给device添加time

.vscode/settings.json

@@ -9,6 +9,7 @@
         "vector": "c",
         "can.h": "c",
         "device.h": "c",
-        "gpio.h": "c"
+        "gpio.h": "c",
+        "uart.h": "c"
     }
 }

app/code_generate_interface.py

@@ -155,23 +155,38 @@ class CodeGenerateInterface(QWidget):
 
 
 
-
     def generate_code(self):
-        """生成代码逻辑 - 修复导入问题并添加配置重载"""
+        """生成所有代码，包括未加载页面"""
         try:
-            # 收集所有已加载的页面对象，并按类型分类
+            # 先收集所有页面名（从CSV配置文件读取）
+            script_dir = os.path.dirname(os.path.abspath(__file__))
+            csv_path = os.path.join(script_dir, "../assets/User_code/config.csv")
+            csv_path = os.path.abspath(csv_path)
+            all_class_names = []
+            if os.path.exists(csv_path):
+                with open(csv_path, newline='', encoding='utf-8') as f:
+                    reader = csv.reader(f)
+                    for row in reader:
+                        row = [cell.strip() for cell in row if cell.strip()]
+                        if not row:
+                            continue
+                        main_title = row[0]
+                        for sub in row[1:]:
+                            class_name = f"{main_title}_{sub}".replace("-", "_")
+                            all_class_names.append(class_name)
+
+            # 创建所有页面对象（无论是否点击过）
             bsp_pages = []
             component_pages = []
             device_pages = []
-            
-            for i in range(self.stack.count()):
-                widget = self.stack.widget(i)
-                # 根据页面类型分类
-                if hasattr(widget, '_generate_bsp_code_internal'):
+            for class_name in all_class_names:
+                widget = self._get_or_create_page(class_name)
+                if widget:
+                    if hasattr(widget, '_generate_bsp_code_internal') and widget not in bsp_pages:
                         bsp_pages.append(widget)
-                elif hasattr(widget, '_generate_component_code_internal'):
+                    elif hasattr(widget, '_generate_component_code_internal') and widget not in component_pages:
                         component_pages.append(widget)
-                elif hasattr(widget, '_generate_device_code_internal'):
+                    elif hasattr(widget, '_generate_device_code_internal') and widget not in device_pages:
                         device_pages.append(widget)
 
             # 确保导入成功
@@ -191,7 +206,6 @@ class CodeGenerateInterface(QWidget):
             # 合并结果信息
             combined_result = f"BSP代码生成:\n{bsp_result}\n\nComponent代码生成:\n{component_result}\n\nDevice代码生成:\n{device_result}"
 
-            # 用 InfoBar 在主界面弹出
             InfoBar.success(
                 title="代码生成结果",
                 content=combined_result,
@@ -215,8 +229,6 @@ class CodeGenerateInterface(QWidget):
             )
 
 
-
-
     def _get_freertos_status(self):
         """获取FreeRTOS状态"""
         ioc_files = [f for f in os.listdir(self.project_path) if f.endswith('.ioc')]

assets/User_code/config.csv

@@ -1,4 +1,4 @@
 bsp,can,dwt,gpio,i2c,mm,spi,uart,pwm,time
 component,ahrs,ballistics,capacity,cmd,crc8,crc16,error_detect,filter,FreeRTOS_CLI,limiter,mixer,pid,ui,user_math
-device,dr16,bmi088
-module,chassis,gimbal,arm,shoot
+device,dr16,bmi088,ist8310
+module,

assets/User_code/device/bmi088.h

@@ -23,6 +23,7 @@ typedef struct {
 } BMI088_Cali_t; /* BMI088校准数据 */
 
 typedef struct {
+  DEVICE_Header_t header;
   AHRS_Accl_t accl;
   AHRS_Gyro_t gyro;
 

assets/User_code/device/config.yaml

@@ -49,3 +49,28 @@ devices:
     files:
       header: "bmi088.h"
       source: "bmi088.c"
+
+  ist8310:
+    name: "IST8310"
+    description: "IST8310 地磁传感器"
+    dependencies:
+      bsp: ["i2c", "gpio"]
+      component: []
+    bsp_requirements:
+      - type: "i2c"
+        var_name: "BSP_I2C_COMP"
+        description: "用于与 IST8310 通信的 I2C 总线"
+      - type: "gpio"
+        var_name: "CMPS_RST_Pin"
+        description: "IST8310 复位引脚"
+        gpio_type: "output"
+      - type: "gpio"
+        var_name: "CMPS_INT_Pin"
+        description: "IST8310 数据中断引脚"
+        gpio_type: "EXTI"
+    thread_signals:
+      - name: "SIGNAL_IST8310_MAGN_RAW_REDY"
+      - name: "SIGNAL_IST8310_MAGN_NEW_DATA"
+    files:
+      header: "ist8310.h"
+      source: "ist8310.c"

assets/User_code/device/dr16.c

@@ -8,7 +8,7 @@
 #include <string.h>
 
 #include "bsp/uart.h"
-
+#include "bsp/time.h"
 /* Private define ----------------------------------------------------------- */
 #define DR16_CH_VALUE_MIN (364u)
 #define DR16_CH_VALUE_MID (1024u)

assets/User_code/device/dr16.h

@@ -30,6 +30,7 @@ typedef struct __packed {
 } DR16_Data_t;
 
 typedef struct {
+  DEVICE_Header_t header;
   DR16_Data_t data;
 } DR16_t;
 

assets/User_code/device/ist8310.c

@@ -0,0 +1,162 @@
+/*
+        IST8310 地磁传感器。
+
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "ist8310.h"
+
+#include <gpio.h>
+#include <stdbool.h>
+#include <string.h>
+
+#include "bsp/time.h"
+#include "bsp/gpio.h"
+#include "bsp/i2c.h"
+
+/* Private define ----------------------------------------------------------- */
+#define IST8310_WAI (0x00)
+#define IST8310_STAT1 (0x02)
+#define IST8310_DATAXL (0x03)
+#define IST8310_STAT2 (0x09)
+#define IST8310_CNTL1 (0x0A)
+#define IST8310_CNTL2 (0x0B)
+#define IST8310_STR (0x0C)
+#define IST8310_TEMPL (0x1C)
+#define IST8310_TEMPH (0x1D)
+#define IST8310_AVGCNTL (0x41)
+#define IST8310_PDCNTL (0x42)
+
+#define IST8310_CHIP_ID (0x10)
+
+#define IST8310_IIC_ADDRESS (0x0E << 1)
+
+#define IST8310_LEN_RX_BUFF (6)
+/* Private macro ------------------------------------------------------------ */
+#define IST8310_SET() \
+  BSP_GPIO_WritePin(CMPS_RST_Pin, GPIO_PIN_SET)
+#define IST8310_RESET() \
+  BSP_GPIO_WritePin(CMPS_RST_Pin, GPIO_PIN_RESET)
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private variables -------------------------------------------------------- */
+uint8_t ist8310_rxbuf[IST8310_LEN_RX_BUFF];
+
+static osThreadId_t thread_alert;
+static bool inited = false;
+
+/* Private function  -------------------------------------------------------- */
+static void IST8310_WriteSingle(uint8_t reg, uint8_t data) {
+  BSP_I2C_MemWriteByte(BSP_I2C_COMP, IST8310_IIC_ADDRESS, reg, data);
+}
+
+static uint8_t IST8310_ReadSingle(uint8_t reg) {
+  return BSP_I2C_MemReadByte(BSP_I2C_COMP, IST8310_IIC_ADDRESS, reg);
+}
+
+
+static void IST8310_Read(uint8_t reg, uint8_t *data, uint8_t len) {
+  if (data == NULL) return;
+  BSP_I2C_MemRead(BSP_I2C_COMP, IST8310_IIC_ADDRESS, reg, data, len, true);
+}
+
+static void IST8310_MemRxCpltCallback(void) {
+  osThreadFlagsSet(thread_alert, SIGNAL_IST8310_MAGN_RAW_REDY);
+}
+
+static void IST8310_IntCallback(void) {
+  osThreadFlagsSet(thread_alert, SIGNAL_IST8310_MAGN_NEW_DATA);
+}
+
+/* Exported functions ------------------------------------------------------- */
+int8_t IST8310_Init(IST8310_t *ist8310, const IST8310_Cali_t *cali) {
+  if (ist8310 == 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;
+
+  ist8310->cali = cali;
+
+  IST8310_RESET();
+  BSP_TIME_Delay(50);
+  IST8310_SET();
+  BSP_TIME_Delay(50);
+
+  if (IST8310_ReadSingle(IST8310_WAI) != IST8310_CHIP_ID)
+    return DEVICE_ERR_NO_DEV;
+
+  BSP_GPIO_DisableIRQ(CMPS_INT_Pin);
+
+  BSP_I2C_RegisterCallback(BSP_I2C_COMP, HAL_I2C_MEM_RX_CPLT_CB,
+                           IST8310_MemRxCpltCallback);
+  BSP_GPIO_RegisterCallback(CMPS_INT_Pin, IST8310_IntCallback);
+
+  /* Init. */
+  /* 0x00: Stand-By mode. 0x01: Single measurement mode. */
+
+  /* 0x08: Data ready function enable. DRDY signal active low*/
+  IST8310_WriteSingle(IST8310_CNTL2, 0x08);
+
+  IST8310_WriteSingle(IST8310_AVGCNTL, 0x09);
+  IST8310_WriteSingle(IST8310_PDCNTL, 0xC0);
+  IST8310_WriteSingle(IST8310_CNTL1, 0x0B);
+  BSP_TIME_Delay(10);
+
+  inited = true;
+
+  BSP_GPIO_EnableIRQ(CMPS_INT_Pin);
+  return DEVICE_OK;
+}
+
+bool IST8310_WaitNew(uint32_t timeout) {
+  return (osThreadFlagsWait(SIGNAL_IST8310_MAGN_NEW_DATA, osFlagsWaitAll,
+                            timeout) == SIGNAL_IST8310_MAGN_NEW_DATA);
+}
+
+int8_t IST8310_StartDmaRecv() {
+  IST8310_Read(IST8310_DATAXL, ist8310_rxbuf, IST8310_LEN_RX_BUFF);
+  return DEVICE_OK;
+}
+
+uint32_t IST8310_WaitDmaCplt() {
+  return osThreadFlagsWait(SIGNAL_IST8310_MAGN_RAW_REDY, osFlagsWaitAll,
+                           osWaitForever);
+}
+
+int8_t IST8310_Parse(IST8310_t *ist8310) {
+  if (ist8310 == NULL) return DEVICE_ERR_NULL;
+
+#if 1
+  /* Magn -> T */
+  int16_t raw_x, raw_y, raw_z;
+  memcpy(&raw_x, ist8310_rxbuf + 0, sizeof(raw_x));
+  memcpy(&raw_y, ist8310_rxbuf + 2, sizeof(raw_y));
+  memcpy(&raw_z, ist8310_rxbuf + 4, sizeof(raw_z));
+
+  ist8310->magn.x = (float)raw_x;
+  ist8310->magn.y = (float)raw_y;
+  ist8310->magn.z = (float)-raw_z;
+
+#else
+  const int16_t *raw_x = (int16_t *)(ist8310_rxbuf + 0);
+  const int16_t *raw_y = (int16_t *)(ist8310_rxbuf + 2);
+  const int16_t *raw_z = (int16_t *)(ist8310_rxbuf + 4);
+
+  ist8310->magn.x = (float)*raw_x;
+  ist8310->magn.y = (float)*raw_y;
+  ist8310->magn.z = -(float)*raw_z;
+#endif
+
+  ist8310->magn.x *= 3.0f / 20.0f;
+  ist8310->magn.y *= 3.0f / 20.0f;
+  ist8310->magn.z *= 3.0f / 20.0f;
+
+  ist8310->magn.x = (ist8310->magn.x - ist8310->cali->magn_offset.x) *
+                    ist8310->cali->magn_scale.x;
+  ist8310->magn.y = (ist8310->magn.y - ist8310->cali->magn_offset.y) *
+                    ist8310->cali->magn_scale.y;
+  ist8310->magn.z = (ist8310->magn.z - ist8310->cali->magn_offset.y) *
+                    ist8310->cali->magn_scale.z;
+
+  return DEVICE_OK;
+}

assets/User_code/device/ist8310.h

@@ -0,0 +1,49 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include <cmsis_os2.h>
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "component/ahrs.h"
+#include "device/device.h"
+
+/* Exported constants ------------------------------------------------------- */
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+typedef struct {
+  struct {
+    float x;
+    float y;
+    float z;
+  } magn_offset; /* 磁力计偏置 */
+
+  struct {
+    float x;
+    float y;
+    float z;
+  } magn_scale;   /* 磁力计缩放 */
+} IST8310_Cali_t; /* IST8310校准数据 */
+
+typedef struct {
+  DEVICE_Header_t header;
+  AHRS_Magn_t magn;
+  const IST8310_Cali_t *cali;
+} IST8310_t;
+
+/* Exported functions prototypes -------------------------------------------- */
+int8_t IST8310_Init(IST8310_t *ist8310, const IST8310_Cali_t *cali);
+int8_t IST8310_Restart(void);
+
+bool IST8310_WaitNew(uint32_t timeout);
+int8_t IST8310_StartDmaRecv();
+uint32_t IST8310_WaitDmaCplt();
+int8_t IST8310_Parse(IST8310_t *ist8310);
+
+#ifdef __cplusplus
+}
+#endif