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修改freertos时基心跳为tim14,更新引脚lable

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This commit is contained in:
NeoZng
2023-02-04 15:38:05 +08:00
parent 1262f9a516
commit 429aa17fa4
32 changed files with 621 additions and 1840 deletions
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56
modules/imu/BMI088driver.c
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@@ -69,7 +69,7 @@ static void BMI088_read_muli_reg(uint8_t reg, uint8_t *buf, uint8_t len);
#elif defined(BMI088_USE_IIC)
#endif
static uint8_t write_BMI088_accel_reg_data_error[BMI088_WRITE_ACCEL_REG_NUM][3] =
static uint8_t BMI088_Accel_Init_Table[BMI088_WRITE_ACCEL_REG_NUM][3] =
{
{BMI088_ACC_PWR_CTRL, BMI088_ACC_ENABLE_ACC_ON, BMI088_ACC_PWR_CTRL_ERROR},
{BMI088_ACC_PWR_CONF, BMI088_ACC_PWR_ACTIVE_MODE, BMI088_ACC_PWR_CONF_ERROR},
@@ -80,7 +80,7 @@ static uint8_t write_BMI088_accel_reg_data_error[BMI088_WRITE_ACCEL_REG_NUM][3]
};
static uint8_t write_BMI088_gyro_reg_data_error[BMI088_WRITE_GYRO_REG_NUM][3] =
static uint8_t BMI088_Gyro_Init_Table[BMI088_WRITE_GYRO_REG_NUM][3] =
{
{BMI088_GYRO_RANGE, BMI088_GYRO_2000, BMI088_GYRO_RANGE_ERROR},
{BMI088_GYRO_BANDWIDTH, BMI088_GYRO_2000_230_HZ | BMI088_GYRO_BANDWIDTH_MUST_Set, BMI088_GYRO_BANDWIDTH_ERROR},
@@ -235,19 +235,18 @@ uint8_t bmi088_accel_init(void)
{
// check commiunication
BMI088_accel_read_single_reg(BMI088_ACC_CHIP_ID, res);
HAL_Delay(1);
DWT_Delay(0.001);
BMI088_accel_read_single_reg(BMI088_ACC_CHIP_ID, res);
HAL_Delay(1);
DWT_Delay(0.001);
// accel software reset
BMI088_accel_write_single_reg(BMI088_ACC_SOFTRESET, BMI088_ACC_SOFTRESET_VALUE);
HAL_Delay(BMI088_LONG_DELAY_TIME);
// HAL_Delay(BMI088_LONG_DELAY_TIME);
DWT_Delay(0.08);
// check commiunication is normal after reset
BMI088_accel_read_single_reg(BMI088_ACC_CHIP_ID, res);
HAL_Delay(1);
DWT_Delay(0.001);
BMI088_accel_read_single_reg(BMI088_ACC_CHIP_ID, res);
HAL_Delay(1);
DWT_Delay(0.001);
// check the "who am I"
if (res != BMI088_ACC_CHIP_ID_VALUE)
@@ -257,17 +256,17 @@ uint8_t bmi088_accel_init(void)
for (write_reg_num = 0; write_reg_num < BMI088_WRITE_ACCEL_REG_NUM; write_reg_num++)
{
BMI088_accel_write_single_reg(write_BMI088_accel_reg_data_error[write_reg_num][0], write_BMI088_accel_reg_data_error[write_reg_num][1]);
HAL_Delay(1);
BMI088_accel_write_single_reg(BMI088_Accel_Init_Table[write_reg_num][0], BMI088_Accel_Init_Table[write_reg_num][1]);
DWT_Delay(0.001);
BMI088_accel_read_single_reg(write_BMI088_accel_reg_data_error[write_reg_num][0], res);
HAL_Delay(1);
BMI088_accel_read_single_reg(BMI088_Accel_Init_Table[write_reg_num][0], res);
DWT_Delay(0.001);
if (res != write_BMI088_accel_reg_data_error[write_reg_num][1])
if (res != BMI088_Accel_Init_Table[write_reg_num][1])
{
// write_reg_num--;
// return write_BMI088_accel_reg_data_error[write_reg_num][2];
error |= write_BMI088_accel_reg_data_error[write_reg_num][2];
// return BMI088_Accel_Init_Table[write_reg_num][2];
error |= BMI088_Accel_Init_Table[write_reg_num][2];
}
}
return BMI088_NO_ERROR;
@@ -277,18 +276,19 @@ uint8_t bmi088_gyro_init(void)
{
// check commiunication
BMI088_gyro_read_single_reg(BMI088_GYRO_CHIP_ID, res);
HAL_Delay(1);
DWT_Delay(0.001);
BMI088_gyro_read_single_reg(BMI088_GYRO_CHIP_ID, res);
HAL_Delay(1);
DWT_Delay(0.001);
// reset the gyro sensor
BMI088_gyro_write_single_reg(BMI088_GYRO_SOFTRESET, BMI088_GYRO_SOFTRESET_VALUE);
HAL_Delay(BMI088_LONG_DELAY_TIME);
// HAL_Delay(BMI088_LONG_DELAY_TIME);
DWT_Delay(0.08);
// check commiunication is normal after reset
BMI088_gyro_read_single_reg(BMI088_GYRO_CHIP_ID, res);
HAL_Delay(1);
DWT_Delay(0.001);
BMI088_gyro_read_single_reg(BMI088_GYRO_CHIP_ID, res);
HAL_Delay(1);
DWT_Delay(0.001);
// check the "who am I"
if (res != BMI088_GYRO_CHIP_ID_VALUE)
@@ -298,17 +298,17 @@ uint8_t bmi088_gyro_init(void)
for (write_reg_num = 0; write_reg_num < BMI088_WRITE_GYRO_REG_NUM; write_reg_num++)
{
BMI088_gyro_write_single_reg(write_BMI088_gyro_reg_data_error[write_reg_num][0], write_BMI088_gyro_reg_data_error[write_reg_num][1]);
HAL_Delay(1);
BMI088_gyro_write_single_reg(BMI088_Gyro_Init_Table[write_reg_num][0], BMI088_Gyro_Init_Table[write_reg_num][1]);
DWT_Delay(0.001);
BMI088_gyro_read_single_reg(write_BMI088_gyro_reg_data_error[write_reg_num][0], res);
HAL_Delay(1);
BMI088_gyro_read_single_reg(BMI088_Gyro_Init_Table[write_reg_num][0], res);
DWT_Delay(0.001);
if (res != write_BMI088_gyro_reg_data_error[write_reg_num][1])
if (res != BMI088_Gyro_Init_Table[write_reg_num][1])
{
write_reg_num--;
// return write_BMI088_gyro_reg_data_error[write_reg_num][2];
error |= write_BMI088_accel_reg_data_error[write_reg_num][2];
// return BMI088_Gyro_Init_Table[write_reg_num][2];
error |= BMI088_Accel_Init_Table[write_reg_num][2];
}
}