TuxMonkey/bf_original_balance_chassis
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Correct spi chip selection

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chenfu
2023-12-23 11:09:36 +08:00
parent b052126648
commit 9dd0057563
8 changed files with 125 additions and 110 deletions
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22
modules/BMI088/bmi088.c
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@@ -4,6 +4,7 @@
#include "daemon.h"
static DaemonInstance *bmi088_daemon_instance;
// ---------------------------以下私有函数,用于读写BMI088寄存器封装,blocking--------------------------------//
/**
* @brief 读取BMI088寄存器Accel. BMI088要求在不释放CS的情况下连续读取
@@ -42,12 +43,9 @@ static void BMI088GyroRead(BMI088Instance *bmi088, uint8_t reg, uint8_t *dataptr
// 一次读取最多6个字节,加上一个dummy data ,第一个字节的第一个位是读写位,1为读,0为写,1-7bit是寄存器地址
static uint8_t tx[7] = {0x80}; // 读取,第一个字节为0x80 | reg ,之后是dummy data
static uint8_t rx[7]; // 第一个是dummy data,第三个开始是真正的数据
tx[0] = 0x80 | reg;
//SPITransRecv(bmi088->spi_gyro, rx, tx, len + 1);
do
{
SPITransRecv(bmi088->spi_gyro, rx, tx, len + 1);
}while (rx[1] == 0 && rx[2] == 128 && rx[6] == 129); //@todo我也不知道哪来的错误帧 先这样吧。。。。。
SPITransRecv(bmi088->spi_gyro, rx, tx, len + 1);
memcpy(dataptr, rx + 1, len); // @todo : memcpy有额外开销,后续可以考虑优化,在SPI中加入接口或模式,使得在一次传输结束后不释放CS,直接接着传输
}
@@ -97,7 +95,7 @@ static uint8_t BMI088_Accel_Init_Table[BMI088_WRITE_ACCEL_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},
{BMI088_GYRO_BANDWIDTH, BMI088_GYRO_1000_116_HZ | BMI088_GYRO_BANDWIDTH_MUST_Set, BMI088_GYRO_BANDWIDTH_ERROR},
{BMI088_GYRO_LPM1, BMI088_GYRO_NORMAL_MODE, BMI088_GYRO_LPM1_ERROR},
{BMI088_GYRO_CTRL, BMI088_DRDY_ON, BMI088_GYRO_CTRL_ERROR},
{BMI088_GYRO_INT3_INT4_IO_CONF, BMI088_GYRO_INT3_GPIO_PP | BMI088_GYRO_INT3_GPIO_LOW, BMI088_GYRO_INT3_INT4_IO_CONF_ERROR},
@@ -224,18 +222,18 @@ static void BMI088AccINTCallback(GPIOInstance *gpio)
static void BMI088GyroINTCallback(GPIOInstance *gpio)
{
static BMI088Instance *bmi088;
static uint8_t buf[6] = {0}; // 最多读取6个byte(gyro/acc,temp是2)
bmi088 = (BMI088Instance *)(gpio->id);
bmi088->update_flag.imu_ready = 1;
bmi088->update_flag.gyro = 1;
uint8_t whoami_check = 0;
//do{BMI088GyroRead(bmi088, BMI088_GYRO_CHIP_ID, &whoami_check, 1);}while(whoami_check != BMI088_GYRO_CHIP_ID_VALUE);
BMI088GyroRead(bmi088, BMI088_GYRO_X_L, buf, 6);
for (uint8_t i = 0; i < 3; i++)
bmi088->gyro[i] = bmi088->BMI088_GYRO_SEN * (float)(int16_t)(((buf[2 * i + 1]) << 8) | buf[2 * i]);
if(bmi088->gyro[0] < -20)
{
bmi088->update_flag.temp = 1;
}
// 启动陀螺仪数据读取,并转换为实际值
// 读取完毕会调用BMI088GyroSPIFinishCallback
}
@@ -277,13 +275,15 @@ uint8_t BMI088Acquire(BMI088Instance *bmi088, BMI088_Data_t *data_store)
{
memcpy(data_store->acc,bmi088->acc,3*sizeof(float));
bmi088->update_flag.acc = 0;
bmi088->update_flag.imu_ready = 0;
}
if(bmi088->update_flag.gyro == 1)
{
memcpy(data_store->gyro,bmi088->gyro,3*sizeof(float));
bmi088->update_flag.gyro = 0;
bmi088->update_flag.imu_ready = 0;
}
bmi088->update_flag.imu_ready = 0;
return 1;
}