mirror of
https://github.com/goldenfishs/MRobot.git
synced 2026-02-04 18:00:19 +08:00
Robofish
eeb02a2de3
主要更改： - 将所有BSP外设文件移动到独立子文件夹（can/, fdcan/, uart/等） - 将所有Component文件移动到独立子文件夹（pid/, filter/, cmd/等） - 将所有Device文件移动到独立子文件夹（dr16/, bmi088/等） - 更新代码生成器以支持新的文件夹结构 - 保持向后兼容性，支持从子文件夹或根目录加载模板 - 添加STRUCTURE.md文档说明新的目录结构 优势： ✅ 更好的代码组织和管理 ✅ 便于添加、删除、修改模板 ✅ 清晰的模块划分 ✅ 向后兼容现有结构
82 lines
1.9 KiB
C
82 lines
1.9 KiB
C
#pragma once
|
||
|
||
#ifdef __cplusplus
|
||
extern "C" {
|
||
#endif
|
||
|
||
/* Includes ----------------------------------------------------------------- */
|
||
#include <stdbool.h>
|
||
#include <stdint.h>
|
||
|
||
#include "component/ahrs.h"
|
||
#include "device/device.h"
|
||
|
||
/* USER INCLUDE BEGIN */
|
||
|
||
/* USER INCLUDE END */
|
||
|
||
/* USER DEFINE BEGIN */
|
||
|
||
/* USER DEFINE END */
|
||
|
||
/* Exported constants ------------------------------------------------------- */
|
||
/* Exported macro ----------------------------------------------------------- */
|
||
/* Exported types ----------------------------------------------------------- */
|
||
typedef struct {
|
||
struct {
|
||
float x;
|
||
float y;
|
||
float z;
|
||
} gyro_offset; /* 陀螺仪偏置 */
|
||
} BMI088_Cali_t; /* BMI088校准数据 */
|
||
|
||
typedef struct {
|
||
DEVICE_Header_t header;
|
||
AHRS_Accl_t accl;
|
||
AHRS_Gyro_t gyro;
|
||
|
||
float temp; /* 温度 */
|
||
|
||
const BMI088_Cali_t *cali;
|
||
} BMI088_t;
|
||
|
||
/* USER STRUCT BEGIN */
|
||
|
||
/* USER STRUCT END */
|
||
|
||
/* Exported functions prototypes -------------------------------------------- */
|
||
int8_t BMI088_Init(BMI088_t *bmi088, const BMI088_Cali_t *cali);
|
||
int8_t BMI088_Restart(void);
|
||
|
||
bool BMI088_GyroStable(AHRS_Gyro_t *gyro);
|
||
|
||
/* Sensor use right-handed coordinate system. */
|
||
/*
|
||
x < R(logo)
|
||
y
|
||
UP is z
|
||
All implementation should follow this rule.
|
||
*/
|
||
uint32_t BMI088_WaitNew();
|
||
|
||
/*
|
||
BMI088的Accl和Gyro共用同一个DMA通道，所以一次只能读一个传感器。
|
||
即BMI088_AcclStartDmaRecv() 和 BMI088_AcclWaitDmaCplt() 中间不能
|
||
出现 BMI088_GyroStartDmaRecv()。
|
||
*/
|
||
int8_t BMI088_AcclStartDmaRecv();
|
||
uint32_t BMI088_AcclWaitDmaCplt();
|
||
int8_t BMI088_GyroStartDmaRecv();
|
||
uint32_t BMI088_GyroWaitDmaCplt();
|
||
int8_t BMI088_ParseAccl(BMI088_t *bmi088);
|
||
int8_t BMI088_ParseGyro(BMI088_t *bmi088);
|
||
float BMI088_GetUpdateFreq(BMI088_t *bmi088);
|
||
|
||
/* USER FUNCTION BEGIN */
|
||
|
||
/* USER FUNCTION END */
|
||
|
||
#ifdef __cplusplus
|
||
}
|
||
#endif
|