中断读取bmi088 修改部分文档

2026-07-23 19:25:09 +08:00 · 2023-12-09 14:52:17 +08:00
parent c2256da27c
commit b052126648
12 changed files with 157 additions and 289 deletions
--- a/.Doc/版本更替.md
+++ b/.Doc/版本更替.md
@@ -0,0 +1,9 @@
+# 版本更替
+
+随着比赛的推进，我们的代码也在不断的更新，在不同的结点下会发布稳定可用版本，以便于大家使用。
+
+指路gitee release页面：[https://gitee.com/hnuyuelurm/basic_framework/tags](https://gitee.com/hnuyuelurm/basic_framework/tags)
+
+release页面会有一个版本号，例如`v1.0`，这个版本号就是我们的代码版本号，每次发布新的版本，版本号都会增加。
+
+第一次使用尽量避免直接clone
--- a/.mxproject
+++ b/.mxproject
--- a/Inc/stm32f4xx_it.h
+++ b/Inc/stm32f4xx_it.h
@@ -57,8 +57,6 @@ void EXTI3_IRQHandler(void);
 void EXTI4_IRQHandler(void);
 void DMA1_Stream1_IRQHandler(void);
 void DMA1_Stream2_IRQHandler(void);
-void DMA1_Stream3_IRQHandler(void);
-void DMA1_Stream4_IRQHandler(void);
 void CAN1_RX0_IRQHandler(void);
 void CAN1_RX1_IRQHandler(void);
 void EXTI9_5_IRQHandler(void);
@@ -73,7 +71,6 @@ void DMA1_Stream7_IRQHandler(void);
 void DMA2_Stream0_IRQHandler(void);
 void DMA2_Stream2_IRQHandler(void);
 void DMA2_Stream3_IRQHandler(void);
-void DMA2_Stream4_IRQHandler(void);
 void CAN2_RX0_IRQHandler(void);
 void CAN2_RX1_IRQHandler(void);
 void OTG_FS_IRQHandler(void);
--- a/2
+++ b/2
@@ -1,5 +1,5 @@
 ##########################################################################################################################
-# File automatically-generated by tool: [projectgenerator] version: [3.18.0-B7] date: [Thu Apr 13 18:20:17 CST 2023] 
+# File automatically-generated by tool: [projectgenerator] version: [3.19.2] date: [Sat Dec 09 14:32:18 CST 2023] 
 ##########################################################################################################################

 # ------------------------------------------------
--- a/Src/adc.c
+++ b/Src/adc.c
@@ -25,7 +25,6 @@
 /* USER CODE END 0 */

 ADC_HandleTypeDef hadc1;
-DMA_HandleTypeDef hdma_adc1;

 /* ADC1 init function */
 void MX_ADC1_Init(void)
@@ -85,26 +84,6 @@ void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
  /* USER CODE END ADC1_MspInit 0 */
    /* ADC1 clock enable */
    __HAL_RCC_ADC1_CLK_ENABLE();
-
-    /* ADC1 DMA Init */
-    /* ADC1 Init */
-    hdma_adc1.Instance = DMA2_Stream4;
-    hdma_adc1.Init.Channel = DMA_CHANNEL_0;
-    hdma_adc1.Init.Direction = DMA_PERIPH_TO_MEMORY;
-    hdma_adc1.Init.PeriphInc = DMA_PINC_DISABLE;
-    hdma_adc1.Init.MemInc = DMA_MINC_ENABLE;
-    hdma_adc1.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
-    hdma_adc1.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
-    hdma_adc1.Init.Mode = DMA_NORMAL;
-    hdma_adc1.Init.Priority = DMA_PRIORITY_LOW;
-    hdma_adc1.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
-    if (HAL_DMA_Init(&hdma_adc1) != HAL_OK)
-    {
-      Error_Handler();
-    }
-
-    __HAL_LINKDMA(adcHandle,DMA_Handle,hdma_adc1);
-
  /* USER CODE BEGIN ADC1_MspInit 1 */

  /* USER CODE END ADC1_MspInit 1 */
@@ -121,9 +100,6 @@ void HAL_ADC_MspDeInit(ADC_HandleTypeDef* adcHandle)
  /* USER CODE END ADC1_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_ADC1_CLK_DISABLE();
-
-    /* ADC1 DMA DeInit */
-    HAL_DMA_DeInit(adcHandle->DMA_Handle);
  /* USER CODE BEGIN ADC1_MspDeInit 1 */

  /* USER CODE END ADC1_MspDeInit 1 */
--- a/Src/dma.c
+++ b/Src/dma.c
@@ -50,29 +50,20 @@ void MX_DMA_Init(void)
  /* DMA1_Stream2_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(DMA1_Stream2_IRQn, 5, 0);
  HAL_NVIC_EnableIRQ(DMA1_Stream2_IRQn);
-  /* DMA1_Stream3_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(DMA1_Stream3_IRQn, 5, 0);
-  HAL_NVIC_EnableIRQ(DMA1_Stream3_IRQn);
-  /* DMA1_Stream4_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(DMA1_Stream4_IRQn, 5, 0);
-  HAL_NVIC_EnableIRQ(DMA1_Stream4_IRQn);
  /* DMA1_Stream7_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(DMA1_Stream7_IRQn, 5, 0);
  HAL_NVIC_EnableIRQ(DMA1_Stream7_IRQn);
  /* DMA2_Stream0_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(DMA2_Stream0_IRQn, 5, 0);
+  HAL_NVIC_SetPriority(DMA2_Stream0_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(DMA2_Stream0_IRQn);
  /* DMA2_Stream2_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 5, 0);
  HAL_NVIC_EnableIRQ(DMA2_Stream2_IRQn);
  /* DMA2_Stream3_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(DMA2_Stream3_IRQn, 5, 0);
+  HAL_NVIC_SetPriority(DMA2_Stream3_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(DMA2_Stream3_IRQn);
-  /* DMA2_Stream4_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(DMA2_Stream4_IRQn, 5, 0);
-  HAL_NVIC_EnableIRQ(DMA2_Stream4_IRQn);
  /* DMA2_Stream5_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(DMA2_Stream5_IRQn, 5, 0);
+  HAL_NVIC_SetPriority(DMA2_Stream5_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(DMA2_Stream5_IRQn);
  /* DMA2_Stream6_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(DMA2_Stream6_IRQn, 5, 0);
--- a/Src/spi.c
+++ b/Src/spi.c
@@ -28,8 +28,6 @@ SPI_HandleTypeDef hspi1;
 SPI_HandleTypeDef hspi2;
 DMA_HandleTypeDef hdma_spi1_rx;
 DMA_HandleTypeDef hdma_spi1_tx;
-DMA_HandleTypeDef hdma_spi2_rx;
-DMA_HandleTypeDef hdma_spi2_tx;

 /* SPI1 init function */
 void MX_SPI1_Init(void)
@@ -139,7 +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_LOW;
+    hdma_spi1_rx.Init.Priority = DMA_PRIORITY_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;
@@ -160,7 +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_LOW;
+    hdma_spi1_tx.Init.Priority = DMA_PRIORITY_HIGH;
    hdma_spi1_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
    if (HAL_DMA_Init(&hdma_spi1_tx) != HAL_OK)
    {
@@ -197,49 +195,6 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle)
    GPIO_InitStruct.Alternate = GPIO_AF5_SPI2;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

-    /* SPI2 DMA Init */
-    /* SPI2_RX Init */
-    hdma_spi2_rx.Instance = DMA1_Stream3;
-    hdma_spi2_rx.Init.Channel = DMA_CHANNEL_0;
-    hdma_spi2_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
-    hdma_spi2_rx.Init.PeriphInc = DMA_PINC_DISABLE;
-    hdma_spi2_rx.Init.MemInc = DMA_MINC_ENABLE;
-    hdma_spi2_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
-    hdma_spi2_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
-    hdma_spi2_rx.Init.Mode = DMA_NORMAL;
-    hdma_spi2_rx.Init.Priority = DMA_PRIORITY_LOW;
-    hdma_spi2_rx.Init.FIFOMode = DMA_FIFOMODE_ENABLE;
-    hdma_spi2_rx.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
-    hdma_spi2_rx.Init.MemBurst = DMA_MBURST_SINGLE;
-    hdma_spi2_rx.Init.PeriphBurst = DMA_PBURST_SINGLE;
-    if (HAL_DMA_Init(&hdma_spi2_rx) != HAL_OK)
-    {
-      Error_Handler();
-    }
-
-    __HAL_LINKDMA(spiHandle,hdmarx,hdma_spi2_rx);
-
-    /* SPI2_TX Init */
-    hdma_spi2_tx.Instance = DMA1_Stream4;
-    hdma_spi2_tx.Init.Channel = DMA_CHANNEL_0;
-    hdma_spi2_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
-    hdma_spi2_tx.Init.PeriphInc = DMA_PINC_DISABLE;
-    hdma_spi2_tx.Init.MemInc = DMA_MINC_ENABLE;
-    hdma_spi2_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
-    hdma_spi2_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
-    hdma_spi2_tx.Init.Mode = DMA_NORMAL;
-    hdma_spi2_tx.Init.Priority = DMA_PRIORITY_LOW;
-    hdma_spi2_tx.Init.FIFOMode = DMA_FIFOMODE_ENABLE;
-    hdma_spi2_tx.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
-    hdma_spi2_tx.Init.MemBurst = DMA_MBURST_SINGLE;
-    hdma_spi2_tx.Init.PeriphBurst = DMA_PBURST_SINGLE;
-    if (HAL_DMA_Init(&hdma_spi2_tx) != HAL_OK)
-    {
-      Error_Handler();
-    }
-
-    __HAL_LINKDMA(spiHandle,hdmatx,hdma_spi2_tx);
-
    /* SPI2 interrupt Init */
    HAL_NVIC_SetPriority(SPI2_IRQn, 5, 0);
    HAL_NVIC_EnableIRQ(SPI2_IRQn);
@@ -294,10 +249,6 @@ void HAL_SPI_MspDeInit(SPI_HandleTypeDef* spiHandle)
    */
    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15);

-    /* SPI2 DMA DeInit */
-    HAL_DMA_DeInit(spiHandle->hdmarx);
-    HAL_DMA_DeInit(spiHandle->hdmatx);
-
    /* SPI2 interrupt Deinit */
    HAL_NVIC_DisableIRQ(SPI2_IRQn);
  /* USER CODE BEGIN SPI2_MspDeInit 1 */
--- a/Src/stm32f4xx_it.c
+++ b/Src/stm32f4xx_it.c
@@ -56,7 +56,6 @@

 /* External variables --------------------------------------------------------*/
 extern PCD_HandleTypeDef hpcd_USB_OTG_FS;
-extern DMA_HandleTypeDef hdma_adc1;
 extern CAN_HandleTypeDef hcan1;
 extern CAN_HandleTypeDef hcan2;
 extern DMA_HandleTypeDef hdma_i2c2_rx;
@@ -65,8 +64,6 @@ extern I2C_HandleTypeDef hi2c2;
 extern I2C_HandleTypeDef hi2c3;
 extern DMA_HandleTypeDef hdma_spi1_rx;
 extern DMA_HandleTypeDef hdma_spi1_tx;
-extern DMA_HandleTypeDef hdma_spi2_rx;
-extern DMA_HandleTypeDef hdma_spi2_tx;
 extern SPI_HandleTypeDef hspi1;
 extern SPI_HandleTypeDef hspi2;
 extern TIM_HandleTypeDef htim8;
@@ -253,34 +250,6 @@ void DMA1_Stream2_IRQHandler(void)
  /* USER CODE END DMA1_Stream2_IRQn 1 */
 }

-/**
-  * @brief This function handles DMA1 stream3 global interrupt.
-  */
-void DMA1_Stream3_IRQHandler(void)
-{
-  /* USER CODE BEGIN DMA1_Stream3_IRQn 0 */
-
-  /* USER CODE END DMA1_Stream3_IRQn 0 */
-  HAL_DMA_IRQHandler(&hdma_spi2_rx);
-  /* USER CODE BEGIN DMA1_Stream3_IRQn 1 */
-
-  /* USER CODE END DMA1_Stream3_IRQn 1 */
-}
-
-/**
-  * @brief This function handles DMA1 stream4 global interrupt.
-  */
-void DMA1_Stream4_IRQHandler(void)
-{
-  /* USER CODE BEGIN DMA1_Stream4_IRQn 0 */
-
-  /* USER CODE END DMA1_Stream4_IRQn 0 */
-  HAL_DMA_IRQHandler(&hdma_spi2_tx);
-  /* USER CODE BEGIN DMA1_Stream4_IRQn 1 */
-
-  /* USER CODE END DMA1_Stream4_IRQn 1 */
-}
-
 /**
  * @brief This function handles CAN1 RX0 interrupts.
  */
@@ -478,20 +447,6 @@ void DMA2_Stream3_IRQHandler(void)
  /* USER CODE END DMA2_Stream3_IRQn 1 */
 }

-/**
-  * @brief This function handles DMA2 stream4 global interrupt.
-  */
-void DMA2_Stream4_IRQHandler(void)
-{
-  /* USER CODE BEGIN DMA2_Stream4_IRQn 0 */
-
-  /* USER CODE END DMA2_Stream4_IRQn 0 */
-  HAL_DMA_IRQHandler(&hdma_adc1);
-  /* USER CODE BEGIN DMA2_Stream4_IRQn 1 */
-
-  /* USER CODE END DMA2_Stream4_IRQn 1 */
-}
-
 /**
  * @brief This function handles CAN2 RX0 interrupts.
  */
--- a/application/cmd/robot_cmd.c
+++ b/application/cmd/robot_cmd.c
@@ -46,7 +46,7 @@ static Shoot_Upload_Data_s shoot_fetch_data; // 从发射获取的反馈信息

 static Robot_Status_e robot_state; // 机器人整体工作状态

-BMI088Instance *bmi088; // 云台IMU
+BMI088Instance *bmi088_test; // 云台IMU
 BMI088_Data_t bmi088_data;
 void RobotCMDInit()
 {
@@ -57,7 +57,7 @@ void RobotCMDInit()
            .spi_handle = &hspi1,
            .GPIOx = GPIOA,
            .cs_pin = GPIO_PIN_4,
-            .spi_work_mode = SPI_IT_MODE,
+            .spi_work_mode = SPI_DMA_MODE,
        },
        .acc_int_config = {
            .GPIOx = GPIOC,
@@ -68,7 +68,7 @@ void RobotCMDInit()
            .spi_handle = &hspi1,
            .GPIOx = GPIOB,
            .cs_pin = GPIO_PIN_0,
-            .spi_work_mode = SPI_IT_MODE,
+            .spi_work_mode = SPI_DMA_MODE,
        },
        .gyro_int_config = {
            .GPIO_Pin = GPIO_PIN_5,
@@ -90,7 +90,7 @@ void RobotCMDInit()
            .MaxOut = 100,
        },
    };
-    bmi088 = 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,&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);
--- a/application/robot_task.h
+++ b/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);
@@ -35,9 +35,9 @@ void StartUITASK(void const *argument);
 */
 void OSTaskInit()
 {
-    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
-    // 后续修改为读取传感器数据准备好的中断处理,
+    // 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
+    // // 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);
    motorTaskHandle = osThreadCreate(osThread(motortask), NULL);
@@ -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)
-{
-    static float ins_start;
-    static float ins_dt;
-    INS_Init(); // 确保BMI088被正确初始化.
-    LOGINFO("[freeRTOS] INS Task Start");
-    for (;;)
-    {
-        // 1kHz
-        ins_start = DWT_GetTimeline_ms();
-        INS_Task();
-        ins_dt = DWT_GetTimeline_ms() - ins_start;
-        if (ins_dt > 1)
-            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
-        osDelay(1);
-    }
-}
+// __attribute__((noreturn)) void StartINSTASK(void const *argument)
+// {
+//     static float ins_start;
+//     static float ins_dt;
+//     INS_Init(); // 确保BMI088被正确初始化.
+//     LOGINFO("[freeRTOS] INS Task Start");
+//     for (;;)
+//     {
+//         // 1kHz
+//         ins_start = DWT_GetTimeline_ms();
+//         //INS_Task();
+//         ins_dt = DWT_GetTimeline_ms() - ins_start;
+//         if (ins_dt > 1)
+//             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
+//         osDelay(1);
+//     }
+// }

 __attribute__((noreturn)) void StartMOTORTASK(void const *argument)
 {
--- a/basic_framework.ioc
+++ b/basic_framework.ioc
@@ -25,49 +25,36 @@ CAN2.IPParameters=CalculateTimeQuantum,BS1,BS2,Prescaler,CalculateBaudRate,TXFP,
 CAN2.NART=ENABLE
 CAN2.Prescaler=3
 CAN2.TXFP=ENABLE
-Dma.ADC1.8.Direction=DMA_PERIPH_TO_MEMORY
-Dma.ADC1.8.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.ADC1.8.Instance=DMA2_Stream4
-Dma.ADC1.8.MemDataAlignment=DMA_MDATAALIGN_HALFWORD
-Dma.ADC1.8.MemInc=DMA_MINC_ENABLE
-Dma.ADC1.8.Mode=DMA_NORMAL
-Dma.ADC1.8.PeriphDataAlignment=DMA_PDATAALIGN_HALFWORD
-Dma.ADC1.8.PeriphInc=DMA_PINC_DISABLE
-Dma.ADC1.8.Priority=DMA_PRIORITY_LOW
-Dma.ADC1.8.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-Dma.I2C2_RX.9.Direction=DMA_PERIPH_TO_MEMORY
-Dma.I2C2_RX.9.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.I2C2_RX.9.Instance=DMA1_Stream2
-Dma.I2C2_RX.9.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.I2C2_RX.9.MemInc=DMA_MINC_ENABLE
-Dma.I2C2_RX.9.Mode=DMA_NORMAL
-Dma.I2C2_RX.9.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.I2C2_RX.9.PeriphInc=DMA_PINC_DISABLE
-Dma.I2C2_RX.9.Priority=DMA_PRIORITY_LOW
-Dma.I2C2_RX.9.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-Dma.I2C2_TX.10.Direction=DMA_MEMORY_TO_PERIPH
-Dma.I2C2_TX.10.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.I2C2_TX.10.Instance=DMA1_Stream7
-Dma.I2C2_TX.10.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.I2C2_TX.10.MemInc=DMA_MINC_ENABLE
-Dma.I2C2_TX.10.Mode=DMA_NORMAL
-Dma.I2C2_TX.10.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.I2C2_TX.10.PeriphInc=DMA_PINC_DISABLE
-Dma.I2C2_TX.10.Priority=DMA_PRIORITY_LOW
-Dma.I2C2_TX.10.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+Dma.I2C2_RX.6.Direction=DMA_PERIPH_TO_MEMORY
+Dma.I2C2_RX.6.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.I2C2_RX.6.Instance=DMA1_Stream2
+Dma.I2C2_RX.6.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.I2C2_RX.6.MemInc=DMA_MINC_ENABLE
+Dma.I2C2_RX.6.Mode=DMA_NORMAL
+Dma.I2C2_RX.6.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.I2C2_RX.6.PeriphInc=DMA_PINC_DISABLE
+Dma.I2C2_RX.6.Priority=DMA_PRIORITY_LOW
+Dma.I2C2_RX.6.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+Dma.I2C2_TX.7.Direction=DMA_MEMORY_TO_PERIPH
+Dma.I2C2_TX.7.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.I2C2_TX.7.Instance=DMA1_Stream7
+Dma.I2C2_TX.7.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.I2C2_TX.7.MemInc=DMA_MINC_ENABLE
+Dma.I2C2_TX.7.Mode=DMA_NORMAL
+Dma.I2C2_TX.7.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.I2C2_TX.7.PeriphInc=DMA_PINC_DISABLE
+Dma.I2C2_TX.7.Priority=DMA_PRIORITY_LOW
+Dma.I2C2_TX.7.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
 Dma.Request0=USART6_RX
 Dma.Request1=USART6_TX
-Dma.Request10=I2C2_TX
-Dma.Request11=SPI1_TX
 Dma.Request2=USART1_TX
 Dma.Request3=USART1_RX
 Dma.Request4=SPI1_RX
-Dma.Request5=SPI2_RX
-Dma.Request6=SPI2_TX
-Dma.Request7=USART3_RX
-Dma.Request8=ADC1
-Dma.Request9=I2C2_RX
-Dma.RequestsNb=12
+Dma.Request5=USART3_RX
+Dma.Request6=I2C2_RX
+Dma.Request7=I2C2_TX
+Dma.Request8=SPI1_TX
+Dma.RequestsNb=9
 Dma.SPI1_RX.4.Direction=DMA_PERIPH_TO_MEMORY
 Dma.SPI1_RX.4.FIFOMode=DMA_FIFOMODE_ENABLE
 Dma.SPI1_RX.4.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
@@ -79,44 +66,18 @@ Dma.SPI1_RX.4.Mode=DMA_NORMAL
 Dma.SPI1_RX.4.PeriphBurst=DMA_PBURST_SINGLE
 Dma.SPI1_RX.4.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
 Dma.SPI1_RX.4.PeriphInc=DMA_PINC_DISABLE
-Dma.SPI1_RX.4.Priority=DMA_PRIORITY_LOW
+Dma.SPI1_RX.4.Priority=DMA_PRIORITY_HIGH
 Dma.SPI1_RX.4.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
-Dma.SPI1_TX.11.Direction=DMA_MEMORY_TO_PERIPH
-Dma.SPI1_TX.11.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.SPI1_TX.11.Instance=DMA2_Stream3
-Dma.SPI1_TX.11.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.SPI1_TX.11.MemInc=DMA_MINC_ENABLE
-Dma.SPI1_TX.11.Mode=DMA_NORMAL
-Dma.SPI1_TX.11.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.SPI1_TX.11.PeriphInc=DMA_PINC_DISABLE
-Dma.SPI1_TX.11.Priority=DMA_PRIORITY_LOW
-Dma.SPI1_TX.11.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-Dma.SPI2_RX.5.Direction=DMA_PERIPH_TO_MEMORY
-Dma.SPI2_RX.5.FIFOMode=DMA_FIFOMODE_ENABLE
-Dma.SPI2_RX.5.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
-Dma.SPI2_RX.5.Instance=DMA1_Stream3
-Dma.SPI2_RX.5.MemBurst=DMA_MBURST_SINGLE
-Dma.SPI2_RX.5.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.SPI2_RX.5.MemInc=DMA_MINC_ENABLE
-Dma.SPI2_RX.5.Mode=DMA_NORMAL
-Dma.SPI2_RX.5.PeriphBurst=DMA_PBURST_SINGLE
-Dma.SPI2_RX.5.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.SPI2_RX.5.PeriphInc=DMA_PINC_DISABLE
-Dma.SPI2_RX.5.Priority=DMA_PRIORITY_LOW
-Dma.SPI2_RX.5.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
-Dma.SPI2_TX.6.Direction=DMA_MEMORY_TO_PERIPH
-Dma.SPI2_TX.6.FIFOMode=DMA_FIFOMODE_ENABLE
-Dma.SPI2_TX.6.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
-Dma.SPI2_TX.6.Instance=DMA1_Stream4
-Dma.SPI2_TX.6.MemBurst=DMA_MBURST_SINGLE
-Dma.SPI2_TX.6.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.SPI2_TX.6.MemInc=DMA_MINC_ENABLE
-Dma.SPI2_TX.6.Mode=DMA_NORMAL
-Dma.SPI2_TX.6.PeriphBurst=DMA_PBURST_SINGLE
-Dma.SPI2_TX.6.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.SPI2_TX.6.PeriphInc=DMA_PINC_DISABLE
-Dma.SPI2_TX.6.Priority=DMA_PRIORITY_LOW
-Dma.SPI2_TX.6.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,FIFOThreshold,MemBurst,PeriphBurst
+Dma.SPI1_TX.8.Direction=DMA_MEMORY_TO_PERIPH
+Dma.SPI1_TX.8.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.SPI1_TX.8.Instance=DMA2_Stream3
+Dma.SPI1_TX.8.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.SPI1_TX.8.MemInc=DMA_MINC_ENABLE
+Dma.SPI1_TX.8.Mode=DMA_NORMAL
+Dma.SPI1_TX.8.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.SPI1_TX.8.PeriphInc=DMA_PINC_DISABLE
+Dma.SPI1_TX.8.Priority=DMA_PRIORITY_HIGH
+Dma.SPI1_TX.8.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
 Dma.USART1_RX.3.Direction=DMA_PERIPH_TO_MEMORY
 Dma.USART1_RX.3.FIFOMode=DMA_FIFOMODE_DISABLE
 Dma.USART1_RX.3.Instance=DMA2_Stream5
@@ -137,16 +98,16 @@ Dma.USART1_TX.2.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
 Dma.USART1_TX.2.PeriphInc=DMA_PINC_DISABLE
 Dma.USART1_TX.2.Priority=DMA_PRIORITY_VERY_HIGH
 Dma.USART1_TX.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-Dma.USART3_RX.7.Direction=DMA_PERIPH_TO_MEMORY
-Dma.USART3_RX.7.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.USART3_RX.7.Instance=DMA1_Stream1
-Dma.USART3_RX.7.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.USART3_RX.7.MemInc=DMA_MINC_ENABLE
-Dma.USART3_RX.7.Mode=DMA_NORMAL
-Dma.USART3_RX.7.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.USART3_RX.7.PeriphInc=DMA_PINC_DISABLE
-Dma.USART3_RX.7.Priority=DMA_PRIORITY_LOW
-Dma.USART3_RX.7.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+Dma.USART3_RX.5.Direction=DMA_PERIPH_TO_MEMORY
+Dma.USART3_RX.5.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.USART3_RX.5.Instance=DMA1_Stream1
+Dma.USART3_RX.5.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART3_RX.5.MemInc=DMA_MINC_ENABLE
+Dma.USART3_RX.5.Mode=DMA_NORMAL
+Dma.USART3_RX.5.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART3_RX.5.PeriphInc=DMA_PINC_DISABLE
+Dma.USART3_RX.5.Priority=DMA_PRIORITY_LOW
+Dma.USART3_RX.5.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
 Dma.USART6_RX.0.Direction=DMA_PERIPH_TO_MEMORY
 Dma.USART6_RX.0.FIFOMode=DMA_FIFOMODE_ENABLE
 Dma.USART6_RX.0.FIFOThreshold=DMA_FIFO_THRESHOLD_FULL
@@ -295,14 +256,11 @@ NVIC.CAN2_RX0_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
 NVIC.CAN2_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.DMA1_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DMA1_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
-NVIC.DMA1_Stream3_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
-NVIC.DMA1_Stream4_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
 NVIC.DMA1_Stream7_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
-NVIC.DMA2_Stream0_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
+NVIC.DMA2_Stream0_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true\:true
 NVIC.DMA2_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
-NVIC.DMA2_Stream3_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
-NVIC.DMA2_Stream4_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
-NVIC.DMA2_Stream5_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
+NVIC.DMA2_Stream3_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true\:true
+NVIC.DMA2_Stream5_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true\:true
 NVIC.DMA2_Stream6_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true
 NVIC.DMA2_Stream7_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
@@ -518,6 +476,7 @@ ProjectManager.PreviousToolchain=
 ProjectManager.ProjectBuild=false
 ProjectManager.ProjectFileName=basic_framework.ioc
 ProjectManager.ProjectName=basic_framework
+ProjectManager.ProjectStructure=
 ProjectManager.RegisterCallBack=
 ProjectManager.StackSize=0x5000
 ProjectManager.TargetToolchain=Makefile
@@ -689,3 +648,4 @@ VP_TIM8_VS_ClockSourceINT.Signal=TIM8_VS_ClockSourceINT
 VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS.Mode=CDC_FS
 VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS.Signal=USB_DEVICE_VS_USB_DEVICE_CDC_FS
 board=custom
+rtos.0.ip=FREERTOS
--- a/modules/BMI088/bmi088.c
+++ b/modules/BMI088/bmi088.c
@@ -1,7 +1,9 @@
 #include "bmi088_regNdef.h"
 #include "bmi088.h"
 #include "user_lib.h"
+#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
@@ -41,7 +43,11 @@ static void BMI088GyroRead(BMI088Instance *bmi088, uint8_t reg, uint8_t *dataptr
    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);
+    //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
 }

@@ -190,6 +196,7 @@ static void BMI088AccSPIFinishCallback(SPIInstance *spi)
 {
    // static BMI088Instance *bmi088;
    // bmi088 = (BMI088Instance *)(spi->id);
+   
    // 若第一次读取加速度,则在这里启动温度读取
    // 如果使用异步姿态更新,此处唤醒量测更新的任务
 }
@@ -203,16 +210,32 @@ static void BMI088GyroSPIFinishCallback(SPIInstance *spi)

 static void BMI088AccINTCallback(GPIOInstance *gpio)
 {
-    // static BMI088Instance *bmi088;
-    // bmi088 = (BMI088Instance *)(gpio->id);
+    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.acc = 1;
+    BMI088AccelRead(bmi088, BMI088_ACCEL_XOUT_L, buf, 6);
+    for (uint8_t i = 0; i < 3; i++)
+            bmi088->acc[i] = bmi088->acc_coef * (float)(int16_t)(((buf[2 * i + 1]) << 8) | buf[2 * i]);
    // 启动加速度计数据读取(和温度读取,如果有必要),并转换为实际值
    // 读取完毕会调用BMI088AccSPIFinishCallback
 }

 static void BMI088GyroINTCallback(GPIOInstance *gpio)
 {
-    // static BMI088Instance *bmi088;
-    // bmi088 = (BMI088Instance *)(gpio->id);
+    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;
+    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
 }
@@ -250,7 +273,16 @@ uint8_t BMI088Acquire(BMI088Instance *bmi088, BMI088_Data_t *data_store)
    // 如果是IT模式,则检查标志位.当传感器数据准备好会触发外部中断,中断服务函数会将标志位置1
    if (bmi088->work_mode == BMI088_BLOCK_TRIGGER_MODE && bmi088->update_flag.imu_ready == 1)
    {
-        memcpy(data_store, &bmi088->gyro, sizeof(BMI088_Data_t));
+        if(bmi088->update_flag.acc == 1)
+        {
+            memcpy(data_store->acc,bmi088->acc,3*sizeof(float));
+            bmi088->update_flag.acc = 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;
    }
@@ -313,8 +345,8 @@ void BMI088CalibrateIMU(BMI088Instance *_bmi088)
                BMI088Acquire(_bmi088, &raw_data);
                gNormTemp = NormOf3d(raw_data.acc);
                _bmi088->gNorm += gNormTemp; // 计算范数并累加,最后除以calib times获取单次值
-                for (uint8_t i = 0; i < 3; i++)
-                    _bmi088->gyro_offset[i] += raw_data.gyro[i]; // 因为标定时传感器静止,所以采集到的值就是漂移,累加当前值,最后除以calib times获得零飘
+                for (uint8_t ii = 0; ii < 3; ii++)
+                    _bmi088->gyro_offset[ii] += raw_data.gyro[ii]; // 因为标定时传感器静止,所以采集到的值就是漂移,累加当前值,最后除以calib times获得零飘

                if (i == 0) // 避免未定义的行为(else中)
                {
@@ -403,26 +435,9 @@ BMI088Instance *BMI088Register(BMI088_Init_Config_s *config)
    // SPI_ACC DMA CALLBACK: 解算加速度计数据,清除温度wait标志位并启动温度传输,第二次进入中断时解算温度数据

    // 还有其他方案可用,比如阻塞等待传输完成,但是比较笨.
-
-    // 根据参数选择工作模式
-    if (config->work_mode == BMI088_BLOCK_PERIODIC_MODE)
-    {
        config->spi_acc_config.spi_work_mode = SPI_BLOCK_MODE;
        config->spi_gyro_config.spi_work_mode = SPI_BLOCK_MODE;
-        // callbacks are all NULL
-    }
-    else if (config->work_mode == BMI088_BLOCK_TRIGGER_MODE)
-    {
-        config->spi_gyro_config.spi_work_mode = SPI_DMA_MODE; // 如果DMA资源不够,可以用SPI_IT_MODE
-        config->spi_gyro_config.spi_work_mode = SPI_DMA_MODE;
-        // 设置回调函数
-        config->spi_acc_config.callback = BMI088AccSPIFinishCallback;
-        config->spi_gyro_config.callback = BMI088GyroSPIFinishCallback;
-        config->acc_int_config.gpio_model_callback = BMI088AccINTCallback;
-        config->gyro_int_config.gpio_model_callback = BMI088GyroINTCallback;
-        bmi088_instance->acc_int = GPIORegister(&config->acc_int_config); // 只有在非阻塞模式下才需要注册中断
-        bmi088_instance->gyro_int = GPIORegister(&config->gyro_int_config);
-    } // 注册实例
+    // 根据参数选择工作模式
    bmi088_instance->spi_acc = SPIRegister(&config->spi_acc_config);
    bmi088_instance->spi_gyro = SPIRegister(&config->spi_gyro_config);
    bmi088_instance->heat_pwm = PWMRegister(&config->heat_pwm_config);
@@ -441,6 +456,20 @@ BMI088Instance *BMI088Register(BMI088_Init_Config_s *config)
    bmi088_instance->work_mode = BMI088_BLOCK_PERIODIC_MODE; // 临时设置为阻塞模式
    BMI088CalibrateIMU(bmi088_instance);                     // 标定acc和gyro
    bmi088_instance->work_mode = config->work_mode;          // 恢复工作模式
+    if (config->work_mode == BMI088_BLOCK_TRIGGER_MODE)
+    {
+        bmi088_instance->spi_acc->spi_work_mode = SPI_DMA_MODE;
+        bmi088_instance->spi_gyro->spi_work_mode = SPI_DMA_MODE;
        
+        // 设置回调函数
+        bmi088_instance->spi_acc->callback = BMI088AccSPIFinishCallback;
+        bmi088_instance->spi_gyro->callback = BMI088GyroSPIFinishCallback;
+        
+        bmi088_instance->acc_int = GPIORegister(&config->acc_int_config); // 只有在非阻塞模式下才需要注册中断
+        bmi088_instance->gyro_int = GPIORegister(&config->gyro_int_config);
+
+        bmi088_instance->acc_int->gpio_model_callback = BMI088AccINTCallback;
+        bmi088_instance->gyro_int->gpio_model_callback = BMI088GyroINTCallback;
+    } // 注册实例
    return bmi088_instance;
 }