添加了ist8310磁力计的支持,同时修复了gpio初始化先于exti的bug
This commit is contained in:
NeoZng
parent
73cdc66de5
commit
1262f9a516
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@ -34,7 +34,6 @@
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include "robot.h"
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#include "oled.h"
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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@ -115,6 +114,7 @@ int main(void)
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MX_I2C3_Init();
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/* USER CODE BEGIN 2 */
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RobotInit();
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/* USER CODE END 2 */
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/* Call init function for freertos objects (in freertos.c) */
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@ -107,13 +107,14 @@ void NMI_Handler(void)
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void HardFault_Handler(void)
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{
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/* USER CODE BEGIN HardFault_IRQn 0 */
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// 发生hardfault,点击step over会自动跳转回出错的指令,方便调试
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asm("bx lr");
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/* USER CODE END HardFault_IRQn 0 */
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while (1)
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{
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/* USER CODE BEGIN W1_HardFault_IRQn 0 */
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// 发生hardfault,点击step over会自动跳转回出错的指令,方便调试
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asm("bx lr");
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/* USER CODE BEGIN W1_HardFault_IRQn 0 */
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/* USER CODE END W1_HardFault_IRQn 0 */
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}
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}
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@ -185,12 +186,12 @@ void SysTick_Handler(void)
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/* USER CODE END SysTick_IRQn 0 */
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HAL_IncTick();
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#if (INCLUDE_xTaskGetSchedulerState == 1 )
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#if (INCLUDE_xTaskGetSchedulerState == 1)
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if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED)
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{
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#endif /* INCLUDE_xTaskGetSchedulerState */
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xPortSysTickHandler();
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#if (INCLUDE_xTaskGetSchedulerState == 1 )
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#if (INCLUDE_xTaskGetSchedulerState == 1)
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}
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#endif /* INCLUDE_xTaskGetSchedulerState */
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/* USER CODE BEGIN SysTick_IRQn 1 */
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2
Makefile
2
Makefile
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@ -119,6 +119,7 @@ modules/algorithm/QuaternionEKF.c \
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modules/algorithm/crc8.c \
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modules/algorithm/crc16.c \
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modules/algorithm/user_lib.c \
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modules/BMI088/bmi088.c \
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modules/imu/BMI088driver.c \
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modules/imu/BMI088Middleware.c \
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modules/imu/ins_task.c \
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@ -239,6 +240,7 @@ C_INCLUDES = \
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-Ibsp/bsp_legacy_support \
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-Ibsp \
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-Imodules/algorithm \
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-Imodules/BMI088 \
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-Imodules/imu \
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-Imodules/ist8310 \
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-Imodules/led \
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@ -49,7 +49,7 @@ static DJIMotorInstance *motor_lb;
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static DJIMotorInstance *motor_rb;
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/* 用于自旋变速策略的时间变量,后续考虑查表加速 */
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static float t;
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// static float t;
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/* 私有函数计算的中介变量,设为静态避免参数传递的开销 */
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static float chassis_vx, chassis_vy; // 将云台系的速度投影到底盘
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@ -14,6 +14,9 @@
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void RobotInit()
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{
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// 关闭中断,防止在初始化过程中发生中断
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// 请不要在初始化过程中使用中断!!!
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__disable_irq();
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BSPInit();
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#if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
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@ -25,6 +28,8 @@ void RobotInit()
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#if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
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ChassisInit();
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#endif
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// 初始化完成,开启中断
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__enable_irq();
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}
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void RobotTask()
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@ -293,8 +293,9 @@ NVIC.DMA2_Stream5_IRQn=true\:5\:0\:false\:false\:true\:false\:false\:true\:true
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NVIC.DMA2_Stream6_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true
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NVIC.DMA2_Stream7_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true
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NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
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NVIC.EXTI3_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
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NVIC.EXTI3_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
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NVIC.EXTI4_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
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NVIC.EXTI9_5_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
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NVIC.ForceEnableDMAVector=true
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NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
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NVIC.I2C2_ER_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
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@ -396,7 +397,7 @@ PC11.Locked=true
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PC11.Mode=Asynchronous
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PC11.Signal=USART3_RX
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PC4.GPIOParameters=GPIO_Label,GPIO_ModeDefaultEXTI
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PC4.GPIO_Label=INT_ACCEL
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PC4.GPIO_Label=INT_ACC
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PC4.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_FALLING
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PC4.Locked=true
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PC4.Signal=GPXTI4
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@ -18,6 +18,7 @@ void BuzzerOn(uint16_t psc, uint16_t pwm, uint8_t level)
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__HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_3, pwm);
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}
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}
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void BuzzerOff(void)
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{
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__HAL_TIM_SetCompare(&htim4, TIM_CHANNEL_3, 0);
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@ -38,7 +38,6 @@ GPIOInstance *GPIORegister(GPIO_Init_Config_s *GPIO_config)
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ins->exti_mode=GPIO_config->exti_mode;
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ins->id=GPIO_config->id;
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ins->gpio_model_callback=GPIO_config->gpio_model_callback;
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gpio_instance[idx++]=ins;
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return ins;
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}
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@ -65,3 +64,4 @@ GPIO_PinState GPIORead(GPIOInstance *_instance)
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{
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return HAL_GPIO_ReadPin(_instance->GPIOx,_instance->GPIO_Pin);
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}
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@ -24,7 +24,8 @@ typedef struct tmpgpio
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GPIO_TypeDef *GPIOx; // GPIOA,GPIOB,GPIOC...
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GPIO_PinState pin_state; // 引脚状态,Set,Reset;not frequently used
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GPIO_EXTI_MODE_e exti_mode; // 外部中断模式 not frequently used
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uint16_t GPIO_Pin; // 引脚号
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uint16_t GPIO_Pin; // 引脚号,
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// 这些引脚是stm32f4xx_hal_gpio.h中定义的宏!!! 一定要注意
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// 随便取个名字当临时声明
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void (*gpio_model_callback)(struct tmpgpio *); // exti中断回调函数
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void *id; // 区分不同的GPIO实例
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@ -40,7 +41,8 @@ typedef struct
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GPIO_TypeDef *GPIOx; // GPIOA,GPIOB,GPIOC...
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GPIO_PinState pin_state; // 引脚状态,Set,Reset not frequently used
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GPIO_EXTI_MODE_e exti_mode; // 外部中断模式 not frequently used
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uint16_t GPIO_Pin; // 引脚号
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uint16_t GPIO_Pin; // 引脚号,@note 这里的引脚号是GPIO_PIN_0,GPIO_PIN_1...
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// 这些引脚是stm32f4xx_hal_gpio.h中定义的宏!!! 一定要注意
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void (*gpio_model_callback)(GPIOInstance *); // exti中断回调函数
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void *id; // 区分不同的GPIO实例
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@ -1,3 +1,22 @@
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可以作为io接口,也可以处理外部中断.
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使用示例
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```c
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GPIO_Init_Config_s gpio_init = {
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.exti_mode = GPIO_EXTI_MODE_FALLING, // 注意和CUBEMX的配置一致
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.GPIO_Pin = GPIO_PIN_6, // GPIO引脚
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.GPIOx = GPIOG, // GPIO外设
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.gpio_model_callback = NULL, // EXTI回调函数
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},
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GPIOInstance* test_example = GPIORegister(&gpio_init);
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GPIOSet(test_example);
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```
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@ -15,7 +15,7 @@ IICInstance *IICRegister(IIC_Init_Config_s *conf)
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instance = (IICInstance *)malloc(sizeof(IICInstance));
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memset(instance, 0, sizeof(IICInstance));
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instance->dev_address = conf->dev_address;
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instance->dev_address = conf->dev_address << 1;
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instance->callback = conf->callback;
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instance->work_mode = conf->work_mode;
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instance->handle = conf->handle;
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@ -103,7 +103,7 @@ void IICReceive(IICInstance *iic, uint8_t *data, uint16_t size, IIC_Seq_Mode_e s
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}
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}
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void IICAcessMem(IICInstance *iic, uint8_t mem_addr, uint8_t *data, uint16_t size, IIC_Mem_Mode_e mem_mode)
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void IICAccessMem(IICInstance *iic, uint8_t mem_addr, uint8_t *data, uint16_t size, IIC_Mem_Mode_e mem_mode)
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{
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if (mem_mode == IIC_WRITE_MEM)
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{
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@ -102,4 +102,4 @@ void IICReceive(IICInstance *iic, uint8_t *data, uint16_t size,IIC_Seq_Mode_e mo
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* @param size 要读取或写入的数据长度
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* @param mode 写入或读取模式: IIC_READ_MEM or IIC_WRITE_MEM
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*/
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void IICAcessMem(IICInstance *iic, uint8_t mem_addr, uint8_t *data, uint16_t size, IIC_Mem_Mode_e mode);
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void IICAccessMem(IICInstance *iic, uint8_t mem_addr, uint8_t *data, uint16_t size, IIC_Mem_Mode_e mode);
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@ -1,5 +1,5 @@
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#include "bmi088.h"
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#include "bmi088_regNdef.h"
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#include "bmi088.h"
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#include "stdlib.h"
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#include "memory.h"
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@ -2,6 +2,7 @@
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#define __BMI088_H__
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#include "bsp_spi.h"
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#include "bsp_gpio.h"
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#include "controller.h"
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#include "bsp_pwm.h"
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#include "stdint.h"
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@ -16,8 +17,13 @@ typedef enum
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typedef struct
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{
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// 传输模式和工作模式控制
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SPIInstance *spi_gyro;
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SPIInstance *spi_acc;
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BMI088_Work_Mode_e mode;
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// SPI接口
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SPIInstance *spi_gyro; // 注意,SPIInstnace内部也有一个GPIOInstance,用于控制片选CS
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SPIInstance *spi_acc; // 注意,SPIInstnace内部也有一个GPIOInstance,用于控制片选CS
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// 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)
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GPIOInstance *gyro_int;
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GPIOInstance *acc_int;
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// 温度控制
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PIDInstance *heat_pid; // 恒温PID
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PWMInstance *heat_pwm; // 加热PWM
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@ -38,6 +44,8 @@ typedef struct
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{
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SPI_Init_Config_s spi_gyro_config;
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SPI_Init_Config_s spi_acc_config;
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GPIO_Init_Config_s gyro_int_config;
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GPIO_Init_Config_s acc_int_config;
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BMI088_Work_Mode_e mode;
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PID_Init_Config_s heat_pid_config;
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PWM_Init_Config_s heat_pwm_config;
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@ -1 +1,90 @@
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#include "bsp_dwt.h"
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#include "ist8310.h"
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#include "memory.h"
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#include "stdlib.h"
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static IST8310Instance *ist8310_instance = NULL;
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// -------------------初始化写入数组,只使用一次,详见datasheet-------------------------
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// the first column:the registers of IST8310. 第一列:IST8310的寄存器
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// the second column: the value to be writed to the registers.第二列:需要写入的寄存器值
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// the third column: return error value.第三列:返回的错误码
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#define IST8310_WRITE_REG_NUM 4
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#define IST8310_DATA_REG 0x03 // 数据寄存器
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#define IST8310_WHO_AM_I 0x00 // ist8310 id 寄存器值
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#define IST8310_WHO_AM_I_VALUE 0x10 // ist8310 id 寄存器值,用于检测是否连接成功
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static uint8_t ist8310_write_reg_data_error[IST8310_WRITE_REG_NUM][3] = {
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{0x0B, 0x08, 0x01}, // enalbe interrupt and low pin polarity.开启中断，并且设置低电平
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{0x41, 0x09, 0x02}, // average 2 times.平均采样两次
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{0x42, 0xC0, 0x03}, // must be 0xC0. 必须是0xC0
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{0x0A, 0x0B, 0x04}}; // 200Hz output rate.200Hz输出频率
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/**
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* @brief IST8310解码函数,EXTI中断来临时被调用,将数据放到ist.mag中
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* @note 如果使用IT或DMA方式传输IIC,则传输完成后也会进入此函数
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*
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* @param ist 发生中断的IST8310实例
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*/
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static void IST8310Decode(IICInstance *iic)
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{
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static int16_t temp[3];
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static IST8310Instance *ist;
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ist = (IST8310Instance *)(iic->id);
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memcpy(temp, ist->iic_buffer, 6 * sizeof(uint8_t));
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for (uint8_t i = 0; i < 3; i++)
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ist->mag[i] = (float)temp[i] * MAG_SEN;
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}
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// EXTI中断回调函数,说明DRDY拉低.主机启动传输并在结束后调用IST8310Decode进行数据解析
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// 注意IICAccessMem是阻塞的
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static void IST8310StartTransfer(GPIOInstance *gpio)
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{
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IST8310Instance *ist_for_transfer = (IST8310Instance *)gpio->id;
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IICAccessMem(ist_for_transfer->iic, IST8310_DATA_REG, ist_for_transfer->iic_buffer, 6, IIC_READ_MEM);
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IST8310Decode(ist_for_transfer->iic);
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}
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IST8310Instance *IST8310Init(IST8310_Init_Config_s *config)
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{
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static const uint8_t sleepTime = 50;
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uint8_t check_who_i_am = 0;
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// 分配空间,清除flash
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IST8310Instance *ist = (IST8310Instance *)malloc(sizeof(IST8310Instance));
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memset(ist, 0, sizeof(IST8310Instance));
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// c语言赋值从右到左
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config->iic_config.id = config->gpio_conf_exti.id = config->gpio_conf_rst.id = ist;
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// 传入回调函数
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config->iic_config.callback = IST8310Decode;
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config->gpio_conf_exti.gpio_model_callback = IST8310StartTransfer;
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// 注册两个GPIO和IIC
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ist->iic = IICRegister(&config->iic_config);
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ist->gpio_exti = GPIORegister(&config->gpio_conf_exti);
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ist->gpio_rst = GPIORegister(&config->gpio_conf_rst);
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// 重置IST8310,需要HAL_Delay等待完成Reset
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GPIOReset(ist->gpio_rst);
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HAL_Delay(sleepTime);
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GPIOSet(ist->gpio_rst);
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HAL_Delay(sleepTime);
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// 读取IST8310的ID,如果不是0x10,则返回错误
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IICAccessMem(ist->iic, IST8310_WHO_AM_I, &check_who_i_am, 1, IIC_READ_MEM);
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if (check_who_i_am != IST8310_WHO_AM_I_VALUE)
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return NULL; // while(1)
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// 进行初始化配置写入并检查是否写入成功
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for (uint8_t i = 0; i < IST8310_WRITE_REG_NUM; i++)
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{ // 写入配置
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IICAccessMem(ist->iic, ist8310_write_reg_data_error[i][0], &ist8310_write_reg_data_error[i][1], 1, IIC_WRITE_MEM);
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IICAccessMem(ist->iic, ist8310_write_reg_data_error[i][0], &check_who_i_am, 1, IIC_READ_MEM); // 读回自身id
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if (check_who_i_am != ist8310_write_reg_data_error[i][1])
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while (1)
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ist8310_write_reg_data_error[i][2]; // 掉线/写入失败/未知错误,返回对应的错误码
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}
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ist8310_instance = ist;
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return ist;
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}
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@ -1,5 +1,52 @@
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#pragma once
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#include "bsp_iic.h"
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#include "bsp_gpio.h"
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#include "stdint.h"
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// 传感器灵敏度系数
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#define MAG_SEN 0.3f // raw int16 data change to uT unit. 原始整型数据变成 单位ut
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// IST8310 ret ERROR CODE
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#define IST8310_NO_ERROR 0x00 // seldom used. 一般不会用到
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#define IST8310_NO_SENSOR 0x40 // seldom used. 一般不会用到
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#define IST8310_IIC_ADDRESS 0x0E // the I2C slave address of IST8310
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/**
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||||
* @brief IST8310 实例定义
|
||||
*
|
||||
*/
|
||||
typedef struct tempist8310
|
||||
{
|
||||
IICInstance *iic; // iic实例
|
||||
GPIOInstance* gpio_rst; // gpio实例,用于复位
|
||||
GPIOInstance* gpio_exti; // gpio实例,用于获取MAG_DRDY引脚状态,判断数据是否准备好(EXTI外部中断)
|
||||
uint8_t iic_buffer[8]; // iic接收缓冲区
|
||||
float mag[3]; // 三轴磁力计数据,[x,y,z]
|
||||
|
||||
void (*ist_module_callback)(IICInstance *); // 模块回调函数
|
||||
// 后续有需要再添加
|
||||
// ...
|
||||
} IST8310Instance;
|
||||
|
||||
/**
|
||||
* @brief IST8310 初始化配置结构体
|
||||
*
|
||||
*/
|
||||
typedef struct
|
||||
{
|
||||
IIC_Init_Config_s iic_config; // iic初始化配置
|
||||
GPIO_Init_Config_s gpio_conf_rst; // gpio初始化配置,用于复位
|
||||
GPIO_Init_Config_s gpio_conf_exti; // gpio初始化配置,用于获取MAG_DRDY引脚状态,判断数据是否准备好(EXTI外部中断)
|
||||
} IST8310_Init_Config_s;
|
||||
|
||||
/**
|
||||
* @brief IST8310 初始化.
|
||||
* @note 一条i2c总线只能挂载一个IST8310
|
||||
*
|
||||
*/
|
||||
IST8310Instance *IST8310Init(IST8310_Init_Config_s *config);
|
||||
|
||||
void rest(int aa);
|
||||
|
||||
int nit(int bb);
|
||||
|
|
|
|||
|
|
@ -0,0 +1,27 @@
|
|||
|
||||
使用示例
|
||||
|
||||
```c
|
||||
IST8310_Init_Config_s ist8310_conf = {
|
||||
.gpio_conf_exti = {
|
||||
.exti_mode = GPIO_EXTI_MODE_RISING,
|
||||
.GPIO_Pin = GPIO_PIN_3,
|
||||
.GPIOx = GPIOG,
|
||||
.gpio_model_callback = NULL,
|
||||
},
|
||||
.gpio_conf_rst = {
|
||||
.exti_mode = GPIO_EXTI_MODE_NONE,
|
||||
.GPIO_Pin = GPIO_PIN_6,
|
||||
.GPIOx = GPIOG,
|
||||
.gpio_model_callback = NULL,
|
||||
},
|
||||
.iic_config = {
|
||||
.handle = &hi2c3,
|
||||
.dev_address = IST8310_IIC_ADDRESS,
|
||||
.work_mode = IIC_BLOCK_MODE,
|
||||
},
|
||||
};
|
||||
IST8310Instance *asdf = IST8310Init(&ist8310_conf);
|
||||
|
||||
// 随后数据会被放到asdf.mag[i]中
|
||||
```
|
||||
|
|
@ -1,6 +1,6 @@
|
|||
#include "referee.h"
|
||||
#include "string.h"
|
||||
#include "crc.h"
|
||||
#include "crc_ref.h"
|
||||
#include "bsp_usart.h"
|
||||
#include "dma.h"
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue