diff --git a/User_Code/bsp/gpio/bsp_gpio.c b/User_Code/bsp/gpio/bsp_gpio.c new file mode 100644 index 0000000..c649978 --- /dev/null +++ b/User_Code/bsp/gpio/bsp_gpio.c @@ -0,0 +1,66 @@ +#include "bsp_gpio.h" +#include "memory.h" +#include "stdlib.h" + +static uint8_t idx; +static GPIOInstance *gpio_instance[GPIO_MX_DEVICE_NUM] = {NULL}; + +/** + * @brief EXTI中断回调函数,根据GPIO_Pin找到对应的GPIOInstance,并调用模块回调函数(如果有) + * @note 如何判断具体是哪一个GPIO的引脚连接到这个EXTI中断线上? + * 一个EXTI中断线只能连接一个GPIO引脚,因此可以通过GPIO_Pin来判断,PinX对应EXTIX + * 一个Pin号只会对应一个EXTI,详情见gpio.md + * @param GPIO_Pin 发生中断的GPIO_Pin + */ +void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) +{ + // 如有必要,可以根据pinstate和HAL_GPIO_ReadPin来判断是上升沿还是下降沿/rise&fall等 + GPIOInstance *gpio; + for (size_t i = 0; i < idx; i++) + { + gpio = gpio_instance[i]; + if (gpio->GPIO_Pin == GPIO_Pin && gpio->gpio_model_callback != NULL) + { + gpio->gpio_model_callback(gpio); + return; + } + } +} + +GPIOInstance *GPIORegister(GPIO_Init_Config_s *GPIO_config) +{ + GPIOInstance *ins = (GPIOInstance *) malloc(sizeof(GPIOInstance)); + memset(ins, 0, sizeof(GPIOInstance)); + + ins->GPIOx = GPIO_config->GPIOx; + ins->GPIO_Pin = GPIO_config->GPIO_Pin; + ins->pin_state = GPIO_config->pin_state; + ins->exti_mode = GPIO_config->exti_mode; + ins->id = GPIO_config->id; + ins->gpio_model_callback = GPIO_config->gpio_model_callback; + gpio_instance[idx++] = ins; + return ins; +} + +// ----------------- GPIO API ----------------- +// 都是对HAL的形式上的封装,后续考虑增加GPIO state变量,可以直接读取state + +void GPIOToggel(GPIOInstance *_instance) +{ + HAL_GPIO_TogglePin(_instance->GPIOx, _instance->GPIO_Pin); +} + +void GPIOSet(GPIOInstance *_instance) +{ + HAL_GPIO_WritePin(_instance->GPIOx, _instance->GPIO_Pin, GPIO_PIN_SET); +} + +void GPIOReset(GPIOInstance *_instance) +{ + HAL_GPIO_WritePin(_instance->GPIOx, _instance->GPIO_Pin, GPIO_PIN_RESET); +} + +GPIO_PinState GPIORead(GPIOInstance *_instance) +{ + return HAL_GPIO_ReadPin(_instance->GPIOx, _instance->GPIO_Pin); +} diff --git a/User_Code/bsp/gpio/bsp_gpio.h b/User_Code/bsp/gpio/bsp_gpio.h new file mode 100644 index 0000000..fa1faa9 --- /dev/null +++ b/User_Code/bsp/gpio/bsp_gpio.h @@ -0,0 +1,87 @@ +#include "gpio.h" +#include "stdint.h" + +#define GPIO_MX_DEVICE_NUM 10 + +/** + * @brief 用于判断中断来源,注意和CUBEMX中配置一致 + * + */ +typedef enum +{ + GPIO_EXTI_MODE_RISING, + GPIO_EXTI_MODE_FALLING, + GPIO_EXTI_MODE_RISING_FALLING, + GPIO_EXTI_MODE_NONE, +} GPIO_EXTI_MODE_e; + +/** + * @brief GPIO实例结构体定义 + * + */ +typedef struct tmpgpio +{ + GPIO_TypeDef *GPIOx; // GPIOA,GPIOB,GPIOC... + GPIO_PinState pin_state; // 引脚状态,Set,Reset;not frequently used + GPIO_EXTI_MODE_e exti_mode; // 外部中断模式 not frequently used + uint16_t GPIO_Pin; // 引脚号, + // 这些引脚是stm32f4xx_hal_gpio.h中定义的宏!!! 一定要注意 + // 随便取个名字当临时声明 + void (*gpio_model_callback)(struct tmpgpio *); // exti中断回调函数 + void *id; // 区分不同的GPIO实例 + +} GPIOInstance; + +/** + * @brief GPIO初始化配置结构体定义 + * + */ +typedef struct +{ + GPIO_TypeDef *GPIOx; // GPIOA,GPIOB,GPIOC... + GPIO_PinState pin_state; // 引脚状态,Set,Reset not frequently used + GPIO_EXTI_MODE_e exti_mode; // 外部中断模式 not frequently used + uint16_t GPIO_Pin; // 引脚号,@note 这里的引脚号是GPIO_PIN_0,GPIO_PIN_1... + // 这些引脚是stm32f4xx_hal_gpio.h中定义的宏!!! 一定要注意 + + void (*gpio_model_callback)(GPIOInstance *); // exti中断回调函数 + void *id; // 区分不同的GPIO实例 + +} GPIO_Init_Config_s; + +/** + * @brief 注册GPIO实例 + * + * @param GPIO_config + * @return GPIOInstance* + */ +GPIOInstance *GPIORegister(GPIO_Init_Config_s *GPIO_config); + +/** + * @brief GPIO API,切换GPIO电平 + * + * @param _instance + */ +void GPIOToggel(GPIOInstance *_instance); + +/** + * @brief 设置GPIO电平 + * + * @param _instance + */ +void GPIOSet(GPIOInstance *_instance); + +/** + * @brief 复位GPIO电平 + * + * @param _instance + */ +void GPIOReset(GPIOInstance *_instance); + +/** + * @brief 读取GPIO电平 + * + * @param _instance + * @return GPIO_PinState + */ +GPIO_PinState GPIORead(GPIOInstance *_instance); diff --git a/User_Code/bsp/gpio/bsp_gpio.md b/User_Code/bsp/gpio/bsp_gpio.md new file mode 100644 index 0000000..3f1004f --- /dev/null +++ b/User_Code/bsp/gpio/bsp_gpio.md @@ -0,0 +1,18 @@ +可以作为io接口,也可以处理外部中断. + +使用示例 + +```c +//在app层只需要设置前三个,callback由module自动设置 + +GPIO_Init_Config_s gpio_init = { + .exti_mode = GPIO_EXTI_MODE_FALLING, // 注意和CUBEMX的配置一致 + .GPIO_Pin = GPIO_PIN_6, // GPIO引脚 + .GPIOx = GPIOG, // GPIO外设 + .gpio_model_callback = NULL, // EXTI回调函数 +}, + +GPIOInstance* test_example = GPIORegister(&gpio_init); +GPIOSet(test_example); +// GPIOxxx(test_exmaple, ...); +``` diff --git a/User_Code/bsp/pwm/bsp_pwm.c b/User_Code/bsp/pwm/bsp_pwm.c new file mode 100644 index 0000000..1e98063 --- /dev/null +++ b/User_Code/bsp/pwm/bsp_pwm.c @@ -0,0 +1,113 @@ +// #include "bsp_pwm.h" +// #include "stdlib.h" +// #include "memory.h" +// +// // 配合中断以及初始化 +// static uint8_t idx; +// static PWMInstance *pwm_instance[PWM_DEVICE_CNT] = {NULL}; // 所有的pwm instance保存于此,用于callback时判断中断来源 +// static uint32_t PWMSelectTclk(TIM_HandleTypeDef *htim); +// +// /** +// * @brief pwm dma传输完成回调函数 +// * +// * @param htim 发生中断的定时器句柄 +// */ +// void HAL_TIM_PWM_PulseFinishedCallback(TIM_HandleTypeDef *htim) +// { +// for (uint8_t i = 0; i < idx; i++) +// { +// // 来自同一个定时器的中断且通道相同 +// if (pwm_instance[i]->htim == htim && htim->Channel == (1 << (pwm_instance[i]->channel / 4))) +// { +// if (pwm_instance[i]->callback) // 如果有回调函数 +// pwm_instance[i]->callback(pwm_instance[i]); +// return; // 一次只能有一个通道的中断,所以直接返回 +// } +// } +// } +// +// PWMInstance *PWMRegister(PWM_Init_Config_s *config) +// { +// if (idx >= PWM_DEVICE_CNT) // 超过最大实例数,考虑增加或查看是否有内存泄漏 +// while (1); +// PWMInstance *pwm = (PWMInstance *) malloc(sizeof(PWMInstance)); +// memset(pwm, 0, sizeof(PWMInstance)); +// +// pwm->htim = config->htim; +// pwm->channel = config->channel; +// pwm->period = config->period; +// pwm->dutyratio = config->dutyratio; +// pwm->callback = config->callback; +// pwm->id = config->id; +// pwm->tclk = PWMSelectTclk(pwm->htim); +// // 启动PWM +// HAL_TIM_PWM_Start(pwm->htim, pwm->channel); +// PWMSetPeriod(pwm, pwm->period); +// PWMSetDutyRatio(pwm, pwm->dutyratio); +// pwm_instance[idx++] = pwm; +// return pwm; +// } +// +// /* 只是对HAL的函数进行了形式上的封装 */ +// void PWMStart(PWMInstance *pwm) +// { +// HAL_TIM_PWM_Start(pwm->htim, pwm->channel); +// } +// +// /* 只是对HAL的函数进行了形式上的封装 */ +// void PWMStop(PWMInstance *pwm) +// { +// HAL_TIM_PWM_Stop(pwm->htim, pwm->channel); +// } +// +// /* +// * @brief 设置pwm周期 +// * +// * @param pwm pwm实例 +// * @param period 周期 单位 s +// */ +// void PWMSetPeriod(PWMInstance *pwm, float period) +// { +// __HAL_TIM_SetAutoreload(pwm->htim, period * ((pwm->tclk) / (pwm->htim->Init.Prescaler + 1))); +// } +// +// /* +// * @brief 设置pwm占空比 +// * +// * @param pwm pwm实例 +// * @param dutyratio 占空比 0~1 +// */ +// void PWMSetDutyRatio(PWMInstance *pwm, float dutyratio) +// { +// __HAL_TIM_SetCompare(pwm->htim, pwm->channel, dutyratio * (pwm->htim->Instance->ARR)); +// } +// +// /* 只是对HAL的函数进行了形式上的封装 */ +// void PWMStartDMA(PWMInstance *pwm, uint32_t *pData, uint32_t Size) +// { +// HAL_TIM_PWM_Start_DMA(pwm->htim, pwm->channel, pData, Size); +// } +// +// // 设置pwm对应定时器时钟源频率 +// //tim2~7,12~14:APB1 tim1,8~11:APB2 +// static uint32_t PWMSelectTclk(TIM_HandleTypeDef *htim) +// { +// uintptr_t tclk_temp = ((uintptr_t) ((htim)->Instance)); +// if ( +// (tclk_temp <= (APB1PERIPH_BASE + 0x2000UL)) && +// (tclk_temp >= (APB1PERIPH_BASE + 0x0000UL))) +// { +// return (HAL_RCC_GetPCLK1Freq() * ( +// APBPrescTable[(RCC->CFGR & RCC_CFGR_PPRE1) >> RCC_CFGR_PPRE1_Pos] == 0 ? 1 : 2)); +// } +// if ( +// ((tclk_temp <= (APB2PERIPH_BASE + 0x0400UL)) && +// (tclk_temp >= (APB2PERIPH_BASE + 0x0000UL))) || +// ((tclk_temp <= (APB2PERIPH_BASE + 0x4800UL)) && +// (tclk_temp >= (APB2PERIPH_BASE + 0x4000UL)))) +// { +// return (HAL_RCC_GetPCLK2Freq() * ( +// APBPrescTable[(RCC->CFGR & RCC_CFGR_PPRE1) >> RCC_CFGR_PPRE1_Pos] == 0 ? 1 : 2)); +// } +// return 0; +// } diff --git a/User_Code/bsp/pwm/bsp_pwm.h b/User_Code/bsp/pwm/bsp_pwm.h new file mode 100644 index 0000000..1e61d42 --- /dev/null +++ b/User_Code/bsp/pwm/bsp_pwm.h @@ -0,0 +1,93 @@ +// /** +// * @file bsp_pwm.h +// * @author TuxMonkey +// * @brief +// * @version 0.1 +// * @date 2023-02-14 +// * +// * @copyright Copyright (c) 2023 +// * +// */ +// +// #ifndef BSP_PWM_H +// #define BSP_PWM_H +// +// #include "tim.h" +// #include "stdint.h" +// #include "stm32h7xx_hal_rcc.h" +// #include "stm32h723xx.h" +// #define PWM_DEVICE_CNT 16 // 最大支持的PWM实例数量 +// +// /* pwm实例结构体 */ +// typedef struct pwm_ins_temp +// { +// TIM_HandleTypeDef *htim; // TIM句柄 +// uint32_t channel; // 通道 +// uint32_t tclk; // 时钟频率 +// float period; // 周期 +// float dutyratio; // 占空比 +// void (*callback)(struct pwm_ins_temp *); // DMA传输完成回调函数 +// void *id; // 实例ID +// } PWMInstance; +// +// typedef struct +// { +// TIM_HandleTypeDef *htim; // TIM句柄 +// uint32_t channel; // 通道 +// float period; // 周期 +// float dutyratio; // 占空比 +// void (*callback)(PWMInstance *); // DMA传输完成回调函数 +// void *id; // 实例ID +// } PWM_Init_Config_s; +// +// /** +// * @brief 注册一个pwm实例 +// * +// * @param config 初始化配置 +// * @return PWMInstance* +// */ +// PWMInstance *PWMRegister(PWM_Init_Config_s *config); +// +// /** +// * @brief 启动pwm +// * +// * @param pwm pwm实例 +// */ +// void PWMStart(PWMInstance *pwm); +// +// /** +// * @brief 设置pwm占空比 +// * +// * @param pwm pwm实例 +// * @param dutyratio 占空比 0~1 +// */ +// +// void PWMSetDutyRatio(PWMInstance *pwm, float dutyratio); +// +// /** +// * @brief 停止pwm +// * +// * @param pwm pwm实例 +// */ +// void PWMStop(PWMInstance *pwm); +// +// /** +// * @brief 设置pwm周期 +// * +// * @param pwm pwm实例 +// * @param period 周期 单位 s +// */ +// void PWMSetPeriod(PWMInstance *pwm, float period); +// +// /** +// * @brief 启动pwm dma传输 +// * +// * @param pwm pwm实例 +// * @param pData 数据首地址指针,注意数据的位数必须和CubeMX配置的DMA传输位数(字长)一致 +// * @param Size 数据长度 +// * @note 如果使用此函数,则需要在CubeMX中配置DMA传输位数为对应位数 +// * 例如:使用16位数据,则需要配置DMA传输位数为16位(half word),配置错误会导致指针越界或数据错误 +// */ +// void PWMStartDMA(PWMInstance *pwm, uint32_t *pData, uint32_t Size); +// +// #endif // BSP_PWM_H diff --git a/User_Code/bsp/pwm/bsp_pwm.md b/User_Code/bsp/pwm/bsp_pwm.md new file mode 100644 index 0000000..ad93cd6 --- /dev/null +++ b/User_Code/bsp/pwm/bsp_pwm.md @@ -0,0 +1,7 @@ +# bsp pwm + +> 暂未适配H723 + +同一定时器下的pwm通道更改周期时请注意该定时器下是否有其他pwm示例，如果有请注意不要影响其他pwm通道的周期。 +使用pwm dma传输中断时注意占空比的设置，设为0将不会进入中断函数 +默认tim psc已在cubemx设置好，详情可参考cubemx配置文件 diff --git a/User_Code/module/periph/imu/BMI088(newer_support)/BMI088NewerSupport.md b/User_Code/module/periph/imu/BMI088(newer_support)/BMI088NewerSupport.md new file mode 100644 index 0000000..8dbdfd0 --- /dev/null +++ b/User_Code/module/periph/imu/BMI088(newer_support)/BMI088NewerSupport.md @@ -0,0 +1,101 @@ +# BMI088 + +> 新驱动 暂未适配H723 + +## 示例 + +```c +BMI088_Init_Config_s imu_config = { + .spi_acc_config={ + .GPIOx=GPIOA, + .GPIOx=GPIO_PIN_4, + .spi_handle=&hspi1, + }, + .spi_gyro_config={ + .GPIOx=GPIOB, + .GPIOx=GPIO_PIN_0, + .spi_handle=&hspi1, + }, + .acc_int_config={ + .exti_mode=EXTI_TRIGGER_FALLING, + .GPIO_Pin=GPIO_PIN_4, + .GPIOx=GPIOC, + }, + .gyro_int_config={ + .exti_mode=EXTI_TRIGGER_FALLING, + .GPIO_Pin=GPIO_PIN_5, + .GPIOx=GPIOC, + }, + .heat_pid_config={ + .Kp=0.0f, + .Kd=0.0f, + .Ki=0.0f, + .MaxOut=0.0f, + .DeadBand=0.0f, + }, + .heat_pwm_config={ + .channel=TIM_CHANNEL_1, + .htim=&htim1, + }, + .cali_mode=BMI088_CALIBRATE_ONLINE_MODE, + .work_mode=BMI088_BLOCK_PERIODIC_MODE, + }; + +BMI088Instance* imu=BMI088Register(&imu_config); +``` + +## IT非阻塞模式下BMI088读取流程 + +数据准备完成标志位:`uint8_t BMI088_READY_FLAG` 总共8个位 也可以用位域可读性更高 + +1. 当accel int中断发生,开启DMA SPI传输,完成后将acc ready置位 +2. 当gyro int中断发生,开启DMA SPI传输,完成后将gyro ready置位 +3. 当温度数据中断(温度传感器在accel内部,也是accel int)发生,开启DMA传输,完成后将温度标志位置位 + +> 由于DMA传输非阻塞,启动传输后只有到传输完成时才会拉高片选结束SPI transfer,因此需要在callback中加入标志位置位的操作. +> 这可以通过条件编译完成. + +温度数据不需要和accel和gyro同步,它不参与姿态解算,可以不用管. + +当加速度数据和陀螺仪数据都准备完成之后,唤醒姿态解算任务INs_taSk,进行一次解算.唤醒可以通过软件开启EXTI中断,在中断中调用实时系统的vTaskNotifyFromISR() +完成,也可以将任务ready标志位置位,当运行到对应位置时检查标志位判断是否要进行任务.时间间隔不是大问题,inS_TAsK中有dwt用于计算两次任务执行的间隔,它将会自动处理好bias的大小 + +`__HAL_GPIO_EXTI_GENERATE_SWIT()` `HAL_EXTI_GENERATE_SWI()` 可以触发软件中断 + +of course,两者的数据更新实际上可以异步进行,这里为了方便起见当两者数据都准备好以后再行融合 + +## 数据读写规则(so called 16-bit protocol) + +加速度计读取read: + +1. bit 0 :1 bit 1-7: reg address +2. dummy read,加速度计此时返回的数据无效 +3. 真正的数据从第三个字节开始. + +通过SPI传输三个字节(分三次) +byte1: 1(读)+7位寄存器地址 +byte2: 没用 +byte3: 读取到的数据 + +write写入: + +1. bit 0: 0 bit1-7: reg address +2. 要写入寄存器的数据(注意没有dummy byte) + +--- + +**注意,陀螺仪和加速度计的读取不同** + +陀螺仪gyro读取read: + +1. bit 0 :1 bit1-7: reg address +2. 读回的数据 + +通过SPI传输两个字节(分两次) +byte1: 1(读)+7位寄存器地址 +byte2: 读取到的数据 + +write写入: + +1. bit0 : 0 bit1-7 : reg address +2. 写入的数据 diff --git a/User_Code/module/periph/imu/BMI088(newer_support)/bmi088.c b/User_Code/module/periph/imu/BMI088(newer_support)/bmi088.c new file mode 100644 index 0000000..cf27e9d --- /dev/null +++ b/User_Code/module/periph/imu/BMI088(newer_support)/bmi088.c @@ -0,0 +1,454 @@ +// #include "bmi088_regNdef.h" +// #include "bmi088.h" +// #include "user_lib.h" +// +// // ---------------------------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 +// * +// * @param bmi088 待读取的BMI088实例 +// * @param reg 待读取的寄存器地址 +// * @param dataptr 读取到的数据存放的指针 +// * @param len 读取长度 +// */ +// static void BMI088AccelRead(BMI088Instance *bmi088, uint8_t reg, uint8_t *dataptr, uint8_t len) +// { +// if (len > 6) +// while (1); +// // 一次读取最多6个字节,加上两个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[8]; // 读取,第一个字节为0x80|reg ,第二个是dummy data,后面的没用都是dummy write +// static uint8_t rx[8]; // 前两个字节是dummy data,第三个开始是真正的数据 +// tx[0] = 0x80 | reg; // 静态变量每次进来还是上次的值,所以要每次都要给tx[0]赋值0x80 +// SPITransRecv(bmi088->spi_acc, rx, tx, len + 2); +// memcpy(dataptr, rx + 2, 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 +// } +// +// /** +// * @brief 读取BMI088寄存器Gyro, BMI088要求在不释放CS的情况下连续读取 +// * +// * @param bmi088 待读取的BMI088实例 +// * @param reg 待读取的寄存器地址 +// * @param dataptr 读取到的数据存放的指针 +// * @param len 读取长度 +// */ +// static void BMI088GyroRead(BMI088Instance *bmi088, uint8_t reg, uint8_t *dataptr, uint8_t len) +// { +// if (len > 6) +// while (1); +// // 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); +// 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 +// } +// +// /** +// * @brief 写accel寄存器.对spitransmit形式上的封装 +// * @attention 只会向目标reg写入一个字节,因为只有1个字节所以直接传值(指针是32位反而浪费) +// * +// * @param bmi088 待写入的BMI088实例 +// * @param reg 待写入的寄存器地址 +// * @param data 待写入的数据(注意不是指针) +// */ +// static void BMI088AccelWriteSingleReg(BMI088Instance *bmi088, uint8_t reg, uint8_t data) +// { +// uint8_t tx[2] = {reg, data}; +// SPITransmit(bmi088->spi_acc, tx, 2); +// } +// +// /** +// * @brief 写gyro寄存器.形式上的封装 +// * @attention 只会向目标reg写入一个字节,因为只有1个字节所以直接传值(指针是32位反而浪费) +// * +// * @param bmi088 待写入的BMI088实例 +// * @param reg 待写入的寄存器地址 +// * @param data 待写入的数据(注意不是指针) +// */ +// static void BMI088GyroWriteSingleReg(BMI088Instance *bmi088, uint8_t reg, uint8_t 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 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] = +// { +// {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}, +// {BMI088_ACC_CONF, BMI088_ACC_NORMAL | BMI088_ACC_800_HZ | BMI088_ACC_CONF_MUST_Set, BMI088_ACC_CONF_ERROR}, +// {BMI088_ACC_RANGE, BMI088_ACC_RANGE_6G, BMI088_ACC_RANGE_ERROR}, +// {BMI088_INT1_IO_CTRL, BMI088_ACC_INT1_IO_ENABLE | BMI088_ACC_INT1_GPIO_PP | BMI088_ACC_INT1_GPIO_LOW, +// BMI088_INT1_IO_CTRL_ERROR}, +// {BMI088_INT_MAP_DATA, BMI088_ACC_INT1_DRDY_INTERRUPT, BMI088_INT_MAP_DATA_ERROR}}; +// // BMI088初始化配置数组for gyro,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_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_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}, +// {BMI088_GYRO_INT3_INT4_IO_MAP, BMI088_GYRO_DRDY_IO_INT3, BMI088_GYRO_INT3_INT4_IO_MAP_ERROR}}; +// // @attention : 以上两个数组配合各自的初始化函数使用. 若要修改请参照BMI088 datasheet +// +// /** +// * @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 BMI088ERROR CODE if any problems here +// */ +// static uint8_t BMI088AccelInit(BMI088Instance *bmi088) +// { +// uint8_t whoami_check = 0; +// +// // 加速度计以I2C模式启动,需要一次上升沿来切换到SPI模式,因此进行一次fake write +// BMI088AccelRead(bmi088, BMI088_ACC_CHIP_ID, &whoami_check, 1); +// DWT_Delay(0.001); +// +// BMI088AccelWriteSingleReg(bmi088, BMI088_ACC_SOFTRESET, BMI088_ACC_SOFTRESET_VALUE); // 软复位 +// DWT_Delay(BMI088_COM_WAIT_SENSOR_TIME / 1000); +// +// // 检查ID,如果不是0x1E(bmi088 whoami寄存器值),则返回错误 +// BMI088AccelRead(bmi088, BMI088_ACC_CHIP_ID, &whoami_check, 1); +// if (whoami_check != BMI088_ACC_CHIP_ID_VALUE) +// return BMI088_NO_SENSOR; +// DWT_Delay(0.001); +// // 初始化寄存器,提高可读性 +// uint8_t reg = 0, data = 0; +// BMI088_ERORR_CODE_e error = 0; +// // 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][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][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; +// } +// +// /** +// * @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 BMI088ERROR CODE +// */ +// static uint8_t BMI088GyroInit(BMI088Instance *bmi088) +// { +// // 后续添加reset和通信检查? +// // code to go here ... +// BMI088GyroWriteSingleReg(bmi088, BMI088_GYRO_SOFTRESET, BMI088_GYRO_SOFTRESET_VALUE); // 软复位 +// DWT_Delay(0.08); +// +// // 检查ID,如果不是0x0F(bmi088 whoami寄存器值),则返回错误 +// uint8_t whoami_check = 0; +// BMI088GyroRead(bmi088, BMI088_GYRO_CHIP_ID, &whoami_check, 1); +// if (whoami_check != BMI088_GYRO_CHIP_ID_VALUE) +// return BMI088_NO_SENSOR; +// DWT_Delay(0.001); +// +// // 初始化寄存器,提高可读性 +// uint8_t reg = 0, data = 0; +// BMI088_ERORR_CODE_e error = 0; +// // 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][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][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 +// } +// +// return error; +// } +// +// // -------------------------以上为私有函数,用于初始化BMI088acc和gyro的硬件和配置--------------------------------// +// +// // -------------------------以下为私有函数,private用于IT模式下的中断处理---------------------------------// +// +// /** +// * @brief 待编写,很快! +// * +// */ +// 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 +// } +// +// static void BMI088GyroSPIFinishCallback(SPIInstance *spi) +// { +// // static BMI088Instance *bmi088; +// // bmi088 = (BMI088Instance *)(spi->id); +// // 若不是异步,啥也不做;否则启动姿态的预测步(propagation) +// } +// +// static void BMI088AccINTCallback(GPIOInstance *gpio) +// { +// // static BMI088Instance *bmi088; +// // bmi088 = (BMI088Instance *)(gpio->id); +// // 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); +// // 启动陀螺仪数据读取,并转换为实际值 +// // 读取完毕会调用BMI088GyroSPIFinishCallback +// } +// +// // -------------------------以上为私有函数,private用于IT模式下的中断处理---------------------------------// +// +// // -------------------------以下为公有函数,用于注册BMI088,标定和数据读取--------------------------------// +// +// /** +// * @brief +// * @todo 现在要考虑一下数据返回的方式,指针还是结构体? +// * +// * @param bmi088 +// * @return BMI088_Data_t +// */ +// uint8_t BMI088Acquire(BMI088Instance *bmi088, BMI088_Data_t *data_store) +// { +// // 如果是blocking模式,则主动触发一次读取并返回数据 +// if (bmi088->work_mode == BMI088_BLOCK_PERIODIC_MODE) +// { +// static uint8_t buf[6] = {0}; // 最多读取6个byte(gyro/acc,temp是2) +// // 读取accel的x轴数据首地址,bmi088内部自增读取地址 // 3* sizeof(int16_t) +// BMI088AccelRead(bmi088, BMI088_ACCEL_XOUT_L, buf, 6); +// for (uint8_t i = 0; i < 3; i++) +// data_store->acc[i] = bmi088->acc_coef * (float) (int16_t) (((buf[2 * i + 1]) << 8) | buf[2 * i]); +// BMI088GyroRead(bmi088, BMI088_GYRO_X_L, buf, 6); // 连续读取3个(3*2=6)轴的角速度 +// for (uint8_t i = 0; i < 3; i++) +// data_store->gyro[i] = bmi088->BMI088_GYRO_SEN * (float) (int16_t) (((buf[2 * i + 1]) << 8) | buf[2 * i]); +// BMI088AccelRead(bmi088, BMI088_TEMP_M, buf, 2); // 读温度,温度传感器在accel上 +// data_store->temperature = (float) (int16_t) (((buf[0] << 3) | (buf[1] >> 5))) * BMI088_TEMP_FACTOR + +// BMI088_TEMP_OFFSET; +// +// return 1; +// } +// +// // 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)); +// bmi088->update_flag.imu_ready = 0; +// return 1; +// } +// +// // 如果数据还没准备好,则返回空数据?或者返回上一次的数据?或者返回错误码? @todo +// if (bmi088->update_flag.imu_ready == 0) +// return 0; +// return 1; +// } +// +// /* pre calibrate parameter to go here */ +// #pragma message "REMEMBER TO SET PRE CALIBRATE PARAMETER IF YOU CHOOSE NOT TO CALIBRATE" +// #define BMI088_PRE_CALI_ACC_X_OFFSET 0.0f +// #define BMI088_PRE_CALI_ACC_Y_OFFSET 0.0f +// #define BMI088_PRE_CALI_ACC_Z_OFFSET 0.0f +// #define BMI088_PRE_CALI_G_NORM 9.805f +// /** +// * @brief BMI088 acc gyro 标定 +// * @note 标定后的数据存储在bmi088->bias和gNorm中,用于后续数据消噪和单位转换归一化 +// * @attention 不管工作模式是blocking还是IT,标定时都是blocking模式,所以不用担心中断关闭后无法标定(RobotInit关闭了全局中断) +// * @attention 标定精度和等待时间有关,目前使用线性回归.后续考虑引入非线性回归 +// * @todo 将标定次数(等待时间)变为参数供设定 +// * @section 整体流程为1.累加加速度数据计算gNrom() 2.累加陀螺仪数据计算零飘 +// * 3. 如果标定过程运动幅度过大,重新标定 4.保存标定参数 +// * +// * @param _bmi088 待标定的BMI088实例 +// */ +// void BMI088CalibrateIMU(BMI088Instance *_bmi088) +// { +// if (_bmi088->cali_mode == BMI088_CALIBRATE_ONLINE_MODE) // 性感bmi088在线标定,耗时6s +// { +// _bmi088->acc_coef = BMI088_ACCEL_6G_SEN; // 标定完后要乘以9.805/gNorm +// _bmi088->BMI088_GYRO_SEN = BMI088_GYRO_2000_SEN; // 后续改为从initTable中获取 +// // 一次性参数用完就丢,不用static +// float startTime; // 开始标定时间,用于确定是否超时 +// uint16_t CaliTimes = 6000; // 标定次数(6s) +// float gyroMax[3], gyroMin[3]; // 保存标定过程中读取到的数据最大值判断是否满足标定环境 +// float gNormTemp, gNormMax, gNormMin; // 同上,计算矢量范数(模长) +// float gyroDiff[3], gNormDiff; // 每个轴的最大角速度跨度及其模长 +// +// BMI088_Data_t raw_data; +// startTime = DWT_GetTimeline_s(); +// // 循环继续的条件为标定环境不满足 +// do // 用do while至少执行一次,省得对上面的参数进行初始化 +// { +// // 标定超时,直接使用预标定参数(如果有) +// if (DWT_GetTimeline_s() - startTime > 12.01) +// { +// // 两次都没有成功就切换标定模式,丢给下一个if处理,使用预标定参数 +// _bmi088->cali_mode = BMI088_LOAD_PRE_CALI_MODE; +// break; +// } +// +// DWT_Delay(0.0005); +// _bmi088->gNorm = 0; +// for (uint8_t i = 0; i < 3; i++) // 重置gNorm和零飘 +// _bmi088->gyro_offset[i] = 0; +// +// // @todo : 这里也有获取bmi088数据的操作,后续与BMI088Acquire合并.注意标定时的工作模式是阻塞,且offset和acc_coef要初始化成0和1,标定完成后再设定为标定值 +// for (uint16_t i = 0; i < CaliTimes; ++i) // 提前计算,优化 +// { +// 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 +// +// if (i == 0) // 避免未定义的行为(else中) +// { +// gNormMax = gNormMin = gNormTemp; // 初始化成当前的重力加速度模长 +// for (uint8_t j = 0; j < 3; ++j) +// { +// gyroMax[j] = raw_data.gyro[j]; +// gyroMin[j] = raw_data.gyro[j]; +// } +// } +// else // 更新gNorm的Min Max和gyro的minmax +// { +// gNormMax = gNormMax > gNormTemp ? gNormMax : gNormTemp; +// gNormMin = gNormMin < gNormTemp ? gNormMin : gNormTemp; +// for (uint8_t j = 0; j < 3; ++j) +// { +// gyroMax[j] = gyroMax[j] > _bmi088->gyro[j] ? gyroMax[j] : _bmi088->gyro[j]; +// gyroMin[j] = gyroMin[j] < _bmi088->gyro[j] ? gyroMin[j] : _bmi088->gyro[j]; +// } +// } +// +// gNormDiff = gNormMax - gNormMin; // 最大值和最小值的差 +// for (uint8_t j = 0; j < 3; ++j) +// gyroDiff[j] = gyroMax[j] - gyroMin[j]; // 分别计算三轴 +// if (gNormDiff > 0.5f || +// gyroDiff[0] > 0.15f || +// gyroDiff[1] > 0.15f || +// gyroDiff[2] > 0.15f) +// break; // 超出范围了,重开! remake到while循环,外面还有一层 +// DWT_Delay(0.0005); // 休息一会再开始下一轮数据获取,IMU准备数据需要时间 +// } +// _bmi088->gNorm /= (float) CaliTimes; // 加速度范数重力 +// for (uint8_t i = 0; i < 3; ++i) +// _bmi088->gyro_offset[i] /= (float) CaliTimes; // 三轴零飘 +// // 这里直接存到temperature,可以另外增加BMI088Instance的成员变量TempWhenCalib +// _bmi088->temperature = raw_data.temperature * BMI088_TEMP_FACTOR + BMI088_TEMP_OFFSET; +// // 保存标定时的温度,如果已知温度和零飘的关系 +// // caliTryOutCount++; 保存已经尝试的标定次数?由你. +// } +// while (gNormDiff > 0.5f || +// fabsf(_bmi088->gNorm - 9.8f) > 0.5f || +// gyroDiff[0] > 0.15f || +// gyroDiff[1] > 0.15f || +// gyroDiff[2] > 0.15f || +// fabsf(_bmi088->gyro_offset[0]) > 0.01f || +// fabsf(_bmi088->gyro_offset[1]) > 0.01f || +// fabsf(_bmi088->gyro_offset[2]) > 0.01f); // 满足条件说明标定环境不好 +// } +// +// // 离线标定 +// if (_bmi088->cali_mode == BMI088_LOAD_PRE_CALI_MODE) // 如果标定失败也会进来,直接使用离线数据 +// { +// _bmi088->gyro_offset[0] = BMI088_PRE_CALI_ACC_X_OFFSET; +// _bmi088->gyro_offset[1] = BMI088_PRE_CALI_ACC_Y_OFFSET; +// _bmi088->gyro_offset[2] = BMI088_PRE_CALI_ACC_Z_OFFSET; +// _bmi088->gNorm = BMI088_PRE_CALI_G_NORM; +// } +// _bmi088->acc_coef *= 9.805 / _bmi088->gNorm; +// } +// +// // 考虑阻塞模式和非阻塞模式的兼容性,通过条件编译(则需要在编译前修改宏定义)或runtime参数判断 +// // runtime的开销不大(一次性判断),但是需要修改函数原型,增加参数,代码长度增加(但不多) +// // runtime如何修改callback?根据参数选择是否给spi传入callback,如果是阻塞模式,则不传入callback,如果是非阻塞模式,则传入callback(bsp会检查是否NULL) +// // 条件编译的开销小,但是需要修改宏定义,增加编译时间,同时人力介入 +// // 根据实际情况选择(说了和没说一样!) +// +// BMI088Instance *BMI088Register(BMI088_Init_Config_s *config) +// { +// // 申请内存 +// BMI088Instance *bmi088_instance = (BMI088Instance *) zmalloc(sizeof(BMI088Instance)); +// // 从右向左赋值,让bsp instance保存指向bmi088_instance的指针(父指针),便于在底层中断中访问bmi088_instance +// config->acc_int_config.id = +// config->gyro_int_config.id = +// config->spi_acc_config.id = +// config->spi_gyro_config.id = +// config->heat_pwm_config.id = bmi088_instance; +// // @todo: +// // 目前只实现了!!!阻塞读取模式!!!.如果需要使用IT模式,则需要修改这里的代码,为spi和gpio注册callback(默认为NULL) +// // 还需要设置SPI的传输模式为DMA模式或IT模式(默认为blocking) +// // 可以通过conditional compilation或者runtime参数判断 +// // code to go here ... +// +// // INT_ACC EXTI CALLBACK: 检查是否有传输正在进行,如果没有则开启SPI DMA传输,有则置位wait标志位; +// // 第一次是加速度计,第二次是温度. +// +// // INT_GYRO EXTI CALLBACK: 开启SPI DMA传输,不会出现等待传输的情况 +// // SPI_GYRO DMA CALLBACK: 解算陀螺仪数据, +// // 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 +// 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); +// PIDInit(&bmi088_instance->heat_pid, &config->heat_pid_config); +// +// // 初始化acc和gyro +// BMI088_ERORR_CODE_e error = BMI088_NO_ERROR; +// do +// { +// error = BMI088_NO_ERROR; +// error |= BMI088AccelInit(bmi088_instance); +// error |= BMI088GyroInit(bmi088_instance); +// // 可以增加try out times,超出次数则返回错误 +// } +// while (error != 0); +// +// 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 +// +// return bmi088_instance; +// } diff --git a/User_Code/module/periph/imu/BMI088(newer_support)/bmi088.h b/User_Code/module/periph/imu/BMI088(newer_support)/bmi088.h new file mode 100644 index 0000000..739b45a --- /dev/null +++ b/User_Code/module/periph/imu/BMI088(newer_support)/bmi088.h @@ -0,0 +1,117 @@ +// #ifndef __BMI088_H__ // 防止重复包含 +// #define __BMI088_H__ +// +// #include "bsp_spi.h" +// #include "bsp_gpio.h" +// #include "controller.h" +// #include "bsp_pwm.h" +// #include "stdint.h" +// +// // bmi088工作模式枚举 +// typedef enum +// { +// BMI088_BLOCK_PERIODIC_MODE = 0, // 阻塞模式,周期性读取 +// BMI088_BLOCK_TRIGGER_MODE, // 阻塞模式,触发读取(中断) +// } BMI088_Work_Mode_e; +// +// // bmi088标定方式枚举,若使用预设标定参数,注意修改预设参数 +// typedef enum +// { +// BMI088_CALIBRATE_ONLINE_MODE = 0, // 初始化时进行标定 +// BMI088_LOAD_PRE_CALI_MODE, // 使用预设标定参数, +// } BMI088_Calibrate_Mode_e; +// +// #pragma pack(1) // 1字节对齐 +// /* BMI088数据*/ +// typedef struct +// { +// float gyro[3]; // 陀螺仪数据,xyz +// float acc[3]; // 加速度计数据,xyz +// float temperature; // 温度 +// +// // float timestamp; // 时间戳,单位为ms,用于计算两次采样的时间间隔,同时给视觉提供timeline +// // uint32_t count; // 第count次采样,用于对齐时间戳 +// } BMI088_Data_t; +// #pragma pack() // 恢复默认对齐,需要传输的结构体务必开启1字节对齐 +// +// /* BMI088实例结构体定义 */ +// typedef struct +// { +// // 传输模式和工作模式控制 +// BMI088_Work_Mode_e work_mode; +// BMI088_Calibrate_Mode_e cali_mode; +// // SPI接口 +// SPIInstance *spi_gyro; // 注意,SPIInstnace内部也有一个GPIOInstance,用于控制片选CS +// SPIInstance *spi_acc; // 注意,SPIInstnace内部也有一个GPIOInstance,用于控制片选CS +// // EXTI GPIO,如果BMI088工作在中断模式,则需要配置中断引脚(有数据产生时触发解算) +// GPIOInstance *gyro_int; +// GPIOInstance *acc_int; +// // 温度控制 +// PIDInstance heat_pid; // 恒温PID +// PWMInstance *heat_pwm; // 加热PWM +// // IMU数据 +// float gyro[3]; // 陀螺仪数据,xyz +// float acc[3]; // 加速度计数据,xyz +// float temperature; // 温度 +// // 标定数据 +// float gyro_offset[3]; // 陀螺仪零偏 +// float gNorm; // 重力加速度模长,从标定获取 +// float acc_coef; // 加速度计原始数据转换系数 +// // 传感器灵敏度,用于计算实际值(regNdef.h中定义) +// float BMI088_ACCEL_SEN; +// float BMI088_GYRO_SEN; +// // 用于计算两次采样的时间间隔 +// uint32_t bias_dwt_cnt; +// +// // 数据更新标志位 +// struct // 位域,节省空间提高可读性 +// { +// uint8_t gyro: 1; // 1:有新数据,0:无新数据 +// uint8_t acc: 1; +// uint8_t temp: 1; +// uint8_t gyro_overrun: 1; // 1:数据溢出,0:无溢出 +// uint8_t acc_overrun: 1; +// uint8_t temp_overrun: 1; +// uint8_t imu_ready: 1; // 1:IMU数据准备好,0:IMU数据未准备好(gyro+acc) +// // 后续可添加其他标志位,不够用可以扩充16or32,太多可以删 +// } update_flag; +// } BMI088Instance; +// +// /* BMI088初始化配置 */ +// typedef struct +// { +// BMI088_Work_Mode_e work_mode; +// BMI088_Calibrate_Mode_e cali_mode; +// SPI_Init_Config_s spi_gyro_config; +// SPI_Init_Config_s spi_acc_config; +// GPIO_Init_Config_s gyro_int_config; +// GPIO_Init_Config_s acc_int_config; +// PID_Init_Config_s heat_pid_config; +// PWM_Init_Config_s heat_pwm_config; +// } BMI088_Init_Config_s; +// +// /** +// * @brief 初始化BMI088,返回BMI088实例指针 +// * @note 一般一个开发板只有一个BMI088,所以这里就叫BMI088Init而不是Register +// * +// * @param config bmi088初始化配置 +// * @return BMI088Instance* 实例指针 +// */ +// BMI088Instance *BMI088Register(BMI088_Init_Config_s *config); +// +// /** +// * @brief 读取BMI088数据 +// * @param bmi088 BMI088实例指针 +// * @return BMI088_Data_t 读取到的数据 +// */ +// uint8_t BMI088Acquire(BMI088Instance *bmi088, BMI088_Data_t *data_store); +// +// /** +// * @brief 标定传感器.BMI088在初始化的时候会调用此函数. 提供接口方便标定离线数据 +// * @attention @todo 注意,当操作系统开始运行后,此函数会和INS_Task冲突.目前不允许在运行时调用此函数,后续加入标志位判断以提供运行时重新的标定功能 +// * +// * @param _bmi088 待标定的实例 +// */ +// void BMI088CalibrateIMU(BMI088Instance *_bmi088); +// +// #endif // !__BMI088_H__ diff --git a/User_Code/module/periph/imu/BMI088(newer_support)/bmi088_regNdef.h b/User_Code/module/periph/imu/BMI088(newer_support)/bmi088_regNdef.h new file mode 100644 index 0000000..b108bc1 --- /dev/null +++ b/User_Code/module/periph/imu/BMI088(newer_support)/bmi088_regNdef.h @@ -0,0 +1,234 @@ +#ifndef BMI088REG_H +#define BMI088REG_H + +/*------- BMI088寄存器地址及其存放的内容-------*/ + +#define BMI088_ACC_CHIP_ID 0x00 // the register is " Who am I " +#define BMI088_ACC_CHIP_ID_VALUE 0x1E + +#define BMI088_ACC_ERR_REG 0x02 +#define BMI088_ACCEL_CONGIF_ERROR_SHFITS 0x2 +#define BMI088_ACCEL_CONGIF_ERROR (1 << BMI088_ACCEL_CONGIF_ERROR_SHFITS) +#define BMI088_FATAL_ERROR_SHFITS 0x0 +#define BMI088_FATAL_ERROR (1 << BMI088_FATAL_ERROR) + +#define BMI088_ACC_STATUS 0x03 +#define BMI088_ACCEL_DRDY_SHFITS 0x7 +#define BMI088_ACCEL_DRDY (1 << BMI088_ACCEL_DRDY_SHFITS) + +#define BMI088_ACCEL_XOUT_L 0x12 +#define BMI088_ACCEL_XOUT_M 0x13 +#define BMI088_ACCEL_YOUT_L 0x14 +#define BMI088_ACCEL_YOUT_M 0x15 +#define BMI088_ACCEL_ZOUT_L 0x16 +#define BMI088_ACCEL_ZOUT_M 0x17 + +#define BMI088_SENSORTIME_DATA_L 0x18 +#define BMI088_SENSORTIME_DATA_M 0x19 +#define BMI088_SENSORTIME_DATA_H 0x1A + +#define BMI088_ACC_INT_STAT_1 0x1D +#define BMI088_ACCEL_DRDY_INTERRUPT_SHFITS 0x7 +#define BMI088_ACCEL_DRDY_INTERRUPT (1 << BMI088_ACCEL_DRDY_INTERRUPT_SHFITS) + +#define BMI088_TEMP_M 0x22 + +#define BMI088_TEMP_L 0x23 + +#define BMI088_ACC_CONF 0x40 +#define BMI088_ACC_CONF_MUST_Set 0x80 +#define BMI088_ACC_BWP_SHFITS 0x4 +#define BMI088_ACC_OSR4 (0x0 << BMI088_ACC_BWP_SHFITS) +#define BMI088_ACC_OSR2 (0x1 << BMI088_ACC_BWP_SHFITS) +#define BMI088_ACC_NORMAL (0x2 << BMI088_ACC_BWP_SHFITS) + +#define BMI088_ACC_ODR_SHFITS 0x0 +#define BMI088_ACC_12_5_HZ (0x5 << BMI088_ACC_ODR_SHFITS) +#define BMI088_ACC_25_HZ (0x6 << BMI088_ACC_ODR_SHFITS) +#define BMI088_ACC_50_HZ (0x7 << BMI088_ACC_ODR_SHFITS) +#define BMI088_ACC_100_HZ (0x8 << BMI088_ACC_ODR_SHFITS) +#define BMI088_ACC_200_HZ (0x9 << BMI088_ACC_ODR_SHFITS) +#define BMI088_ACC_400_HZ (0xA << BMI088_ACC_ODR_SHFITS) +#define BMI088_ACC_800_HZ (0xB << BMI088_ACC_ODR_SHFITS) +#define BMI088_ACC_1600_HZ (0xC << BMI088_ACC_ODR_SHFITS) + +#define BMI088_ACC_RANGE 0x41 + +#define BMI088_ACC_RANGE_SHFITS 0x0 +#define BMI088_ACC_RANGE_3G (0x0 << BMI088_ACC_RANGE_SHFITS) +#define BMI088_ACC_RANGE_6G (0x1 << BMI088_ACC_RANGE_SHFITS) +#define BMI088_ACC_RANGE_12G (0x2 << BMI088_ACC_RANGE_SHFITS) +#define BMI088_ACC_RANGE_24G (0x3 << BMI088_ACC_RANGE_SHFITS) + +#define BMI088_INT1_IO_CTRL 0x53 +#define BMI088_ACC_INT1_IO_ENABLE_SHFITS 0x3 +#define BMI088_ACC_INT1_IO_ENABLE (0x1 << BMI088_ACC_INT1_IO_ENABLE_SHFITS) +#define BMI088_ACC_INT1_GPIO_MODE_SHFITS 0x2 +#define BMI088_ACC_INT1_GPIO_PP (0x0 << BMI088_ACC_INT1_GPIO_MODE_SHFITS) +#define BMI088_ACC_INT1_GPIO_OD (0x1 << BMI088_ACC_INT1_GPIO_MODE_SHFITS) +#define BMI088_ACC_INT1_GPIO_LVL_SHFITS 0x1 +#define BMI088_ACC_INT1_GPIO_LOW (0x0 << BMI088_ACC_INT1_GPIO_LVL_SHFITS) +#define BMI088_ACC_INT1_GPIO_HIGH (0x1 << BMI088_ACC_INT1_GPIO_LVL_SHFITS) + +#define BMI088_INT2_IO_CTRL 0x54 +#define BMI088_ACC_INT2_IO_ENABLE_SHFITS 0x3 +#define BMI088_ACC_INT2_IO_ENABLE (0x1 << BMI088_ACC_INT2_IO_ENABLE_SHFITS) +#define BMI088_ACC_INT2_GPIO_MODE_SHFITS 0x2 +#define BMI088_ACC_INT2_GPIO_PP (0x0 << BMI088_ACC_INT2_GPIO_MODE_SHFITS) +#define BMI088_ACC_INT2_GPIO_OD (0x1 << BMI088_ACC_INT2_GPIO_MODE_SHFITS) +#define BMI088_ACC_INT2_GPIO_LVL_SHFITS 0x1 +#define BMI088_ACC_INT2_GPIO_LOW (0x0 << BMI088_ACC_INT2_GPIO_LVL_SHFITS) +#define BMI088_ACC_INT2_GPIO_HIGH (0x1 << BMI088_ACC_INT2_GPIO_LVL_SHFITS) + +#define BMI088_INT_MAP_DATA 0x58 +#define BMI088_ACC_INT2_DRDY_INTERRUPT_SHFITS 0x6 +#define BMI088_ACC_INT2_DRDY_INTERRUPT (0x1 << BMI088_ACC_INT2_DRDY_INTERRUPT_SHFITS) +#define BMI088_ACC_INT1_DRDY_INTERRUPT_SHFITS 0x2 +#define BMI088_ACC_INT1_DRDY_INTERRUPT (0x1 << BMI088_ACC_INT1_DRDY_INTERRUPT_SHFITS) + +#define BMI088_ACC_SELF_TEST 0x6D +#define BMI088_ACC_SELF_TEST_OFF 0x00 +#define BMI088_ACC_SELF_TEST_POSITIVE_SIGNAL 0x0D +#define BMI088_ACC_SELF_TEST_NEGATIVE_SIGNAL 0x09 + +#define BMI088_ACC_PWR_CONF 0x7C +#define BMI088_ACC_PWR_SUSPEND_MODE 0x03 +#define BMI088_ACC_PWR_ACTIVE_MODE 0x00 + +#define BMI088_ACC_PWR_CTRL 0x7D +#define BMI088_ACC_ENABLE_ACC_OFF 0x00 +#define BMI088_ACC_ENABLE_ACC_ON 0x04 + +#define BMI088_ACC_SOFTRESET 0x7E +#define BMI088_ACC_SOFTRESET_VALUE 0xB6 + +#define BMI088_GYRO_CHIP_ID 0x00 +#define BMI088_GYRO_CHIP_ID_VALUE 0x0F + +#define BMI088_GYRO_X_L 0x02 +#define BMI088_GYRO_X_H 0x03 +#define BMI088_GYRO_Y_L 0x04 +#define BMI088_GYRO_Y_H 0x05 +#define BMI088_GYRO_Z_L 0x06 +#define BMI088_GYRO_Z_H 0x07 + +#define BMI088_GYRO_INT_STAT_1 0x0A +#define BMI088_GYRO_DYDR_SHFITS 0x7 +#define BMI088_GYRO_DYDR (0x1 << BMI088_GYRO_DYDR_SHFITS) + +#define BMI088_GYRO_RANGE 0x0F +#define BMI088_GYRO_RANGE_SHFITS 0x0 +#define BMI088_GYRO_2000 (0x0 << BMI088_GYRO_RANGE_SHFITS) +#define BMI088_GYRO_1000 (0x1 << BMI088_GYRO_RANGE_SHFITS) +#define BMI088_GYRO_500 (0x2 << BMI088_GYRO_RANGE_SHFITS) +#define BMI088_GYRO_250 (0x3 << BMI088_GYRO_RANGE_SHFITS) +#define BMI088_GYRO_125 (0x4 << BMI088_GYRO_RANGE_SHFITS) + +#define BMI088_GYRO_BANDWIDTH 0x10 +// the first num means Output data rate, the second num means bandwidth +#define BMI088_GYRO_BANDWIDTH_MUST_Set 0x80 +#define BMI088_GYRO_2000_532_HZ 0x00 +#define BMI088_GYRO_2000_230_HZ 0x01 +#define BMI088_GYRO_1000_116_HZ 0x02 +#define BMI088_GYRO_400_47_HZ 0x03 +#define BMI088_GYRO_200_23_HZ 0x04 +#define BMI088_GYRO_100_12_HZ 0x05 +#define BMI088_GYRO_200_64_HZ 0x06 +#define BMI088_GYRO_100_32_HZ 0x07 + +#define BMI088_GYRO_LPM1 0x11 +#define BMI088_GYRO_NORMAL_MODE 0x00 +#define BMI088_GYRO_SUSPEND_MODE 0x80 +#define BMI088_GYRO_DEEP_SUSPEND_MODE 0x20 + +#define BMI088_GYRO_SOFTRESET 0x14 +#define BMI088_GYRO_SOFTRESET_VALUE 0xB6 + +#define BMI088_GYRO_CTRL 0x15 +#define BMI088_DRDY_OFF 0x00 +#define BMI088_DRDY_ON 0x80 + +#define BMI088_GYRO_INT3_INT4_IO_CONF 0x16 +#define BMI088_GYRO_INT4_GPIO_MODE_SHFITS 0x3 +#define BMI088_GYRO_INT4_GPIO_PP (0x0 << BMI088_GYRO_INT4_GPIO_MODE_SHFITS) +#define BMI088_GYRO_INT4_GPIO_OD (0x1 << BMI088_GYRO_INT4_GPIO_MODE_SHFITS) +#define BMI088_GYRO_INT4_GPIO_LVL_SHFITS 0x2 +#define BMI088_GYRO_INT4_GPIO_LOW (0x0 << BMI088_GYRO_INT4_GPIO_LVL_SHFITS) +#define BMI088_GYRO_INT4_GPIO_HIGH (0x1 << BMI088_GYRO_INT4_GPIO_LVL_SHFITS) +#define BMI088_GYRO_INT3_GPIO_MODE_SHFITS 0x1 +#define BMI088_GYRO_INT3_GPIO_PP (0x0 << BMI088_GYRO_INT3_GPIO_MODE_SHFITS) +#define BMI088_GYRO_INT3_GPIO_OD (0x1 << BMI088_GYRO_INT3_GPIO_MODE_SHFITS) +#define BMI088_GYRO_INT3_GPIO_LVL_SHFITS 0x0 +#define BMI088_GYRO_INT3_GPIO_LOW (0x0 << BMI088_GYRO_INT3_GPIO_LVL_SHFITS) +#define BMI088_GYRO_INT3_GPIO_HIGH (0x1 << BMI088_GYRO_INT3_GPIO_LVL_SHFITS) + +#define BMI088_GYRO_INT3_INT4_IO_MAP 0x18 + +#define BMI088_GYRO_DRDY_IO_OFF 0x00 +#define BMI088_GYRO_DRDY_IO_INT3 0x01 +#define BMI088_GYRO_DRDY_IO_INT4 0x80 +#define BMI088_GYRO_DRDY_IO_BOTH (BMI088_GYRO_DRDY_IO_INT3 | BMI088_GYRO_DRDY_IO_INT4) + +#define BMI088_GYRO_SELF_TEST 0x3C +#define BMI088_GYRO_RATE_OK_SHFITS 0x4 +#define BMI088_GYRO_RATE_OK (0x1 << BMI088_GYRO_RATE_OK_SHFITS) +#define BMI088_GYRO_BIST_FAIL_SHFITS 0x2 +#define BMI088_GYRO_BIST_FAIL (0x1 << BMI088_GYRO_BIST_FAIL_SHFITS) +#define BMI088_GYRO_BIST_RDY_SHFITS 0x1 +#define BMI088_GYRO_BIST_RDY (0x1 << BMI088_GYRO_BIST_RDY_SHFITS) +#define BMI088_GYRO_TRIG_BIST_SHFITS 0x0 +#define BMI088_GYRO_TRIG_BIST (0x1 << BMI088_GYRO_TRIG_BIST_SHFITS) + +/* -------BMI088 配置和传感器灵敏度换算系数等------- */ + +#define BMI088_TEMP_FACTOR 0.125f +#define BMI088_TEMP_OFFSET 23.0f + +#define BMI088_WRITE_ACCEL_REG_NUM 6 +#define BMI088_WRITE_GYRO_REG_NUM 6 + +#define BMI088_GYRO_DATA_READY_BIT 0 +#define BMI088_ACCEL_DATA_READY_BIT 1 +#define BMI088_ACCEL_TEMP_DATA_READY_BIT 2 + +#define BMI088_LONG_DELAY_TIME 80 +#define BMI088_COM_WAIT_SENSOR_TIME 150 + +#define BMI088_ACCEL_IIC_ADDRESSE (0x18 << 1) +#define BMI088_GYRO_IIC_ADDRESSE (0x68 << 1) + +#define BMI088_ACCEL_3G_SEN 0.0008974358974f +#define BMI088_ACCEL_6G_SEN 0.00179443359375f +#define BMI088_ACCEL_12G_SEN 0.0035888671875f +#define BMI088_ACCEL_24G_SEN 0.007177734375f + +#define BMI088_GYRO_2000_SEN 0.00106526443603169529841533860381f +#define BMI088_GYRO_1000_SEN 0.00053263221801584764920766930190693f +#define BMI088_GYRO_500_SEN 0.00026631610900792382460383465095346f +#define BMI088_GYRO_250_SEN 0.00013315805450396191230191732547673f +#define BMI088_GYRO_125_SEN 0.000066579027251980956150958662738366f + +/* BMI088错误码枚举 */ +typedef enum +{ + BMI088_NO_ERROR = 0x00, + BMI088_ACC_PWR_CTRL_ERROR = 0x01, + BMI088_ACC_PWR_CONF_ERROR = 0x02, + BMI088_ACC_CONF_ERROR = 0x03, + BMI088_ACC_SELF_TEST_ERROR = 0x04, + BMI088_ACC_RANGE_ERROR = 0x05, + BMI088_INT1_IO_CTRL_ERROR = 0x06, + BMI088_INT_MAP_DATA_ERROR = 0x07, + BMI088_GYRO_RANGE_ERROR = 0x08, + BMI088_GYRO_BANDWIDTH_ERROR = 0x09, + BMI088_GYRO_LPM1_ERROR = 0x0A, + BMI088_GYRO_CTRL_ERROR = 0x0B, + BMI088_GYRO_INT3_INT4_IO_CONF_ERROR = 0x0C, + BMI088_GYRO_INT3_INT4_IO_MAP_ERROR = 0x0D, + + BMI088_SELF_TEST_ACCEL_ERROR = 0x80, + BMI088_SELF_TEST_GYRO_ERROR = 0x40, + BMI088_NO_SENSOR = 0xFF, +} BMI088_ERORR_CODE_e; + +#endif diff --git a/User_Code/module/periph/imu/BMI088Middleware.c b/User_Code/module/periph/imu/BMI088/BMI088Middleware.c similarity index 100% rename from User_Code/module/periph/imu/BMI088Middleware.c rename to User_Code/module/periph/imu/BMI088/BMI088Middleware.c diff --git a/User_Code/module/periph/imu/BMI088Middleware.h b/User_Code/module/periph/imu/BMI088/BMI088Middleware.h similarity index 100% rename from User_Code/module/periph/imu/BMI088Middleware.h rename to User_Code/module/periph/imu/BMI088/BMI088Middleware.h diff --git a/User_Code/module/periph/imu/BMI088driver.c b/User_Code/module/periph/imu/BMI088/BMI088driver.c similarity index 100% rename from User_Code/module/periph/imu/BMI088driver.c rename to User_Code/module/periph/imu/BMI088/BMI088driver.c diff --git a/User_Code/module/periph/imu/BMI088driver.h b/User_Code/module/periph/imu/BMI088/BMI088driver.h similarity index 100% rename from User_Code/module/periph/imu/BMI088driver.h rename to User_Code/module/periph/imu/BMI088/BMI088driver.h diff --git a/User_Code/module/periph/imu/BMI088reg.h b/User_Code/module/periph/imu/BMI088/BMI088reg.h similarity index 100% rename from User_Code/module/periph/imu/BMI088reg.h rename to User_Code/module/periph/imu/BMI088/BMI088reg.h diff --git a/User_Code/module/periph/imu/ins_task.h b/User_Code/module/periph/imu/ins_task.h index 89c567c..3ddec82 100644 --- a/User_Code/module/periph/imu/ins_task.h +++ b/User_Code/module/periph/imu/ins_task.h @@ -16,7 +16,7 @@ #define __INS_TASK_H #include "stdint.h" -#include "BMI088driver.h" +#include "BMI088/BMI088driver.h" #include "QuaternionEKF.h" #define X 0