72,
0x3efb, 0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232,
0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a, 0xe70e,
0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1, 0x6b46, 0x7acf,
0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9, 0xf78f, 0xe606, 0xd49d,
0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330, 0x7bc7, 0x6a4e, 0x58d5, 0x495c,
0x3de3, 0x2c6a, 0x1ef1, 0x0f78};
static inline uint16_t CRC16_Byte(uint16_t crc, const uint8_t data) {
return (crc >> 8) ^ crc16_tab[(crc ^ data) & 0xff];
}
uint16_t CRC16_Calc(const uint8_t *buf, size_t len, uint16_t crc) {
while (len--) crc = CRC16_Byte(crc, *buf++);
return crc;
}
bool CRC16_Verify(const uint8_t *buf, size_t len) {
if (len < 2) return false;
uint16_t expected = CRC16_Calc(buf, len - sizeof(uint16_t), CRC16_INIT);
return expected ==
((const uint16_t *)((const uint8_t *)buf +
(len % 2)))[len / sizeof(uint16_t) - 1];
}
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */

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#pragma once
#ifdef __cplusplus
extern "C" {
#endif
#include <stdbool.h>
#include "user_math.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
#define CRC16_INIT 0XFFFF
uint16_t CRC16_Calc(const uint8_t *buf, size_t len, uint16_t crc);
bool CRC16_Verify(const uint8_t *buf, size_t len);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

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#include "crc8.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
static const uint8_t crc8_tab[256] = {
0x00, 0x5e, 0xbc, 0xe2, 0x61, 0x3f, 0xdd, 0x83, 0xc2, 0x9c, 0x7e, 0x20,
0xa3, 0xfd, 0x1f, 0x41, 0x9d, 0xc3, 0x21, 0x7f, 0xfc, 0xa2, 0x40, 0x1e,
0x5f, 0x01, 0xe3, 0xbd, 0x3e, 0x60, 0x82, 0xdc, 0x23, 0x7d, 0x9f, 0xc1,
0x42, 0x1c, 0xfe, 0xa0, 0xe1, 0xbf, 0x5d, 0x03, 0x80, 0xde, 0x3c, 0x62,
0xbe, 0xe0, 0x02, 0x5c, 0xdf, 0x81, 0x63, 0x3d, 0x7c, 0x22, 0xc0, 0x9e,
0x1d, 0x43, 0xa1, 0xff, 0x46, 0x18, 0xfa, 0xa4, 0x27, 0x79, 0x9b, 0xc5,
0x84, 0xda, 0x38, 0x66, 0xe5, 0xbb, 0x59, 0x07, 0xdb, 0x85, 0x67, 0x39,
0xba, 0xe4, 0x06, 0x58, 0x19, 0x47, 0xa5, 0xfb, 0x78, 0x26, 0xc4, 0x9a,
0x65, 0x3b, 0xd9, 0x87, 0x04, 0x5a, 0xb8, 0xe6, 0xa7, 0xf9, 0x1b, 0x45,
0xc6, 0x98, 0x7a, 0x24, 0xf8, 0xa6, 0x44, 0x1a, 0x99, 0xc7, 0x25, 0x7b,
0x3a, 0x64, 0x86, 0xd8, 0x5b, 0x05, 0xe7, 0xb9, 0x8c, 0xd2, 0x30, 0x6e,
0xed, 0xb3, 0x51, 0x0f, 0x4e, 0x10, 0xf2, 0xac, 0x2f, 0x71, 0x93, 0xcd,
0x11, 0x4f, 0xad, 0xf3, 0x70, 0x2e, 0xcc, 0x92, 0xd3, 0x8d, 0x6f, 0x31,
0xb2, 0xec, 0x0e, 0x50, 0xaf, 0xf1, 0x13, 0x4d, 0xce, 0x90, 0x72, 0x2c,
0x6d, 0x33, 0xd1, 0x8f, 0x0c, 0x52, 0xb0, 0xee, 0x32, 0x6c, 0x8e, 0xd0,
0x53, 0x0d, 0xef, 0xb1, 0xf0, 0xae, 0x4c, 0x12, 0x91, 0xcf, 0x2d, 0x73,
0xca, 0x94, 0x76, 0x28, 0xab, 0xf5, 0x17, 0x49, 0x08, 0x56, 0xb4, 0xea,
0x69, 0x37, 0xd5, 0x8b, 0x57, 0x09, 0xeb, 0xb5, 0x36, 0x68, 0x8a, 0xd4,
0x95, 0xcb, 0x29, 0x77, 0xf4, 0xaa, 0x48, 0x16, 0xe9, 0xb7, 0x55, 0x0b,
0x88, 0xd6, 0x34, 0x6a, 0x2b, 0x75, 0x97, 0xc9, 0x4a, 0x14, 0xf6, 0xa8,
0x74, 0x2a, 0xc8, 0x96, 0x15, 0x4b, 0xa9, 0xf7, 0xb6, 0xe8, 0x0a, 0x54,
0xd7, 0x89, 0x6b, 0x35,
};
uint8_t CRC8_Calc(const uint8_t *buf, size_t len, uint8_t crc) {
/* loop over the buffer data */
while (len-- > 0) crc = crc8_tab[(crc ^ *buf++) & 0xff];
return crc;
}
bool CRC8_Verify(const uint8_t *buf, size_t len) {
if (len < 2) return false;
uint8_t expected = CRC8_Calc(buf, len - sizeof(uint8_t), CRC8_INIT);
return expected == buf[len - sizeof(uint8_t)];
}
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */

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#pragma once
#ifdef __cplusplus
extern "C" {
#endif
#include <stdbool.h>
#include <stddef.h>
#include <stdint.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
#define CRC8_INIT 0xFF
uint8_t CRC8_Calc(const uint8_t *buf, size_t len, uint8_t crc);
bool CRC8_Verify(const uint8_t *buf, size_t len);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

8
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ahrs,component/user_math.h
capacity,component/user_math.h
cmd,component/ahrs
error_detect,bsp/mm
pid,component/filter
filter,component/ahrs
mixer,component/user_math.h
ui,component/user_math.h
1 ahrs component/user_math.h
2 capacity component/user_math.h
3 cmd component/ahrs
4 error_detect bsp/mm
5 pid component/filter
6 filter component/ahrs
7 mixer component/user_math.h
8 ui component/user_math.h

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pid,好用的
ahrs,开源的AHRS算法，MadgwickAHRS
capacity,电池容量计算
cmd,通用控制命令
crc8,CRC8校验rm
crc16,CRC16校验rm
error_detect,错误检测
filter,各类滤波器
FreeRTOS_CLI,FreeRTOS命令行接口
limiter,限幅器
mixer,混控器
ui,用户交互
user_math,用户自定义数学函数
pid,PID控制器
1 pid 好用的
2 ahrs 开源的AHRS算法，MadgwickAHRS
3 capacity 电池容量计算
4 cmd 通用控制命令
5 crc8 CRC8校验rm
6 crc16 CRC16校验rm
7 error_detect 错误检测
8 filter 各类滤波器
9 FreeRTOS_CLI FreeRTOS命令行接口
10 limiter 限幅器
11 mixer 混控器
12 ui 用户交互
13 user_math 用户自定义数学函数
14 pid PID控制器

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/*
错误检测。
*/
#include "error_detect.h"
#include <stddef.h>
#include <string.h>
#include "bsp/mm.h"
static ErrorDetect_t ged;
static bool inited = false;
int8_t ErrorDetect_Init(void) {
if (inited) return -1;
memset(&ged, 0x00, sizeof(ged));
for (uint8_t i = 0; i < ERROR_DETECT_UNIT_NUM; i++) {
ged.error[i].enable = true;
ged.error[i].priority = i;
ged.error[i].patient_lost = 500;
ged.error[i].patient_work = 500;
}
return 0;
}
void ErrorDetect_Processing(uint32_t sys_time) {
for (uint8_t i = 0; i < ERROR_DETECT_UNIT_NUM; i++) {
if (!ged.error[i].enable) continue;
if (sys_time - ged.error[i].showup > ged.error[i].patient_lost) {
ged.error[i].is_lost = true;
ged.error[i].found_lost = sys_time;
} else if (sys_time - ged.error[i].showup > ged.error[i].patient_lost) {
} else {
ged.error[i].cycle_time = ged.error[i].showup - ged.error[i].showup_last;
}
}
}
bool ErrorDetect_ErrorExist(ErrorDetect_Unit_t unit) {
if (unit == ERROR_DETECT_UNIT_NO_DEV) {
for (uint8_t i = ERROR_DETECT_UNIT_NUM; i > 0; i--) {
if (ged.error[i].error_exist) return true;
}
return false;
} else {
return ged.error[unit].error_exist;
}
}
ErrorDetect_Unit_t ErrorDetect_GetErrorUnit(void) {
for (uint8_t i = ERROR_DETECT_UNIT_NUM; i > 0; i--) {
if (ged.error[i].error_exist) return i;
}
return ERROR_DETECT_UNIT_NO_DEV;
}
const ErrorDetect_Error_t *ErrorDetect_GetDetail(ErrorDetect_Unit_t unit) {
return &ged.error[unit];
}
void ErrorDetect_Update(ErrorDetect_Unit_t unit, uint32_t time_current) {
ged.error[unit].showup = time_current;
}

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/*
错误检测。
*/
#pragma once
#ifdef __cplusplus
extern "C" {
#endif
#include <stdbool.h>
#include <stdint.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
typedef enum {
/* Low priority */
ERROR_DETECT_UNIT_NO_DEV = 0,
ERROR_DETECT_UNIT_REFEREE,
ERROR_DETECT_UNIT_CHASSIS_M1,
ERROR_DETECT_UNIT_CHASSIS_M2,
ERROR_DETECT_UNIT_CHASSIS_M3,
ERROR_DETECT_UNIT_CHASSIS_M4,
ERROR_DETECT_UNIT_TRIGGER,
ERROR_DETECT_UNIT_FEED,
ERROR_DETECT_UNIT_GIMBAL_YAW,
ERROR_DETECT_UNIT_GIMBAL_PIT,
ERROR_DETECT_UNIT_GYRO,
ERROR_DETECT_UNIT_ACCL,
ERROR_DETECT_UNIT_MAGN,
ERROR_DETECT_UNIT_DBUS,
ERROR_DETECT_UNIT_NUM,
/* High priority */
} ErrorDetect_Unit_t;
typedef struct {
bool enable;
uint8_t priority;
uint32_t patient_lost;
uint32_t patient_work;
uint32_t showup;
uint32_t showup_last;
uint32_t cycle_time;
uint32_t duration_lost;
uint32_t duration_work;
uint32_t found_lost;
bool error_exist;
bool is_lost;
uint8_t data_is_error;
} ErrorDetect_Error_t;
typedef struct {
ErrorDetect_Error_t error[ERROR_DETECT_UNIT_NUM];
} ErrorDetect_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
int8_t ErrorDetect_Init(void);
void ErrorDetect_Processing(uint32_t sys_time);
bool ErrorDetect_ErrorExist(ErrorDetect_Unit_t unit);
ErrorDetect_Unit_t ErrorDetect_GetErrorUnit(void);
const ErrorDetect_Error_t *ErrorDetect_GetDetail(ErrorDetect_Unit_t unit);
void ErrorDetect_Update(ErrorDetect_Unit_t unit, uint32_t time_current);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

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/*
各类滤波器。
*/
#include "filter.h"
#include "user_math.h"
/**
* @brief 初始化滤波器
*
* @param f 滤波器
* @param sample_freq 采样频率
* @param cutoff_freq 截止频率
*/
void LowPassFilter2p_Init(LowPassFilter2p_t *f, float sample_freq,
float cutoff_freq) {
if (f == NULL) return;
f->cutoff_freq = cutoff_freq;
f->delay_element_1 = 0.0f;
f->delay_element_2 = 0.0f;
if (f->cutoff_freq <= 0.0f) {
/* no filtering */
f->b0 = 1.0f;
f->b1 = 0.0f;
f->b2 = 0.0f;
f->a1 = 0.0f;
f->a2 = 0.0f;
return;
}
const float fr = sample_freq / f->cutoff_freq;
const float ohm = tanf(M_PI / fr);
const float c = 1.0f + 2.0f * cosf(M_PI / 4.0f) * ohm + ohm * ohm;
f->b0 = ohm * ohm / c;
f->b1 = 2.0f * f->b0;
f->b2 = f->b0;
f->a1 = 2.0f * (ohm * ohm - 1.0f) / c;
f->a2 = (1.0f - 2.0f * cosf(M_PI / 4.0f) * ohm + ohm * ohm) / c;
}
/**
* @brief 施加一次滤波计算
*
* @param f 滤波器
* @param sample 采样的值
* @return float 滤波后的值
*/
float LowPassFilter2p_Apply(LowPassFilter2p_t *f, float sample) {
if (f == NULL) return 0.0f;
/* do the filtering */
float delay_element_0 =
sample - f->delay_element_1 * f->a1 - f->delay_element_2 * f->a2;
if (isinf(delay_element_0)) {
/* don't allow bad values to propagate via the filter */
delay_element_0 = sample;
}
const float output = delay_element_0 * f->b0 + f->delay_element_1 * f->b1 +
f->delay_element_2 * f->b2;
f->delay_element_2 = f->delay_element_1;
f->delay_element_1 = delay_element_0;
/* return the value. Should be no need to check limits */
return output;
}
/**
* @brief 重置滤波器
*
* @param f 滤波器
* @param sample 采样的值
* @return float 滤波后的值
*/
float LowPassFilter2p_Reset(LowPassFilter2p_t *f, float sample) {
if (f == NULL) return 0.0f;
const float dval = sample / (f->b0 + f->b1 + f->b2);
if (isfinite(dval)) {
f->delay_element_1 = dval;
f->delay_element_2 = dval;
} else {
f->delay_element_1 = sample;
f->delay_element_2 = sample;
}
return LowPassFilter2p_Apply(f, sample);
}
/**
* @brief 初始化滤波器
*
* @param f 滤波器
* @param sample_freq 采样频率
* @param notch_freq 中心频率
* @param bandwidth 带宽
*/
void NotchFilter_Init(NotchFilter_t *f, float sample_freq, float notch_freq,
float bandwidth) {
if (f == NULL) return;
f->notch_freq = notch_freq;
f->bandwidth = bandwidth;
f->delay_element_1 = 0.0f;
f->delay_element_2 = 0.0f;
if (notch_freq <= 0.0f) {
/* no filtering */
f->b0 = 1.0f;
f->b1 = 0.0f;
f->b2 = 0.0f;
f->a1 = 0.0f;
f->a2 = 0.0f;
return;
}
const float alpha = tanf(M_PI * bandwidth / sample_freq);
const float beta = -cosf(M_2PI * notch_freq / sample_freq);
const float a0_inv = 1.0f / (alpha + 1.0f);
f->b0 = a0_inv;
f->b1 = 2.0f * beta * a0_inv;
f->b2 = a0_inv;
f->a1 = f->b1;
f->a2 = (1.0f - alpha) * a0_inv;
}
/**
* @brief 施加一次滤波计算
*
* @param f 滤波器
* @param sample 采样的值
* @return float 滤波后的值
*/
inline float NotchFilter_Apply(NotchFilter_t *f, float sample) {
if (f == NULL) return 0.0f;
/* Direct Form II implementation */
const float delay_element_0 =
sample - f->delay_element_1 * f->a1 - f->delay_element_2 * f->a2;
const float output = delay_element_0 * f->b0 + f->delay_element_1 * f->b1 +
f->delay_element_2 * f->b2;
f->delay_element_2 = f->delay_element_1;
f->delay_element_1 = delay_element_0;
return output;
}
/**
* @brief 重置滤波器
*
* @param f 滤波器
* @param sample 采样的值
* @return float 滤波后的值
*/
float NotchFilter_Reset(NotchFilter_t *f, float sample) {
if (f == NULL) return 0.0f;
float dval = sample;
if (fabsf(f->b0 + f->b1 + f->b2) > FLT_EPSILON) {
dval = dval / (f->b0 + f->b1 + f->b2);
}
f->delay_element_1 = dval;
f->delay_element_2 = dval;
return NotchFilter_Apply(f, sample);
}

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/*
各类滤波器。
*/
#pragma once
#ifdef __cplusplus
extern "C" {
#endif
#include "user_math.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* 二阶低通滤波器 */
typedef struct {
float cutoff_freq; /* 截止频率 */
float a1;
float a2;
float b0;
float b1;
float b2;
float delay_element_1;
float delay_element_2;
} LowPassFilter2p_t;
/* 带阻滤波器 */
typedef struct {
float notch_freq; /* 阻止频率 */
float bandwidth; /* 带宽 */
float a1;
float a2;
float b0;
float b1;
float b2;
float delay_element_1;
float delay_element_2;
} NotchFilter_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/**
* @brief 初始化滤波器
*
* @param f 滤波器
* @param sample_freq 采样频率
* @param cutoff_freq 截止频率
*/
void LowPassFilter2p_Init(LowPassFilter2p_t *f, float sample_freq,
float cutoff_freq);
/**
* @brief 施加一次滤波计算
*
* @param f 滤波器
* @param sample 采样的值
* @return float 滤波后的值
*/
float LowPassFilter2p_Apply(LowPassFilter2p_t *f, float sample);
/**
* @brief 重置滤波器
*
* @param f 滤波器
* @param sample 采样的值
* @return float 滤波后的值
*/
float LowPassFilter2p_Reset(LowPassFilter2p_t *f, float sample);
/**
* @brief 初始化滤波器
*
* @param f 滤波器
* @param sample_freq 采样频率
* @param notch_freq 中心频率
* @param bandwidth 带宽
*/
void NotchFilter_Init(NotchFilter_t *f, float sample_freq, float notch_freq,
float bandwidth);
/**
* @brief 施加一次滤波计算
*
* @param f 滤波器
* @param sample 采样的值
* @return float 滤波后的值
*/
float NotchFilter_Apply(NotchFilter_t *f, float sample);
/**
* @brief 重置滤波器
*
* @param f 滤波器
* @param sample 采样的值
* @return float 滤波后的值
*/
float NotchFilter_Reset(NotchFilter_t *f, float sample);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

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/*
限制器
*/
#include "limiter.h"
#include <math.h>
#include <stddef.h>
#define POWER_BUFF_THRESHOLD 20
#define CHASSIS_POWER_CHECK_FREQ 10
#define CHASSIS_POWER_FACTOR_PASS 0.9f
#define CHASSIS_POWER_FACTOR_NO_PASS 1.5f
#define CHASSIS_MOTOR_CIRCUMFERENCE 0.12f
/**
* @brief 限制底盘功率不超过power_limit
*
* @param power_limit 最大功率
* @param motor_out 电机输出值
* @param speed 电机转速
* @param len 电机数量
* @return int8_t 0对应没有错误
*/
int8_t PowerLimit_ChassicOutput(float power_limit, float *motor_out,
float *speed, uint32_t len) {
/* power_limit小于0时不进行限制 */
if (motor_out == NULL || speed == NULL || power_limit < 0) return -1;
float sum_motor_out = 0.0f;
for (uint32_t i = 0; i < len; i++) {
/* 总功率计算 P=F(由转矩电流表示)*V(由转速表示) */
sum_motor_out +=
fabsf(motor_out[i]) * fabsf(speed[i]) * CHASSIS_MOTOR_CIRCUMFERENCE;
}
/* 保持每个电机输出值缩小时比例不变 */
if (sum_motor_out > power_limit) {
for (uint32_t i = 0; i < len; i++) {
motor_out[i] *= power_limit / sum_motor_out;
}
}
return 0;
}
/**
* @brief 电容输入功率计算
*
* @param power_in 底盘当前功率
* @param power_limit 裁判系统功率限制值
* @param power_buffer 缓冲能量
* @return float 裁判系统输出最大值
*/
float PowerLimit_CapInput(float power_in, float power_limit,
float power_buffer) {
float target_power = 0.0f;
/* 计算下一个检测周期的剩余缓冲能量 */
float heat_buff = power_buffer - (float)(power_in - power_limit) /
(float)CHASSIS_POWER_CHECK_FREQ;
if (heat_buff < POWER_BUFF_THRESHOLD) { /* 功率限制 */
target_power = power_limit * CHASSIS_POWER_FACTOR_PASS;
} else {
target_power = power_limit * CHASSIS_POWER_FACTOR_NO_PASS;
}
return target_power;
}
/**
* @brief 使用缓冲能量计算底盘最大功率
*
* @param power_limit 裁判系统功率限制值
* @param power_buffer 缓冲能量
* @return float 底盘输出最大值
*/
float PowerLimit_TargetPower(float power_limit, float power_buffer) {
float target_power = 0.0f;
/* 根据剩余缓冲能量计算输出功率 */
target_power = power_limit * (power_buffer - 10.0f) / 20.0f;
if (target_power < 0.0f) target_power = 0.0f;
return target_power;
}
/**
* @brief 射击频率控制
*
* @param heat 当前热量
* @param heat_limit 热量上限
* @param cooling_rate 冷却速率
* @param heat_increase 冷却增加
* @param shoot_freq 经过热量限制后的射击频率
* @return float 射击频率
*/
float HeatLimit_ShootFreq(float heat, float heat_limit, float cooling_rate,
float heat_increase, bool is_big) {
float heat_percent = heat / heat_limit;
float stable_freq = cooling_rate / heat_increase;
if (is_big)
return stable_freq;
else
return (heat_percent > 0.7f) ? stable_freq : 3.0f * stable_freq;
}

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/*
限制器
*/
#pragma once
#ifdef __cplusplus
extern "C" {
#endif
#include <stdbool.h>
#include <stdint.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/**
* @brief 限制底盘功率不超过power_limit
*
* @param power_limit 最大功率
* @param motor_out 电机输出值
* @param speed 电机转速
* @param len 电机数量
* @return int8_t 0对应没有错误
*/
int8_t PowerLimit_ChassicOutput(float power_limit, float *motor_out,
float *speed, uint32_t len);
/**
* @brief 电容输入功率计算
*
* @param power_in 底盘当前功率
* @param power_limit 裁判系统功率限制值
* @param power_buffer 缓冲能量
* @return float 裁判系统输出最大值
*/
float PowerLimit_CapInput(float power_in, float power_limit,
float power_buffer);
/**
* @brief 使用缓冲能量计算底盘最大功率
*
* @param power_limit 裁判系统功率限制值
* @param power_buffer 缓冲能量
* @return float 底盘输出最大值
*/
float PowerLimit_TargetPower(float power_limit, float power_buffer);
/**
* @brief 射击频率控制
*
* @param heat 当前热量
* @param heat_limit 热量上限
* @param cooling_rate 冷却速率
* @param heat_increase 冷却增加
* @param shoot_freq 经过热量限制后的射击频率
* @return float 射击频率
*/
float HeatLimit_ShootFreq(float heat, float heat_limit, float cooling_rate,
float heat_increase, bool is_big);

94
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/*
混合器
*/
#include "mixer.h"
#include "math.h"
/**
* @brief 初始化混合器
*
* @param mixer 混合器
* @param mode 混合器模式
* @return int8_t 0对应没有错误
*/
int8_t Mixer_Init(Mixer_t *mixer, Mixer_Mode_t mode) {
if (mixer == NULL) return -1;
mixer->mode = mode;
return 0;
}
/**
* @brief 计算输出
*
* @param mixer 混合器
* @param move_vec 运动向量
* @param out 输出数组
* @param len 输出数组长短
* @param scale 输出放大因子
* @return int8_t 0对应没有错误
*/
int8_t Mixer_Apply(Mixer_t *mixer, MoveVector_t *move_vec, float *out,
int8_t len, float scale) {
if (mixer == NULL) return -1;
switch (mixer->mode) {
case MIXER_MECANUM:
if (len == 4) {
out[0] = move_vec->vx - move_vec->vy + move_vec->wz;
out[1] = move_vec->vx + move_vec->vy + move_vec->wz;
out[2] = -move_vec->vx + move_vec->vy + move_vec->wz;
out[3] = -move_vec->vx - move_vec->vy + move_vec->wz;
} else {
goto error;
}
break;
case MIXER_PARLFIX4:
if (len == 4) {
out[0] = -move_vec->vx;
out[1] = move_vec->vx;
out[2] = move_vec->vx;
out[3] = -move_vec->vx;
} else {
goto error;
}
case MIXER_PARLFIX2:
if (len == 2) {
out[0] = -move_vec->vx;
out[1] = move_vec->vx;
} else {
goto error;
}
case MIXER_SINGLE:
if (len == 1) {
out[0] = move_vec->vx;
} else {
goto error;
}
case MIXER_OMNICROSS:
case MIXER_OMNIPLUS:
goto error;
}
float abs_max = 0.f;
for (int8_t i = 0; i < len; i++) {
const float abs_val = fabsf(out[i]);
abs_max = (abs_val > abs_max) ? abs_val : abs_max;
}
if (abs_max > 1.f) {
for (int8_t i = 0; i < len; i++) {
out[i] /= abs_max;
}
}
for (int8_t i = 0; i < len; i++) {
out[i] *= scale;
}
return 0;
error:
for (uint8_t i = 0; i < len; i++) out[i] = 0;
return -1;
}

76
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/*
混合器
*/
#pragma once
#ifdef __cplusplus
extern "C" {
#endif
#include "user_math.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/** 四轮布局 */
/* 前 */
/* 2 1 */
/* 3 4 */
/* 两轮布局 */
/* 前 */
/* 2 1 */
/* 混合器模式 */
typedef enum {
MIXER_MECANUM, /* 麦克纳姆轮 */
MIXER_PARLFIX4, /* 平行四驱动轮 */
MIXER_PARLFIX2, /* 平行对侧两驱动轮 */
MIXER_OMNICROSS, /* 叉形全向轮 */
MIXER_OMNIPLUS, /* 十字全向轮 */
MIXER_SINGLE, /* 单个摩擦轮 */
} Mixer_Mode_t;
typedef struct {
Mixer_Mode_t mode;
} Mixer_t; /* 混合器主结构体 */
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/**
* @brief 初始化混合器
*
* @param mixer 混合器
* @param mode 混合器模式
* @return int8_t 0对应没有错误
*/
int8_t Mixer_Init(Mixer_t *mixer, Mixer_Mode_t mode);
/**
* @brief 计算输出
*
* @param mixer 混合器
* @param move_vec 运动向量
* @param out 输出数组
* @param len 输出数组长短
* @param scale 输出放大因子
* @return int8_t 0对应没有错误
*/
int8_t Mixer_Apply(Mixer_t *mixer, MoveVector_t *move_vec, float *out,
int8_t len, float scale);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

158
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/*
Modified from
https://github.com/PX4/Firmware/blob/master/src/lib/pid/pid.cpp
参考资料：
https://github.com/PX4/Firmware/issues/12362
https://dev.px4.io/master/en/flight_stack/controller_diagrams.html
https://docs.px4.io/master/en/config_mc/pid_tuning_guide_multicopter.html#standard_form
https://www.controleng.com/articles/not-all-pid-controllers-are-the-same/
https://en.wikipedia.org/wiki/PID_controller
http://brettbeauregard.com/blog/2011/04/improving-the-beginner%E2%80%99s-pid-derivative-kick/
*/
#include "pid.h"
#define SIGMA 0.000001f
/**
* @brief 初始化PID
*
* @param pid PID结构体
* @param mode PID模式
* @param sample_freq 采样频率
* @param param PID参数
* @return int8_t 0对应没有错误
*/
int8_t PID_Init(KPID_t *pid, KPID_Mode_t mode, float sample_freq,
const KPID_Params_t *param) {
if (pid == NULL) return -1;
if (!isfinite(param->p)) return -1;
if (!isfinite(param->i)) return -1;
if (!isfinite(param->d)) return -1;
if (!isfinite(param->i_limit)) return -1;
if (!isfinite(param->out_limit)) return -1;
pid->param = param;
float dt_min = 1.0f / sample_freq;
if (isfinite(dt_min))
pid->dt_min = dt_min;
else
return -1;
LowPassFilter2p_Init(&(pid->dfilter), sample_freq, pid->param->d_cutoff_freq);
pid->mode = mode;
PID_Reset(pid);
return 0;
}
/**
* @brief PID计算
*
* @param pid PID结构体
* @param sp 设定值
* @param fb 反馈值
* @param fb_dot 反馈值微分
* @param dt 间隔时间
* @return float 计算的输出
*/
float PID_Calc(KPID_t *pid, float sp, float fb, float fb_dot, float dt) {
if (!isfinite(sp) || !isfinite(fb) || !isfinite(fb_dot) || !isfinite(dt)) {
return pid->last.out;
}
/* 计算误差值 */
const float err = CircleError(sp, fb, pid->param->range);
/* 计算P项 */
const float k_err = err * pid->param->k;
/* 计算D项 */
const float k_fb = pid->param->k * fb;
const float filtered_k_fb = LowPassFilter2p_Apply(&(pid->dfilter), k_fb);
float d;
switch (pid->mode) {
case KPID_MODE_CALC_D:
/* 通过fb计算D，避免了由于sp变化导致err突变的问题 */
/* 当sp不变时，err的微分等于负的fb的微分 */
d = (filtered_k_fb - pid->last.k_fb) / fmaxf(dt, pid->dt_min);
break;
case KPID_MODE_SET_D:
d = fb_dot;
break;
case KPID_MODE_NO_D:
d = 0.0f;
break;
}
pid->last.err = err;
pid->last.k_fb = filtered_k_fb;
if (!isfinite(d)) d = 0.0f;
/* 计算PD输出 */
float output = (k_err * pid->param->p) - (d * pid->param->d);
/* 计算I项 */
const float i = pid->i + (k_err * dt);
const float i_out = i * pid->param->i;
if (pid->param->i > SIGMA) {
/* 检查是否饱和 */
if (isfinite(i)) {
if ((fabsf(output + i_out) <= pid->param->out_limit) &&
(fabsf(i) <= pid->param->i_limit)) {
/* 未饱和，使用新积分 */
pid->i = i;
}
}
}
/* 计算PID输出 */
output += i_out;
/* 限制输出 */
if (isfinite(output)) {
if (pid->param->out_limit > SIGMA) {
output = AbsClip(output, pid->param->out_limit);
}
pid->last.out = output;
}
return pid->last.out;
}
/**
* @brief 重置微分项
*
* @param pid PID结构体
* @return int8_t 0对应没有错误
*/
int8_t PID_ResetIntegral(KPID_t *pid) {
if (pid == NULL) return -1;
pid->i = 0.0f;
return 0;
}
/**
* @brief 重置PID
*
* @param pid PID结构体
* @return int8_t 0对应没有错误
*/
int8_t PID_Reset(KPID_t *pid) {
if (pid == NULL) return -1;
pid->i = 0.0f;
pid->last.err = 0.0f;
pid->last.k_fb = 0.0f;
pid->last.out = 0.0f;
LowPassFilter2p_Reset(&(pid->dfilter), 0.0f);
return 0;
}

107
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/*
Modified from
https://github.com/PX4/Firmware/blob/master/src/lib/pid/pid.h
*/
#pragma once
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include "filter.h"
#include "user_math.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* PID模式 */
typedef enum {
KPID_MODE_NO_D = 0, /* 不使用微分项，PI控制器 */
KPID_MODE_CALC_D, /* 根据反馈的值计算离散微分，忽略PID_Calc中的fb_dot */
KPID_MODE_SET_D /* 直接提供微分值，PID_Calc中的fb_dot将被使用，(Gyros) */
} KPID_Mode_t;
/* PID参数 */
typedef struct {
float k; /* 控制器增益，设置为1用于并行模式 */
float p; /* 比例项增益，设置为1用于标准形式 */
float i; /* 积分项增益 */
float d; /* 微分项增益 */
float i_limit; /* 积分项上限 */
float out_limit; /* 输出绝对值限制 */
float d_cutoff_freq; /* D项低通截止频率 */
float range; /* 计算循环误差时使用，大于0时启用 */
} KPID_Params_t;
/* PID主结构体 */
typedef struct {
KPID_Mode_t mode;
const KPID_Params_t *param;
float dt_min; /* 最小PID_Calc调用间隔 */
float i; /* 积分 */
struct {
float err; /* 上次误差 */
float k_fb; /* 上次反馈值 */
float out; /* 上次输出 */
} last;
LowPassFilter2p_t dfilter; /* D项低通滤波器 */
} KPID_t;
/**
* @brief 初始化PID
*
* @param pid PID结构体
* @param mode PID模式
* @param sample_freq 采样频率
* @param param PID参数
* @return int8_t 0对应没有错误
*/
int8_t PID_Init(KPID_t *pid, KPID_Mode_t mode, float sample_freq,
const KPID_Params_t *param);
/**
* @brief PID计算
*
* @param pid PID结构体
* @param sp 设定值
* @param fb 反馈值
* @param fb_dot 反馈值微分
* @param dt 间隔时间
* @return float 计算的输出
*/
float PID_Calc(KPID_t *pid, float sp, float fb, float fb_dot, float dt);
/**
* @brief 重置微分项
*
* @param pid PID结构体
* @return int8_t 0对应没有错误
*/
int8_t PID_ResetIntegral(KPID_t *pid);
/**
* @brief 重置PID
*
* @param pid PID结构体
* @return int8_t 0对应没有错误
*/
int8_t PID_Reset(KPID_t *pid);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

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/*
UI相关命令
*/
#include "component/ui.h"
#include <stdio.h>
/**
* @brief UI_绘制直线段
*
* @param grapic_line 结构体
* @param name 图形名首地址
* @param type_op 操作类型
* @param layer 图层数
* @param color 颜色
* @param width 线条宽度
* @param x_start 起点x坐标
* @param y_start 起点y坐标
* @param x_end 终点x坐标
* @param y_end 终点y坐标
* @return int8_t
*/
int8_t UI_DrawLine(UI_Ele_t *grapic_line, const char *name, uint8_t type_op,
uint8_t layer, uint8_t color, uint16_t width,
uint16_t x_start, uint16_t y_start, uint16_t x_end,
uint16_t y_end) {
if (grapic_line == NULL) return -1;
snprintf((char *)grapic_line->name, 2, "%s", name);
grapic_line->layer = layer;
grapic_line->type_op = type_op;
grapic_line->type_ele = 0;
grapic_line->color = color;
grapic_line->width = width;
grapic_line->x_start = x_start;
grapic_line->y_start = y_start;
grapic_line->x_end = x_end;
grapic_line->y_end = y_end;
return 0;
}
/**
* @brief UI_绘制矩形
*
* @param grapic_rectangle 结构体
* @param name 图形名首地址
* @param type_op 操作类型
* @param layer 图层数
* @param color 颜色
* @param width 线条宽度
* @param x_start 起点x坐标
* @param y_start 起点y坐标
* @param x_end 对角顶点x坐标
* @param y_end 对角顶点y坐标
* @return int8_t
*/
int8_t UI_DrawRectangle(UI_Ele_t *grapic_rectangle, const char *name,
uint8_t type_op, uint8_t layer, uint8_t color,
uint16_t width, uint16_t x_start, uint16_t y_start,
uint16_t x_end, uint16_t y_end) {
if (grapic_rectangle == NULL) return -1;
snprintf((char *)grapic_rectangle->name, 2, "%s", name);
grapic_rectangle->type_op = type_op;
grapic_rectangle->type_ele = 1;
grapic_rectangle->layer = layer;
grapic_rectangle->color = color;
grapic_rectangle->width = width;
grapic_rectangle->x_start = x_start;
grapic_rectangle->y_start = y_start;
grapic_rectangle->x_end = x_end;
grapic_rectangle->y_end = y_end;
return 0;
}
/**
* @brief UI_绘制正圆
*
* @param grapic_cycle 结构体
* @param name 图形名首地址
* @param type_op 操作类型
* @param layer 图层数
* @param color 颜色
* @param width 线条宽度
* @param x_center 圆心x坐标
* @param y_center 圆心y坐标
* @param radius 半径
* @return int8_t
*/
int8_t UI_DrawCycle(UI_Ele_t *grapic_cycle, const char *name, uint8_t type_op,
uint8_t layer, uint8_t color, uint16_t width,
uint16_t x_center, uint16_t y_center, uint16_t radius) {
if (grapic_cycle == NULL) return -1;
snprintf((char *)grapic_cycle->name, 2, "%s", name);
grapic_cycle->type_op = type_op;
grapic_cycle->layer = layer;
grapic_cycle->type_ele = 2;
grapic_cycle->color = color;
grapic_cycle->width = width;
grapic_cycle->x_start = x_center;
grapic_cycle->y_start = y_center;
grapic_cycle->radius = radius;
return 0;
}
/**
* @brief UI_绘制椭圆
*
* @param grapic_oval 结构体
* @param name 图形名首地址
* @param type_op 操作类型
* @param layer 图层数
* @param color 颜色
* @param width 线条宽度
* @param x_center 圆心x坐标
* @param y_center 圆心y坐标
* @param x_semiaxis x半轴长度
* @param y_semiaxis y半轴长度
* @return int8_t
*/
int8_t UI_DrawOval(UI_Ele_t *grapic_oval, const char *name, uint8_t type_op,
uint8_t layer, uint8_t color, uint16_t width,
uint16_t x_center, uint16_t y_center, uint16_t x_semiaxis,
uint16_t y_semiaxis) {
if (grapic_oval == NULL) return -1;
snprintf((char *)grapic_oval->name, 2, "%s", name);
grapic_oval->type_op = type_op;
grapic_oval->type_ele = 3;
grapic_oval->layer = layer;
grapic_oval->color = color;
grapic_oval->width = width;
grapic_oval->x_start = x_center;
grapic_oval->y_start = y_center;
grapic_oval->x_end = x_semiaxis;
grapic_oval->y_end = y_semiaxis;
return 0;
}
/**
* @brief UI_绘制圆弧
*
* @param grapic_arc 结构体
* @param name 图形名首地址
* @param type_op 操作类型
* @param layer 图层数
* @param color 颜色
* @param angle_start 起始角度
* @param angle_end 终止角度
* @param width 线条宽度
* @param x_center 圆心x坐标
* @param y_center 圆心y坐标
* @param x_semiaxis x半轴长度
* @param y_semiaxis y半轴长度
* @return int8_t
*/
int8_t UI_DrawArc(UI_Ele_t *grapic_arc, const char *name, uint8_t type_op,
uint8_t layer, uint8_t color, uint16_t angle_start,
uint16_t angle_end, uint16_t width, uint16_t x_center,
uint16_t y_center, uint16_t x_semiaxis, uint16_t y_semiaxis) {
if (grapic_arc == NULL) return -1;
snprintf((char *)grapic_arc->name, 2, "%s", name);
grapic_arc->type_op = type_op;
grapic_arc->type_ele = 4;
grapic_arc->layer = layer;
grapic_arc->color = color;
grapic_arc->angle_start = angle_start;
grapic_arc->angle_end = angle_end;
grapic_arc->width = width;
grapic_arc->x_start = x_center;
grapic_arc->y_start = y_center;
grapic_arc->x_end = x_semiaxis;
grapic_arc->y_end = y_semiaxis;
return 0;
}
/**
* @brief UI_绘制浮点数
*
* @param grapic_float 结构体
* @param name 图形名首地址
* @param type_op 操作类型
* @param layer 图层数
* @param color 颜色
* @param font_size 字体大小
* @param digits 小数点后有效位数
* @param width 线条宽度
* @param x_start 起点x坐标
* @param y_start 起点y坐标
* @param float_high 32位浮点数
* @param float_middle 32位浮点数
* @param float_low 32位浮点数
* @return int8_t
*/
int8_t UI_DrawFloating(UI_Ele_t *grapic_floating, const char *name,
uint8_t type_op, uint8_t layer, uint8_t color,
uint16_t font_size, uint16_t digits, uint16_t width,
uint16_t x_start, uint16_t y_start, uint16_t float_high,
uint16_t float_middle, uint16_t float_low) {
if (grapic_floating == NULL) return -1;
snprintf((char *)grapic_floating->name, 2, "%s", name);
grapic_floating->type_op = type_op;
grapic_floating->type_ele = 5;
grapic_floating->layer = layer;
grapic_floating->color = color;
grapic_floating->angle_start = font_size;
grapic_floating->angle_end = digits;
grapic_floating->width = width;
grapic_floating->x_start = x_start;
grapic_floating->y_start = y_start;
grapic_floating->radius = float_high;
grapic_floating->x_end = float_middle;
grapic_floating->y_end = float_low;
return 0;
}
/**
* @brief UI_绘制整型数
*
* @param grapic_integer 结构体
* @param name 图形名首地址
* @param type_op 操作类型
* @param layer 图层数
* @param color 颜色
* @param font_size 字体大小
* @param width 线条宽度
* @param x_start 起点x坐标
* @param y_start 起点y坐标
* @param int32_t_high 32位整型数
* @param int32_t_middle 32位整型数
* @param int32_t_low 32位整型数
* @return int8_t
*/
int8_t UI_DrawInteger(UI_Ele_t *grapic_integer, const char *name,
uint8_t type_op, uint8_t layer, uint8_t color,
uint16_t font_size, uint16_t width, uint16_t x_start,
uint16_t y_start, uint16_t int32_t_high,
uint16_t int32_t_middle, uint16_t int32_t_low) {
if (grapic_integer == NULL) return -1;
snprintf((char *)grapic_integer->name, 2, "%s", name);
grapic_integer->type_op = type_op;
grapic_integer->type_ele = 6;
grapic_integer->layer = layer;
grapic_integer->color = color;
grapic_integer->angle_start = font_size;
grapic_integer->width = width;
grapic_integer->x_start = x_start;
grapic_integer->y_start = y_start;
grapic_integer->radius = int32_t_high;
grapic_integer->x_end = int32_t_middle;
grapic_integer->y_end = int32_t_low;
return 0;
}
/**
* @brief UI_绘制字符
*
* @param grapic_character 结构体
* @param name 图形名首地址
* @param type_op 操作类型
* @param layer 图层数
* @param color 颜色
* @param font_size 字体大小
* @param length 字符长度
* @param width 线条宽度
* @param x_start 起点x坐标
* @param y_start 起点y坐标
* @param character 字符串首地址
* @return int8_t
*/
int8_t UI_DrawCharacter(UI_Drawcharacter_t *grapic_character, const char *name,
uint8_t type_op, uint8_t layer, uint8_t color,
uint16_t font_size, uint16_t length, uint16_t width,
uint16_t x_start, uint16_t y_start,
const char *character) {
if (grapic_character == NULL) return -1;
snprintf((char *)grapic_character->grapic.name, 2, "%s", name);
grapic_character->grapic.type_op = type_op;
grapic_character->grapic.type_ele = 7;
grapic_character->grapic.layer = layer;
grapic_character->grapic.color = color;
grapic_character->grapic.angle_start = font_size;
grapic_character->grapic.angle_end = length;
grapic_character->grapic.width = width;
grapic_character->grapic.x_start = x_start;
grapic_character->grapic.y_start = y_start;
snprintf((char *)grapic_character->character, 29, "%s", character);
return 0;
}
/**
* @brief UI_删除图层
*
* @param del 结构体
* @param opt 操作
* @param layer 图层
* @return int8_t
*/
int8_t UI_DelLayer(UI_Del_t *del, uint8_t opt, uint8_t layer) {
if (del == NULL) return -1;
del->del_operation = opt;
del->layer = layer;
return 0;
}

284
assets/User_code/component/ui.h
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@ -1,284 +0,0 @@
/*
UI相关命令
*/
#pragma once
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <string.h>
#include "component/user_math.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
#define UI_DEL_OPERATION_NOTHING (0)
#define UI_DEL_OPERATION_DEL (1)
#define UI_DEL_OPERATION_DEL_ALL (2)
#define UI_GRAPIC_OPERATION_NOTHING (0)
#define UI_GRAPIC_OPERATION_ADD (1)
#define UI_GRAPIC_OPERATION_REWRITE (2)
#define UI_GRAPIC_OPERATION_DEL (3)
#define UI_GRAPIC_LAYER_CONST (0)
#define UI_GRAPIC_LAYER_AUTOAIM (1)
#define UI_GRAPIC_LAYER_CHASSIS (2)
#define UI_GRAPIC_LAYER_CAP (3)
#define UI_GRAPIC_LAYER_GIMBAL (4)
#define UI_GRAPIC_LAYER_SHOOT (5)
#define UI_GRAPIC_LAYER_CMD (6)
#define UI_DEFAULT_WIDTH (0x01)
/* USER DEFINE BEGIN */
/* USER DEFINE END */
#define UI_CHAR_DEFAULT_WIDTH (0x02)
typedef enum {
RED_BLUE,
YELLOW,
GREEN,
ORANGE,
PURPLISH_RED,
PINK,
CYAN,
BLACK,
WHITE
} UI_Color_t;
typedef struct __packed {
uint8_t op;
uint8_t num_layer;
} UI_InterStudent_UIDel_t;
typedef struct __packed {
uint8_t name[3];
uint8_t type_op : 3;
uint8_t type_ele : 3;
uint8_t layer : 4;
uint8_t color : 4;
uint16_t angle_start : 9;
uint16_t angle_end : 9;
uint16_t width : 10;
uint16_t x_start : 11;
uint16_t y_start : 11;
uint16_t radius : 10;
uint16_t x_end : 11;
uint16_t y_end : 11;
} UI_Ele_t;
typedef struct __packed {
UI_Ele_t grapic;
} UI_Drawgrapic_1_t;
typedef struct __packed {
UI_Ele_t grapic[2];
} UI_Drawgrapic_2_t;
typedef struct __packed {
UI_Ele_t grapic[5];
} UI_Drawgrapic_5_t;
typedef struct __packed {
UI_Ele_t grapic[7];
} UI_Drawgrapic_7_t;
typedef struct __packed {
UI_Ele_t grapic;
uint8_t character[30];
} UI_Drawcharacter_t;
typedef struct __packed {
uint8_t del_operation;
uint8_t layer;
} UI_Del_t;
/**
* @brief UI_绘制直线段
*
* @param grapic_line 结构体
* @param name 图形名首地址
* @param type_op 操作类型
* @param layer 图层数
* @param color 颜色
* @param width 线条宽度
* @param x_start 起点x坐标
* @param y_start 起点y坐标
* @param x_end 终点x坐标
* @param y_end 终点y坐标
* @return int8_t
*/
int8_t UI_DrawLine(UI_Ele_t *grapic_line, const char *name, uint8_t type_op,
uint8_t layer, uint8_t color, uint16_t width,
uint16_t x_start, uint16_t y_start, uint16_t x_end,
uint16_t y_end);
/**
* @brief UI_绘制矩形
*
* @param grapic_rectangle 结构体
* @param name 图形名首地址
* @param type_op 操作类型
* @param layer 图层数
* @param color 颜色
* @param width 线条宽度
* @param x_start 起点x坐标
* @param y_start 起点y坐标
* @param x_end 对角顶点x坐标
* @param y_end 对角顶点y坐标
* @return int8_t
*/
int8_t UI_DrawRectangle(UI_Ele_t *grapic_rectangle, const char *name,
uint8_t type_op, uint8_t layer, uint8_t color,
uint16_t width, uint16_t x_start, uint16_t y_start,
uint16_t x_end, uint16_t y_end);
/**
* @brief UI_绘制正圆
*
* @param grapic_cycle 结构体
* @param name 图形名首地址
* @param type_op 操作类型
* @param layer 图层数
* @param color 颜色
* @param width 线条宽度
* @param x_center 圆心x坐标
* @param y_center 圆心y坐标
* @param radius 半径
* @return int8_t
*/
int8_t UI_DrawCycle(UI_Ele_t *grapic_cycle, const char *name, uint8_t type_op,
uint8_t layer, uint8_t color, uint16_t width,
uint16_t x_center, uint16_t y_center, uint16_t radius);
/**
* @brief UI_绘制椭圆
*
* @param grapic_oval 结构体
* @param name 图形名首地址
* @param type_op 操作类型
* @param layer 图层数
* @param color 颜色
* @param width 线条宽度
* @param x_center 圆心x坐标
* @param y_center 圆心y坐标
* @param x_semiaxis x半轴长度
* @param y_semiaxis y半轴长度
* @return int8_t
*/
int8_t UI_DrawOval(UI_Ele_t *grapic_oval, const char *name, uint8_t type_op,
uint8_t layer, uint8_t color, uint16_t width,
uint16_t x_center, uint16_t y_center, uint16_t x_semiaxis,
uint16_t y_semiaxis);
/**
* @brief UI_绘制圆弧
*
* @param grapic_arc 结构体
* @param name 图形名首地址
* @param type_op 操作类型
* @param layer 图层数
* @param color 颜色
* @param angle_start 起始角度
* @param angle_end 终止角度
* @param width 线条宽度
* @param x_center 圆心x坐标
* @param y_center 圆心y坐标
* @param x_semiaxis x半轴长度
* @param y_semiaxis y半轴长度
* @return int8_t
*/
int8_t UI_DrawArc(UI_Ele_t *grapic_arc, const char *name, uint8_t type_op,
uint8_t layer, uint8_t color, uint16_t angle_start,
uint16_t angle_end, uint16_t width, uint16_t x_center,
uint16_t y_center, uint16_t x_semiaxis, uint16_t y_semiaxis);
/**
* @brief UI_绘制浮点数
*
* @param grapic_float 结构体
* @param name 图形名首地址
* @param type_op 操作类型
* @param layer 图层数
* @param color 颜色
* @param font_size 字体大小
* @param digits 小数点后有效位数
* @param width 线条宽度
* @param x_start 起点x坐标
* @param y_start 起点y坐标
* @param float_high 32位浮点数
* @param float_middle 32位浮点数
* @param float_low 32位浮点数
* @return int8_t
*/
int8_t UI_DrawFloating(UI_Ele_t *grapic_floating, const char *name,
uint8_t type_op, uint8_t layer, uint8_t color,
uint16_t font_size, uint16_t digits, uint16_t width,
uint16_t x_start, uint16_t y_start, uint16_t float_high,
uint16_t float_middle, uint16_t float_low);
/**
* @brief UI_绘制整型数
*
* @param grapic_integer 结构体
* @param name 图形名首地址
* @param type_op 操作类型
* @param layer 图层数
* @param color 颜色
* @param font_size 字体大小
* @param width 线条宽度
* @param x_start 起点x坐标
* @param y_start 起点y坐标
* @param int32_t_high 32位整型数
* @param int32_t_middle 32位整型数
* @param int32_t_low 32位整型数
* @return int8_t
*/
int8_t UI_DrawInteger(UI_Ele_t *grapic_integer, const char *name,
uint8_t type_op, uint8_t layer, uint8_t color,
uint16_t font_size, uint16_t width, uint16_t x_start,
uint16_t y_start, uint16_t int32_t_high,
uint16_t int32_t_middle, uint16_t int32_t_low);
/**
* @brief UI_绘制字符
*
* @param grapic_character 结构体
* @param name 图形名首地址
* @param type_op 操作类型
* @param layer 图层数
* @param color 颜色
* @param font_size 字体大小
* @param length 字符长度
* @param width 线条宽度
* @param x_start 起点x坐标
* @param y_start 起点y坐标
* @param character 字符串首地址
* @return int8_t
*/
int8_t UI_DrawCharacter(UI_Drawcharacter_t *grapic_character, const char *name,
uint8_t type_op, uint8_t layer, uint8_t color,
uint16_t font_size, uint16_t length, uint16_t width,
uint16_t x_start, uint16_t y_start,
const char *character);
/**
* @brief UI_删除图层
*
* @param del 结构体
* @param opt 操作
* @param layer 图层
* @return int8_t
*/
int8_t UI_DelLayer(UI_Del_t *del, uint8_t opt, uint8_t layer);
#ifdef __cplusplus
}
#endif

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/*
自定义的数学运算。
*/
#include "user_math.h"
#include <string.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
inline float InvSqrt(float x) {
//#if 0
/* Fast inverse square-root */
/* See: http://en.wikipedia.org/wiki/Fast_inverse_square_root */
float halfx = 0.5f * x;
float y = x;
long i = *(long*)&y;
i = 0x5f3759df - (i>>1);
y = *(float*)&i;
y = y * (1.5f - (halfx * y * y));
y = y * (1.5f - (halfx * y * y));
return y;
//#else
// return 1.0f / sqrtf(x);
//#endif
}
inline float AbsClip(float in, float limit) {
return (in < -limit) ? -limit : ((in > limit) ? limit : in);
}
float fAbs(float in){
return (in > 0) ? in : -in;
}
inline void Clip(float *origin, float min, float max) {
if (*origin > max) *origin = max;
if (*origin < min) *origin = min;
}
inline float Sign(float in) { return (in > 0) ? 1.0f : 0.0f; }
/**
* \brief 将运动向量置零
*
* \param mv 被操作的值
*/
inline void ResetMoveVector(MoveVector_t *mv) { memset(mv, 0, sizeof(*mv)); }
/**
* \brief 计算循环值的误差，适用于设定值与反馈值均在（x,y）范围内循环的情况，range应设定为y-x
* 例如：（-M_PI,M_PI）range=M_2PI;(0,M_2PI)range=M_2PI;（a,a+b）range=b;
* \param sp 设定值
* \param fb 反馈值
* \param range 被操作的值变化范围，正数时起效
* \return 函数运行结果
*/
inline float CircleError(float sp, float fb, float range) {
float error = sp - fb;
if (range > 0.0f) {
float half_range = range / 2.0f;
if (error > half_range)
error -= range;
else if (error < -half_range)
error += range;
}
return error;
}
/**
* \brief 循环加法，适用于被操作的值在（0,range）范围内循环的情况
* \param origin 被操作的值
* \param delta 变化量
* \param range 被操作的值变化范围，正数时起效
*/
inline void CircleAdd(float *origin, float delta, float range) {
float out = *origin + delta;
if (range > 0.0f) {
if (out >= range)
out -= range;
else if (out < 0.0f)
out += range;
}
*origin = out;
}
/**
* @brief 循环值取反
*
* @param origin 被操作的值
*/
inline void CircleReverse(float *origin) { *origin = -(*origin) + M_2PI; }
/**
* @brief 根据目标弹丸速度计算摩擦轮转速
*
* @param bullet_speed 弹丸速度
* @param fric_radius 摩擦轮半径
* @param is17mm 是否为17mm
* @return 摩擦轮转速
*/
inline float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm) {
if (bullet_speed == 0.0f) return 0.f;
if (is17mm) {
if (bullet_speed == 15.0f) return 4670.f;
if (bullet_speed == 18.0f) return 5200.f;
if (bullet_speed == 30.0f) return 7350.f;
} else {
if (bullet_speed == 10.0f) return 4450.f;
if (bullet_speed == 16.0f) return 5800.f;
}
/* 不为裁判系统设定值时,计算转速 */
return 60.0f * (float)bullet_speed / (M_2PI * fric_radius);
}
// /**
// * @brief 断言失败处理
// *
// * @param file 文件名
// * @param line 行号
// */
// void VerifyFailed(const char *file, uint32_t line) {
// UNUSED(file);
// UNUSED(line);
// while (1) {
// __NOP();
// }
// }
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */

179
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/*
自定义的数学运算。
*/
#pragma once
#ifdef __cplusplus
extern "C" {
#endif
#include <float.h>
#include <math.h>
#include <stdbool.h>
#include <stdint.h>
#include <stddef.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
#define M_DEG2RAD_MULT (0.01745329251f)
#define M_RAD2DEG_MULT (57.2957795131f)
#ifndef M_PI_2
#define M_PI_2 1.57079632679f
#endif
#ifndef M_PI
#define M_PI 3.14159265358979323846f
#endif
#ifndef M_2PI
#define M_2PI 6.28318530717958647692f
#endif
#ifndef __packed
#define __packed __attribute__((__packed__))
#endif /* __packed */
#define max(a, b) \
({ \
__typeof__(a) _a = (a); \
__typeof__(b) _b = (b); \
_a > _b ? _a : _b; \
})
#define min(a, b) \
({ \
__typeof__(a) _a = (a); \
__typeof__(b) _b = (b); \
_a < _b ? _a : _b; \
})
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* 移动向量 */
typedef struct {
float vx; /* 前后平移 */
float vy; /* 左右平移 */
float wz; /* 转动 */
} MoveVector_t;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
float InvSqrt(float x);
float AbsClip(float in, float limit);
float fAbs(float in);
void Clip(float *origin, float min, float max);
float Sign(float in);
/**
* \brief 将运动向量置零
*
* \param mv 被操作的值
*/
void ResetMoveVector(MoveVector_t *mv);
/**
* \brief 计算循环值的误差，适用于设定值与反馈值均在（x,y）范围内循环的情况，range应设定为y-x
* 例如：（-M_PI,M_PI）range=M_2PI;(0,M_2PI)range=M_2PI;（a,a+b）range=b;
* \param sp 设定值
* \param fb 反馈值
* \param range 被操作的值变化范围，正数时起效
* \return 函数运行结果
*/
float CircleError(float sp, float fb, float range);
/**
* \brief 循环加法，适用于被操作的值在（0,range）范围内循环的情况
* \param origin 被操作的值
* \param delta 变化量
* \param range 被操作的值变化范围，正数时起效
*/
void CircleAdd(float *origin, float delta, float range);
/**
* @brief 循环值取反
*
* @param origin 被操作的值
*/
void CircleReverse(float *origin);
/**
* @brief 根据目标弹丸速度计算摩擦轮转速
*
* @param bullet_speed 弹丸速度
* @param fric_radius 摩擦轮半径
* @param is17mm 是否为17mm
* @return 摩擦轮转速
*/
float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm);
#ifdef __cplusplus
}
#endif
#ifdef DEBUG
/**
* @brief 如果表达式的值为假则运行处理函数
*
*/
#define ASSERT(expr) \
do { \
if (!(expr)) { \
VerifyFailed(__FILE__, __LINE__); \
} \
} while (0)
#else
/**
* @brief 未定DEBUG，表达式不会运行，断言被忽略
*
*/
#define ASSERT(expr) ((void)(0))
#endif
#ifdef DEBUG
/**
* @brief 如果表达式的值为假则运行处理函数
*
*/
#define VERIFY(expr) \
do { \
if (!(expr)) { \
VerifyFailed(__FILE__, __LINE__); \
} \
} while (0)
#else
/**
* @brief 表达式会运行，忽略表达式结果
*
*/
#define VERIFY(expr) ((void)(expr))
#endif
// /**
// * @brief 断言失败处理
// *
// * @param file 文件名
// * @param line 行号
// */
// void VerifyFailed(const char *file, uint32_t line);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */

4
assets/User_code/config.csv
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@ -1,4 +0,0 @@
bsp,can,dwt,gpio,i2c,mm,spi,uart,pwm,time
component,ahrs,capacity,crc8,crc16,error_detect,filter,FreeRTOS_CLI,limiter,mixer,pid,ui,user_math
device,dr16,bmi088,ist8310,motor,motor_rm,motor_dm,motor_vesc,motor_lk,motor_lz,motor_odrive,dm_imu,rc_can,servo,buzzer,led,ws2812,vofa,ops9,ai
module,config,
1 bsp,can,dwt,gpio,i2c,mm,spi,uart,pwm,time
2 component,ahrs,capacity,crc8,crc16,error_detect,filter,FreeRTOS_CLI,limiter,mixer,pid,ui,user_math
3 device,dr16,bmi088,ist8310,motor,motor_rm,motor_dm,motor_vesc,motor_lk,motor_lz,motor_odrive,dm_imu,rc_can,servo,buzzer,led,ws2812,vofa,ops9,ai
4 module,config,

BIN
assets/User_code/device/.DS_Store vendored
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0
assets/User_code/device/.gitkeep
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142
assets/User_code/device/ai.c
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@ -1,142 +0,0 @@
/*
AI
*/
/* Includes ----------------------------------------------------------------- */
#include "ai.h"
#include <stdbool.h>
#include <string.h>
#include "bsp/time.h"
#include "bsp/uart.h"
#include "component/ahrs.h"
#include "component/crc16.h"
#include "component/crc8.h"
#include "component/user_math.h"
#include "component/filter.h"
/* Private define ----------------------------------------------------------- */
#define AI_LEN_RX_BUFF (sizeof(AI_DownPackage_t))
/* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */
/* Private variables -------------------------------------------------------- */
static uint8_t rxbuf[AI_LEN_RX_BUFF];
static bool inited = false;
static osThreadId_t thread_alert;
static uint32_t drop_message = 0;
// uint16_t crc16;
/* Private function -------------------------------------------------------- */
static void Ai_RxCpltCallback(void) {
osThreadFlagsSet(thread_alert, SIGNAL_AI_RAW_REDY);
}
static void Ai_IdleLineCallback(void) {
osThreadFlagsSet(thread_alert, SIGNAL_AI_RAW_REDY);
}
/* Exported functions ------------------------------------------------------- */
int8_t AI_Init(AI_t *ai) {
UNUSED(ai);
if (inited) return DEVICE_ERR_INITED;
thread_alert = osThreadGetId();
BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_RX_CPLT_CB,
Ai_RxCpltCallback);
BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_IDLE_LINE_CB,
Ai_IdleLineCallback);
inited = true;
return 0;
}
int8_t AI_Restart(AI_t *ai) {
UNUSED(ai);
__HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_AI));
__HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_AI));
return DEVICE_OK;
}
int8_t AI_StartReceiving(AI_t *ai) {
UNUSED(ai);
// if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_AI), rxbuf,
// AI_LEN_RX_BUFF) == HAL_OK)
if (BSP_UART_Receive(BSP_UART_AI, rxbuf,
AI_LEN_RX_BUFF, true) == HAL_OK)
return DEVICE_OK;
return DEVICE_ERR;
}
bool AI_WaitDmaCplt(void) {
return (osThreadFlagsWait(SIGNAL_AI_RAW_REDY, osFlagsWaitAll,0) ==
SIGNAL_AI_RAW_REDY);
}
int8_t AI_ParseHost(AI_t *ai) {
// crc16 = CRC16_Calc((const uint8_t *)&(rxbuf), sizeof(ai->from_host) - 2, CRC16_INIT);
if (!CRC16_Verify((const uint8_t *)&(rxbuf), sizeof(ai->from_host)))
goto error;
ai->header.online = true;
ai->header.last_online_time = BSP_TIME_Get();
memcpy(&(ai->from_host), rxbuf, sizeof(ai->from_host));
memset(rxbuf, 0, AI_LEN_RX_BUFF);
return DEVICE_OK;
error:
drop_message++;
return DEVICE_ERR;
}
int8_t AI_PackMCU(AI_t *ai, const AHRS_Quaternion_t *data){
if (ai == NULL || data == NULL) return DEVICE_ERR_NULL;
ai->to_host.mcu.id = AI_ID_MCU;
ai->to_host.mcu.package.quat=*data;
ai->to_host.mcu.package.notice = ai->status;
ai->to_host.mcu.crc16 = CRC16_Calc((const uint8_t *)&(ai->to_host.mcu), sizeof(AI_UpPackageMCU_t) - 2, CRC16_INIT);
return DEVICE_OK;
}
int8_t AI_PackRef(AI_t *ai, const AI_UpPackageReferee_t *data) {
if (ai == NULL || data == NULL) return DEVICE_ERR_NULL;
ai->to_host.ref = *data;
return DEVICE_OK;
}
int8_t AI_HandleOffline(AI_t *ai) {
if (ai == NULL) return DEVICE_ERR_NULL;
if (BSP_TIME_Get() - ai->header.last_online_time >
100000) {
ai->header.online = false;
}
return DEVICE_OK;
}
int8_t AI_StartSend(AI_t *ai, bool ref_online){
if (ai == NULL) return DEVICE_ERR_NULL;
if (ref_online) {
// 发送裁判系统数据和MCU数据
if (BSP_UART_Transmit(BSP_UART_AI, (uint8_t *)&(ai->to_host),
sizeof(ai->to_host.ref) + sizeof(ai->to_host.mcu), true) == HAL_OK)
return DEVICE_OK;
else
return DEVICE_ERR;
} else {
// 只发送MCU数据
if (BSP_UART_Transmit(BSP_UART_AI, (uint8_t *)&(ai->to_host.mcu),
sizeof(ai->to_host.mcu), true) == HAL_OK)
return DEVICE_OK;
else
return DEVICE_ERR;
}
}

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/*
AI
*/
#pragma once
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ----------------------------------------------------------------- */
#include "component/ahrs.h"
#include "component/filter.h"
#include "component/user_math.h"
#include "device/device.h"
#include <cmsis_os2.h>
#include <stdbool.h>
#include <stdint.h>
/* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
#define AI_ID_MCU (0xC4)
#define AI_ID_REF (0xA8)
#define AI_ID_AI (0xA1)
/* Exported types ----------------------------------------------------------- */
typedef enum {
AI_ARMOR_HERO = 0, /*英雄机器人*/
AI_ARMOR_INFANTRY, /*步兵机器人*/
AI_ARMOR_SENTRY, /*哨兵机器人*/
AI_ARMOR_ENGINEER, /*工程机器人*/
AI_ARMOR_OUTPOST, /*前哨占*/
AI_ARMOR_BASE, /*基地*/
AI_ARMOR_NORMAL, /*由AI自动选择*/
} AI_ArmorsType_t;
typedef enum {
AI_STATUS_OFF = 0, /* 关闭 */
AI_STATUS_AUTOAIM, /* 自瞄 */
AI_STATUS_AUTOPICK, /* 自动取矿 */
AI_STATUS_AUTOPUT, /* 自动兑矿 */
AI_STATUS_AUTOHITBUFF, /* 自动打符 */
AI_STATUS_AUTONAV,
} AI_Status_t;
typedef enum {
AI_NOTICE_NONE = 0,
AI_NOTICE_SEARCH,
AI_NOTICE_FIRE,
}AI_Notice_t;
/* 电控 -> 视觉 MCU数据结构体*/
typedef struct __packed {
AHRS_Quaternion_t quat; /* 四元数 */
// struct {
// AI_ArmorsType_t armor_type;
// AI_Status_t status;
// }notice; /* 控制命令 */
uint8_t notice;
} AI_Protucol_UpDataMCU_t;
/* 电控 -> 视觉 裁判系统数据结构体*/
typedef struct __packed {
/* USER REFEREE BEGIN */
uint16_t team; /* 本身队伍 */
uint16_t time; /* 比赛开始时间 */
/* USER REFEREE END */
} AI_Protocol_UpDataReferee_t;
/* 视觉 -> 电控 数据包结构体*/
typedef struct __packed {
AHRS_Eulr_t eulr; /* 欧拉角 */
MoveVector_t move_vec; /* 运动向量 */
uint8_t notice; /* 控制命令 */
} AI_Protocol_DownData_t;
/* 电控 -> 视觉 裁判系统数据包 */
typedef struct __packed {
uint8_t id; /* 包ID */
AI_Protocol_UpDataReferee_t package; /* 数据包 */
uint16_t crc16; /* CRC16校验 */
} AI_UpPackageReferee_t;
/* 电控 -> 视觉 MUC数据包 */
typedef struct __packed {
uint8_t id;
AI_Protucol_UpDataMCU_t package;
uint16_t crc16;
} AI_UpPackageMCU_t;
/* 视觉 -> 电控 数据包 */
typedef struct __packed {
uint8_t id; /* 包ID */
AI_Protocol_DownData_t package; /* 数据包 */
uint16_t crc16; /* CRC16校验 */
} AI_DownPackage_t;
typedef struct __packed {
DEVICE_Header_t header; /* 设备通用头部 */
AI_DownPackage_t from_host;
AI_Status_t status;
struct {
AI_UpPackageReferee_t ref;
AI_UpPackageMCU_t mcu;
} to_host;
} AI_t;
/* Exported functions prototypes -------------------------------------------- */
int8_t AI_Init(AI_t *ai);
int8_t AI_Restart(AI_t *ai);
int8_t AI_StartReceiving(AI_t *ai);
bool AI_WaitDmaCplt(void);
int8_t AI_ParseHost(AI_t *ai);
int8_t AI_PackMCU(AI_t *ai, const AHRS_Quaternion_t *quat);
int8_t AI_PackRef(AI_t *ai, const AI_UpPackageReferee_t *data);
int8_t AI_HandleOffline(AI_t *ai);
int8_t AI_StartSend(AI_t *ai, bool ref_online);
#ifdef __cplusplus
}
#endif

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/*
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"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private define ----------------------------------------------------------- */
/* 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;
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* 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 -------------------------------------------------------- */
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
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;
}
BSP_SPI_Transmit(BSP_SPI_BMI088, buffer, 2u, false);
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);
BSP_SPI_Transmit(BSP_SPI_BMI088, buffer, 1u, false);
BSP_SPI_Receive(BSP_SPI_BMI088, buffer, 2u, false);
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);
BSP_SPI_Transmit(BSP_SPI_BMI088, buffer, 1u, false);
BSP_SPI_Receive(BSP_SPI_BMI088, data, len, true);
}
static void BMI088_RxCpltCallback(void) {
if (BSP_GPIO_ReadPin(BSP_GPIO_ACCL_CS) == GPIO_PIN_RESET) {
BMI088_ACCL_NSS_SET();
osThreadFlagsSet(thread_alert, SIGNAL_BMI088_ACCL_RAW_REDY);
}
if (BSP_GPIO_ReadPin(BSP_GPIO_GYRO_CS) == 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(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(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;
}

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