Correct spi chip selection

Src/spi.c

@@ -137,7 +137,7 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle)
     hdma_spi1_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
     hdma_spi1_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
     hdma_spi1_rx.Init.Mode = DMA_NORMAL;
-    hdma_spi1_rx.Init.Priority = DMA_PRIORITY_HIGH;
+    hdma_spi1_rx.Init.Priority = DMA_PRIORITY_VERY_HIGH;
     hdma_spi1_rx.Init.FIFOMode = DMA_FIFOMODE_ENABLE;
     hdma_spi1_rx.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
     hdma_spi1_rx.Init.MemBurst = DMA_MBURST_SINGLE;
@@ -158,7 +158,7 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle)
     hdma_spi1_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
     hdma_spi1_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
     hdma_spi1_tx.Init.Mode = DMA_NORMAL;
-    hdma_spi1_tx.Init.Priority = DMA_PRIORITY_HIGH;
+    hdma_spi1_tx.Init.Priority = DMA_PRIORITY_VERY_HIGH;
     hdma_spi1_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
     if (HAL_DMA_Init(&hdma_spi1_tx) != HAL_OK)
     {

application/cmd/robot_cmd.c

@@ -50,47 +50,47 @@ BMI088Instance *bmi088_test; // 云台IMU
 BMI088_Data_t bmi088_data;
 void RobotCMDInit()
 {
-    BMI088_Init_Config_s bmi088_config = {
+    // BMI088_Init_Config_s bmi088_config = {
-        .cali_mode = BMI088_CALIBRATE_ONLINE_MODE,
+    //     .cali_mode = BMI088_CALIBRATE_ONLINE_MODE,
-        .work_mode = BMI088_BLOCK_TRIGGER_MODE,
+    //     .work_mode = BMI088_BLOCK_TRIGGER_MODE,
-        .spi_acc_config = {
+    //     .spi_acc_config = {
-            .spi_handle = &hspi1,
+    //         .spi_handle = &hspi1,
-            .GPIOx = GPIOA,
+    //         .GPIOx = GPIOA,
-            .cs_pin = GPIO_PIN_4,
+    //         .cs_pin = GPIO_PIN_4,
-            .spi_work_mode = SPI_DMA_MODE,
+    //         .spi_work_mode = SPI_DMA_MODE,
-        },
+    //     },
-        .acc_int_config = {
+    //     .acc_int_config = {
-            .GPIOx = GPIOC,
+    //         .GPIOx = GPIOC,
-            .GPIO_Pin = GPIO_PIN_4,
+    //         .GPIO_Pin = GPIO_PIN_4,
-            .exti_mode = GPIO_EXTI_MODE_RISING,
+    //         .exti_mode = GPIO_EXTI_MODE_RISING,
-        },
+    //     },
-        .spi_gyro_config = {
+    //     .spi_gyro_config = {
-            .spi_handle = &hspi1,
+    //         .spi_handle = &hspi1,
-            .GPIOx = GPIOB,
+    //         .GPIOx = GPIOB,
-            .cs_pin = GPIO_PIN_0,
+    //         .cs_pin = GPIO_PIN_0,
-            .spi_work_mode = SPI_DMA_MODE,
+    //         .spi_work_mode = SPI_DMA_MODE,
-        },
+    //     },
-        .gyro_int_config = {
+    //     .gyro_int_config = {
-            .GPIO_Pin = GPIO_PIN_5,
+    //         .GPIO_Pin = GPIO_PIN_5,
-            .GPIOx = GPIOC,
+    //         .GPIOx = GPIOC,
-            .exti_mode = GPIO_EXTI_MODE_RISING,
+    //         .exti_mode = GPIO_EXTI_MODE_RISING,
-        },
+    //     },
-        .heat_pwm_config = {
+    //     .heat_pwm_config = {
-            .htim = &htim10,
+    //         .htim = &htim10,
-            .channel = TIM_CHANNEL_1,
+    //         .channel = TIM_CHANNEL_1,
-            .period = 1,
+    //         .period = 1,
-        },
+    //     },
-        .heat_pid_config = {
+    //     .heat_pid_config = {
-            .Kp = 0.5,
+    //         .Kp = 0.5,
-            .Ki = 0,
+    //         .Ki = 0,
-            .Kd = 0,
+    //         .Kd = 0,
-            .DeadBand = 0.1,
+    //         .DeadBand = 0.1,
-            .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
+    //         .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
-            .IntegralLimit = 100,
+    //         .IntegralLimit = 100,
-            .MaxOut = 100,
+    //         .MaxOut = 100,
-        },
+    //     },
-    };
+    // };
-    bmi088_test = BMI088Register(&bmi088_config);
+    //bmi088_test = BMI088Register(&bmi088_config);
    rc_data = RemoteControlInit(&huart3);   // 修改为对应串口,注意如果是自研板dbus协议串口需选用添加了反相器的那个
     vision_recv_data = VisionInit(&huart1); // 视觉通信串口
 
@@ -319,7 +319,7 @@ static void EmergencyHandler()
 /* 机器人核心控制任务,200Hz频率运行(必须高于视觉发送频率) */
 void RobotCMDTask()
 {
-    BMI088Acquire(bmi088_test,&bmi088_data) ;
+   // BMI088Acquire(bmi088_test,&bmi088_data) ;
     // 从其他应用获取回传数据
 #ifdef ONE_BOARD
     SubGetMessage(chassis_feed_sub, (void *)&chassis_fetch_data);

application/gimbal/gimbal.c

@@ -17,29 +17,7 @@ static Gimbal_Ctrl_Cmd_s gimbal_cmd_recv;         // 来自cmd的控制信息
 static BMI088Instance *bmi088; // 云台IMU
 void GimbalInit()
 {   
-    //gimba_IMU_data = INS_Init(); // IMU先初始化,获取姿态数据指针赋给yaw电机的其他数据来源
+    gimba_IMU_data = INS_Init(); // IMU先初始化,获取姿态数据指针赋给yaw电机的其他数据来源
-    BMI088_Init_Config_s imu_config = {
-      .work_mode = BMI088_BLOCK_PERIODIC_MODE,
-      .spi_acc_config = {
-        .spi_handle = &hspi1,
-        .GPIOx = GPIOA,
-        .cs_pin = GPIO_PIN_4,
-        .spi_work_mode = SPI_BLOCK_MODE,
-      },
-      .spi_gyro_config = {
-        .spi_handle = &hspi1,
-        .GPIOx = GPIOA,
-        .cs_pin = GPIO_PIN_4,
-        .spi_work_mode = SPI_BLOCK_MODE,
-      },
-      .heat_pwm_config = {
-        .htim = &htim10,
-        .channel = TIM_CHANNEL_1,
-        .period = 1,
-      }
-
-    };
-    bmi088=BMI088Register(&imu_config);
     // YAW
     Motor_Init_Config_s yaw_config = {
         .can_init_config = {

application/robot.c

@@ -31,12 +31,12 @@ void RobotInit()
 
 #if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
     RobotCMDInit();
-    //GimbalInit();
+    GimbalInit();
-    //ShootInit();
+    ShootInit();
 #endif
 
 #if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
-    //ChassisInit();
+    ChassisInit();
 #endif
 
     OSTaskInit(); // 创建基础任务
@@ -49,12 +49,12 @@ void RobotTask()
 {
 #if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
     RobotCMDTask();
-    //GimbalTask();
+    GimbalTask();
-    //ShootTask();
+    ShootTask();
 #endif
 
 #if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
-    //ChassisTask();
+    ChassisTask();
 #endif
 
 }

application/robot_task.h

@@ -17,13 +17,13 @@
 
 #include "bsp_log.h"
 
-// osThreadId insTaskHandle;
+osThreadId insTaskHandle;
 osThreadId robotTaskHandle;
 osThreadId motorTaskHandle;
 osThreadId daemonTaskHandle;
 osThreadId uiTaskHandle;
 
-// void StartINSTASK(void const *argument);
+void StartINSTASK(void const *argument);
 void StartMOTORTASK(void const *argument);
 void StartDAEMONTASK(void const *argument);
 void StartROBOTTASK(void const *argument);
@@ -35,8 +35,8 @@ void StartUITASK(void const *argument);
  */
 void OSTaskInit()
 {
-    // osThreadDef(instask, StartINSTASK, osPriorityAboveNormal, 0, 1024);
+    osThreadDef(instask, StartINSTASK, osPriorityAboveNormal, 0, 1024);
-    // insTaskHandle = osThreadCreate(osThread(instask), NULL); // 由于是阻塞读取传感器,为姿态解算设置较高优先级,确保以1khz的频率执行
+    insTaskHandle = osThreadCreate(osThread(instask), NULL); // 由于是阻塞读取传感器,为姿态解算设置较高优先级,确保以1khz的频率执行
     // // 后续修改为读取传感器数据准备好的中断处理,
 
     osThreadDef(motortask, StartMOTORTASK, osPriorityNormal, 0, 256);
@@ -54,24 +54,24 @@ void OSTaskInit()
     HTMotorControlInit(); // 没有注册HT电机则不会执行
 }
 
-// __attribute__((noreturn)) void StartINSTASK(void const *argument)
+__attribute__((noreturn)) void StartINSTASK(void const *argument)
-// {
+{
-//     static float ins_start;
+    static float ins_start;
-//     static float ins_dt;
+    static float ins_dt;
-//     INS_Init(); // 确保BMI088被正确初始化.
+    INS_Init(); // 确保BMI088被正确初始化.
-//     LOGINFO("[freeRTOS] INS Task Start");
+    LOGINFO("[freeRTOS] INS Task Start");
-//     for (;;)
+    for (;;)
-//     {
+    {
-//         // 1kHz
+        // 1kHz
-//         ins_start = DWT_GetTimeline_ms();
+        ins_start = DWT_GetTimeline_ms();
-//         //INS_Task();
+        INS_Task();
-//         ins_dt = DWT_GetTimeline_ms() - ins_start;
+        ins_dt = DWT_GetTimeline_ms() - ins_start;
-//         if (ins_dt > 1)
+        if (ins_dt > 1)
-//             LOGERROR("[freeRTOS] INS Task is being DELAY! dt = [%f]", &ins_dt);
+            LOGERROR("[freeRTOS] INS Task is being DELAY! dt = [%f]", &ins_dt);
-//         VisionSend(); // 解算完成后发送视觉数据,但是当前的实现不太优雅,后续若添加硬件触发需要重新考虑结构的组织
+        VisionSend(); // 解算完成后发送视觉数据,但是当前的实现不太优雅,后续若添加硬件触发需要重新考虑结构的组织
-//         osDelay(1);
+        osDelay(1);
-//     }
+    }
-// }
+}
 
 __attribute__((noreturn)) void StartMOTORTASK(void const *argument)
 {

bsp/spi/bsp_spi.c

@@ -5,6 +5,7 @@
 /* 所有的spi instance保存于此,用于callback时判断中断来源*/
 static SPIInstance *spi_instance[SPI_DEVICE_CNT] = {NULL};
 static uint8_t idx = 0;                         // 配合中断以及初始化
+uint8_t SPIDeviceOnGoing[SPI_DEVICE_CNT] = {1}; // 用于判断当前spi是否正在传输,防止多个模块同时使用一个spi总线 (0: 正在传输, 1: 未传输)
 
 SPIInstance *SPIRegister(SPI_Init_Config_s *conf)
 {
@@ -20,7 +21,19 @@ SPIInstance *SPIRegister(SPI_Init_Config_s *conf)
     instance->spi_work_mode = conf->spi_work_mode;
     instance->callback = conf->callback;
     instance->id = conf->id;
-
+    if (instance->spi_handle->Instance == SPI1)
+    {
+        instance->cs_pin_state = &SPIDeviceOnGoing[0];
+    }
+    else if (instance->spi_handle->Instance == SPI2)
+    {
+        instance->cs_pin_state = &SPIDeviceOnGoing[1];
+    }
+    else
+    {
+        while (1)
+            ;
+    }
     spi_instance[idx++] = instance;
     return instance;
 }
@@ -78,11 +91,28 @@ void SPIRecv(SPIInstance *spi_ins, uint8_t *ptr_data, uint8_t len)
 
 void SPITransRecv(SPIInstance *spi_ins, uint8_t *ptr_data_rx, uint8_t *ptr_data_tx, uint8_t len)
 {
+
     // 用于稍后回调使用,请保证ptr_data_rx在回调函数被调用之前仍然在作用域内,否则析构之后的行为是未定义的!!!
     spi_ins->rx_size = len;
     spi_ins->rx_buffer = ptr_data_rx;
+    // 等待上一次传输完成
+    if (spi_ins->spi_handle->Instance == SPI1)
+    {
+        while (!SPIDeviceOnGoing[0])
+        {
+        };
+    }
+    else if (spi_ins->spi_handle->Instance == SPI2)
+    {
+        while (!SPIDeviceOnGoing[1])
+        {
+        };
+    }
     // 拉低片选,开始传输
     HAL_GPIO_WritePin(spi_ins->GPIOx, spi_ins->cs_pin, GPIO_PIN_RESET);
+    *spi_ins->cs_pin_state =
+        spi_ins->CS_State =
+            HAL_GPIO_ReadPin(spi_ins->GPIOx, spi_ins->cs_pin);
     switch (spi_ins->spi_work_mode)
     {
     case SPI_DMA_MODE:
@@ -95,6 +125,9 @@ void SPITransRecv(SPIInstance *spi_ins, uint8_t *ptr_data_rx, uint8_t *ptr_data_
         HAL_SPI_TransmitReceive(spi_ins->spi_handle, ptr_data_tx, ptr_data_rx, len, 1000); // 默认50ms超时
         // 阻塞模式不会调用回调函数,传输完成后直接拉高片选结束
         HAL_GPIO_WritePin(spi_ins->GPIOx, spi_ins->cs_pin, GPIO_PIN_SET);
+        *spi_ins->cs_pin_state =
+            spi_ins->CS_State =
+                HAL_GPIO_ReadPin(spi_ins->GPIOx, spi_ins->cs_pin);
         break;
     default:
         while (1)
@@ -130,6 +163,9 @@ void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef *hspi)
         {
             // 先拉高片选,结束传输,在判断是否有回调函数,如果有则调用回调函数
             HAL_GPIO_WritePin(spi_instance[i]->GPIOx, spi_instance[i]->cs_pin, GPIO_PIN_SET);
+            *spi_instance[i]->cs_pin_state =
+                spi_instance[i]->CS_State =
+                    HAL_GPIO_ReadPin(spi_instance[i]->GPIOx, spi_instance[i]->cs_pin);
             // @todo 后续添加holdon模式,由用户自行决定何时释放片选,允许进行连续传输
             if (spi_instance[i]->callback != NULL) // 回调函数不为空, 则调用回调函数
                 spi_instance[i]->callback(spi_instance[i]);

bsp/spi/bsp_spi.h

@@ -24,7 +24,8 @@ typedef struct spi_ins_temp
     SPI_TXRX_MODE_e spi_work_mode; // 传输工作模式
     uint8_t rx_size;               // 本次接收的数据长度
     uint8_t *rx_buffer;            // 本次接收的数据缓冲区
-
+    uint8_t CS_State;              // 片选信号状态,用于中断模式下的片选控制
+    uint8_t * cs_pin_state;        // 片选信号状态,用于中断模式下的片选控制
     void (*callback)(struct spi_ins_temp *); // 接收回调函数
     void *id;                                // 模块指针
 } SPIInstance;

modules/BMI088/bmi088.c

@@ -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。。。。。
     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;
+        }
+
         return 1;
     }