添加了ist8310磁力计的支持,同时修复了gpio初始化先于exti的bug

modules/BMI088/bmi088.c

@@ -1,5 +1,5 @@
-#include "bmi088.h"
 #include "bmi088_regNdef.h"
+#include "bmi088.h"
 #include "stdlib.h"
 #include "memory.h"
 

modules/BMI088/bmi088.h

@@ -2,6 +2,7 @@
 #define __BMI088_H__
 
 #include "bsp_spi.h"
+#include "bsp_gpio.h"
 #include "controller.h"
 #include "bsp_pwm.h"
 #include "stdint.h"
@@ -16,8 +17,13 @@ typedef enum
 typedef struct
 {
     // 传输模式和工作模式控制
-    SPIInstance *spi_gyro;
-    SPIInstance *spi_acc;
+    BMI088_Work_Mode_e mode; 
+    // SPI接口
+    SPIInstance *spi_gyro; // 注意,SPIInstnace内部也有一个GPIOInstance,用于控制片选CS
+    SPIInstance *spi_acc;  // 注意,SPIInstnace内部也有一个GPIOInstance,用于控制片选CS
+    // EXTI GPIO,如果BMI088工作在中断模式,则需要配置中断引脚(有数据产生时触发解算)
+    GPIOInstance *gyro_int;
+    GPIOInstance *acc_int;
     // 温度控制
     PIDInstance *heat_pid; // 恒温PID
     PWMInstance *heat_pwm; // 加热PWM
@@ -38,6 +44,8 @@ typedef struct
 {
     SPI_Init_Config_s spi_gyro_config;
     SPI_Init_Config_s spi_acc_config;
+    GPIO_Init_Config_s gyro_int_config;
+    GPIO_Init_Config_s acc_int_config;
     BMI088_Work_Mode_e mode;
     PID_Init_Config_s heat_pid_config;
     PWM_Init_Config_s heat_pwm_config;

modules/ist8310/ist8310.c

@@ -1 +1,90 @@
+#include "bsp_dwt.h"
 #include "ist8310.h"
+#include "memory.h"
+#include "stdlib.h"
+
+static IST8310Instance *ist8310_instance = NULL;
+
+// -------------------初始化写入数组,只使用一次,详见datasheet-------------------------
+// the first column:the registers of IST8310. 第一列:IST8310的寄存器
+// the second column: the value to be writed to the registers.第二列:需要写入的寄存器值
+// the third column: return error value.第三列:返回的错误码
+#define IST8310_WRITE_REG_NUM 4
+#define IST8310_DATA_REG 0x03       // 数据寄存器
+#define IST8310_WHO_AM_I 0x00       // ist8310 id 寄存器值
+#define IST8310_WHO_AM_I_VALUE 0x10 // ist8310 id 寄存器值,用于检测是否连接成功
+static uint8_t ist8310_write_reg_data_error[IST8310_WRITE_REG_NUM][3] = {
+    {0x0B, 0x08, 0x01},  // enalbe interrupt  and low pin polarity.开启中断，并且设置低电平
+    {0x41, 0x09, 0x02},  // average 2 times.平均采样两次
+    {0x42, 0xC0, 0x03},  // must be 0xC0. 必须是0xC0
+    {0x0A, 0x0B, 0x04}}; // 200Hz output rate.200Hz输出频率
+
+/**
+ * @brief IST8310解码函数,EXTI中断来临时被调用,将数据放到ist.mag中
+ * @note 如果使用IT或DMA方式传输IIC,则传输完成后也会进入此函数
+ *
+ * @param ist 发生中断的IST8310实例
+ */
+static void IST8310Decode(IICInstance *iic)
+{
+    static int16_t temp[3];
+    static IST8310Instance *ist;
+    ist = (IST8310Instance *)(iic->id);
+
+    memcpy(temp, ist->iic_buffer, 6 * sizeof(uint8_t));
+    for (uint8_t i = 0; i < 3; i++)
+        ist->mag[i] = (float)temp[i] * MAG_SEN;
+}
+
+// EXTI中断回调函数,说明DRDY拉低.主机启动传输并在结束后调用IST8310Decode进行数据解析
+// 注意IICAccessMem是阻塞的
+static void IST8310StartTransfer(GPIOInstance *gpio)
+{
+    IST8310Instance *ist_for_transfer = (IST8310Instance *)gpio->id;
+    IICAccessMem(ist_for_transfer->iic, IST8310_DATA_REG, ist_for_transfer->iic_buffer, 6, IIC_READ_MEM);
+    IST8310Decode(ist_for_transfer->iic);
+}
+
+IST8310Instance *IST8310Init(IST8310_Init_Config_s *config)
+{
+    static const uint8_t sleepTime = 50;
+    uint8_t check_who_i_am = 0;
+
+    // 分配空间,清除flash
+    IST8310Instance *ist = (IST8310Instance *)malloc(sizeof(IST8310Instance));
+    memset(ist, 0, sizeof(IST8310Instance));
+
+    // c语言赋值从右到左
+    config->iic_config.id = config->gpio_conf_exti.id = config->gpio_conf_rst.id = ist;
+    // 传入回调函数
+    config->iic_config.callback = IST8310Decode;
+    config->gpio_conf_exti.gpio_model_callback = IST8310StartTransfer;
+    // 注册两个GPIO和IIC
+    ist->iic = IICRegister(&config->iic_config);
+    ist->gpio_exti = GPIORegister(&config->gpio_conf_exti);
+    ist->gpio_rst = GPIORegister(&config->gpio_conf_rst);
+
+    // 重置IST8310,需要HAL_Delay等待完成Reset
+    GPIOReset(ist->gpio_rst);
+    HAL_Delay(sleepTime);
+    GPIOSet(ist->gpio_rst);
+    HAL_Delay(sleepTime);
+
+    // 读取IST8310的ID,如果不是0x10,则返回错误
+    IICAccessMem(ist->iic, IST8310_WHO_AM_I, &check_who_i_am, 1, IIC_READ_MEM);
+    if (check_who_i_am != IST8310_WHO_AM_I_VALUE)
+        return NULL; // while(1)
+
+    // 进行初始化配置写入并检查是否写入成功
+    for (uint8_t i = 0; i < IST8310_WRITE_REG_NUM; i++)
+    { // 写入配置
+        IICAccessMem(ist->iic, ist8310_write_reg_data_error[i][0], &ist8310_write_reg_data_error[i][1], 1, IIC_WRITE_MEM);
+        IICAccessMem(ist->iic, ist8310_write_reg_data_error[i][0], &check_who_i_am, 1, IIC_READ_MEM); // 读回自身id
+        if (check_who_i_am != ist8310_write_reg_data_error[i][1])
+            while (1)
+                ist8310_write_reg_data_error[i][2]; // 掉线/写入失败/未知错误,返回对应的错误码
+    }
+
+    ist8310_instance = ist;
+    return ist;
+}

modules/ist8310/ist8310.h

@@ -1,5 +1,52 @@
 #pragma once
 
 #include "bsp_iic.h"
+#include "bsp_gpio.h"
 #include "stdint.h"
 
+// 传感器灵敏度系数
+#define MAG_SEN 0.3f // raw int16 data change to uT unit. 原始整型数据变成 单位ut
+
+// IST8310 ret ERROR CODE
+#define IST8310_NO_ERROR 0x00    // seldom used. 一般不会用到
+#define IST8310_NO_SENSOR 0x40   // seldom used. 一般不会用到
+#define IST8310_IIC_ADDRESS 0x0E // the I2C slave address of IST8310
+
+/**
+ * @brief IST8310 实例定义
+ *
+ */
+typedef struct tempist8310
+{
+    IICInstance *iic;             // iic实例
+    GPIOInstance* gpio_rst;       // gpio实例,用于复位
+    GPIOInstance* gpio_exti;      // gpio实例,用于获取MAG_DRDY引脚状态,判断数据是否准备好(EXTI外部中断)
+    uint8_t iic_buffer[8];        // iic接收缓冲区
+    float mag[3];                 // 三轴磁力计数据,[x,y,z]
+
+    void (*ist_module_callback)(IICInstance *); // 模块回调函数
+    // 后续有需要再添加
+    // ...
+} IST8310Instance;
+
+/**
+ * @brief IST8310 初始化配置结构体
+ *
+ */
+typedef struct
+{
+    IIC_Init_Config_s iic_config; // iic初始化配置
+    GPIO_Init_Config_s gpio_conf_rst;  // gpio初始化配置,用于复位
+    GPIO_Init_Config_s gpio_conf_exti; // gpio初始化配置,用于获取MAG_DRDY引脚状态,判断数据是否准备好(EXTI外部中断)
+} IST8310_Init_Config_s;
+
+/**
+ * @brief IST8310 初始化.
+ * @note  一条i2c总线只能挂载一个IST8310
+ *
+ */
+IST8310Instance *IST8310Init(IST8310_Init_Config_s *config);
+
+void rest(int aa);
+
+int nit(int bb);

modules/ist8310/ist8310.md

@@ -0,0 +1,27 @@
+
+使用示例
+
+```c
+IST8310_Init_Config_s ist8310_conf = {
+    .gpio_conf_exti = {
+        .exti_mode = GPIO_EXTI_MODE_RISING,
+        .GPIO_Pin = GPIO_PIN_3,
+        .GPIOx = GPIOG,
+        .gpio_model_callback = NULL,
+    },
+    .gpio_conf_rst = {
+        .exti_mode = GPIO_EXTI_MODE_NONE,
+        .GPIO_Pin = GPIO_PIN_6,
+        .GPIOx = GPIOG,
+        .gpio_model_callback = NULL,
+    },
+    .iic_config = {
+        .handle = &hi2c3,
+        .dev_address = IST8310_IIC_ADDRESS,
+        .work_mode = IIC_BLOCK_MODE,
+    },
+};
+IST8310Instance *asdf = IST8310Init(&ist8310_conf);
+
+// 随后数据会被放到asdf.mag[i]中
+```

modules/referee/referee.c

@@ -1,6 +1,6 @@
 #include "referee.h"
 #include "string.h"
-#include "crc.h"
+#include "crc_ref.h"
 #include "bsp_usart.h"
 #include "dma.h"