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添加了大量调试log，新增了dwt计时宏，增加了USB软件复位防止主控复位后上位机无法连接usb

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This commit is contained in:
NeoZng
2023-06-22 21:52:46 +08:00
parent ea6163a48d
commit 4a45331d31
31 changed files with 247 additions and 275 deletions
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34
modules/BMI088/bmi088.c
View File

@@ -55,9 +55,7 @@ static void BMI088GyroRead(BMI088Instance *bmi088, uint8_t reg, uint8_t *dataptr
*/
static void BMI088AccelWriteSingleReg(BMI088Instance *bmi088, uint8_t reg, uint8_t data)
{
static uint8_t tx[2];
tx[0] = reg;
tx[1] = data;
uint8_t tx[2] = {reg, data};
SPITransmit(bmi088->spi_acc, tx, 2);
}
@@ -71,17 +69,15 @@ static void BMI088AccelWriteSingleReg(BMI088Instance *bmi088, uint8_t reg, uint8
*/
static void BMI088GyroWriteSingleReg(BMI088Instance *bmi088, uint8_t reg, uint8_t data)
{
static uint8_t tx[2];
tx[0] = reg;
tx[1] = data;
uint8_t tx[2] = {reg, data};
SPITransmit(bmi088->spi_gyro, tx, 2);
}
// -------------------------以上为私有函数,封装了BMI088寄存器读写函数,blocking--------------------------------//
// -------------------------以下为私有函数,用于初始化BMI088acc和gyro的硬件和配置--------------------------------//
#define REG 0
#define DATA 1
#define ERROR 2
#define BMI088REG 0
#define BMI088DATA 1
#define BMI088ERROR 2
// BMI088初始化配置数组for accel,第一列为reg地址,第二列为写入的配置值,第三列为错误码(如果出错)
static uint8_t BMI088_Accel_Init_Table[BMI088_WRITE_ACCEL_REG_NUM][3] =
{
@@ -106,7 +102,7 @@ static uint8_t BMI088_Gyro_Init_Table[BMI088_WRITE_GYRO_REG_NUM][3] =
* @brief 初始化BMI088加速度计,提高可读性分拆功能
*
* @param bmi088 待初始化的BMI088实例
* @return uint8_t ERROR CODE if any problems here
* @return uint8_t BMI088ERROR CODE if any problems here
*/
static uint8_t BMI088AccelInit(BMI088Instance *bmi088)
{
@@ -130,14 +126,14 @@ static uint8_t BMI088AccelInit(BMI088Instance *bmi088)
// 使用sizeof而不是magic number,这样如果修改了数组大小,不用修改这里的代码;或者使用宏定义
for (uint8_t i = 0; i < sizeof(BMI088_Accel_Init_Table) / sizeof(BMI088_Accel_Init_Table[0]); i++)
{
reg = BMI088_Accel_Init_Table[i][REG];
data = BMI088_Accel_Init_Table[i][DATA];
reg = BMI088_Accel_Init_Table[i][BMI088REG];
data = BMI088_Accel_Init_Table[i][BMI088DATA];
BMI088AccelWriteSingleReg(bmi088, reg, data); // 写入寄存器
DWT_Delay(0.01);
BMI088AccelRead(bmi088, reg, &data, 1); // 写完之后立刻读回检查
DWT_Delay(0.01);
if (data != BMI088_Accel_Init_Table[i][DATA])
error |= BMI088_Accel_Init_Table[i][ERROR];
if (data != BMI088_Accel_Init_Table[i][BMI088DATA])
error |= BMI088_Accel_Init_Table[i][BMI088ERROR];
//{i--;} 可以设置retry次数,如果retry次数用完了,则返回error
}
return error;
@@ -147,7 +143,7 @@ static uint8_t BMI088AccelInit(BMI088Instance *bmi088)
* @brief 初始化BMI088陀螺仪,提高可读性分拆功能
*
* @param bmi088 待初始化的BMI088实例
* @return uint8_t ERROR CODE
* @return uint8_t BMI088ERROR CODE
*/
static uint8_t BMI088GyroInit(BMI088Instance *bmi088)
{
@@ -169,14 +165,14 @@ static uint8_t BMI088GyroInit(BMI088Instance *bmi088)
// 使用sizeof而不是magic number,这样如果修改了数组大小,不用修改这里的代码;或者使用宏定义
for (uint8_t i = 0; i < sizeof(BMI088_Gyro_Init_Table) / sizeof(BMI088_Gyro_Init_Table[0]); i++)
{
reg = BMI088_Gyro_Init_Table[i][REG];
data = BMI088_Gyro_Init_Table[i][DATA];
reg = BMI088_Gyro_Init_Table[i][BMI088REG];
data = BMI088_Gyro_Init_Table[i][BMI088DATA];
BMI088GyroWriteSingleReg(bmi088, reg, data); // 写入寄存器
DWT_Delay(0.001);
BMI088GyroRead(bmi088, reg, &data, 1); // 写完之后立刻读回对应寄存器检查是否写入成功
DWT_Delay(0.001);
if (data != BMI088_Gyro_Init_Table[i][DATA])
error |= BMI088_Gyro_Init_Table[i][ERROR];
if (data != BMI088_Gyro_Init_Table[i][BMI088DATA])
error |= BMI088_Gyro_Init_Table[i][BMI088ERROR];
//{i--;} 可以设置retry次数,尝试重新写入.如果retry次数用完了,则返回error
}

14
modules/BMI088/bmi088.md
View File

@@ -7,24 +7,24 @@
```c
BMI088_Init_Config_s imu_config = {
.spi_acc_config={
.GPIOx=GPIOC,
.GPIOx=GPIOA,
.GPIOx=GPIO_PIN_4,
.spi_handle=&hspi1,
},
.spi_gyro_config={
.GPIOx=GPIOC,
.GPIOx=GPIO_PIN_4,
.GPIOx=GPIOB,
.GPIOx=GPIO_PIN_0,
.spi_handle=&hspi1,
},
.acc_int_config={
.exti_mode=EXTI_TRIGGER_FALLING,
.GPIO_Pin=GPIO_PIN_10,
.GPIOx=GPIOA,
.GPIO_Pin=GPIO_PIN_4,
.GPIOx=GPIOC,
},
.gyro_int_config={
.exti_mode=EXTI_TRIGGER_FALLING,
.GPIO_Pin=GPIO_PIN_11,
.GPIOx=GPIOA,
.GPIO_Pin=GPIO_PIN_5,
.GPIOx=GPIOC,
},
.heat_pid_config={
.Kp=0.0f,