增加了usb虚拟串口的支持,编写了部分bmi088it读取

2023-02-05 14:11:59 +08:00 · 2023-02-05 14:11:59 +08:00 · 637d7de114
parent 80df9bca15
commit 637d7de114
10 changed files with 406 additions and 282 deletions
--- a/HAL_N_Middlewares/Inc/usbd_cdc_if.h
+++ b/HAL_N_Middlewares/Inc/usbd_cdc_if.h
@ -23,7 +23,8 @@
 #define __USBD_CDC_IF_H__

 #ifdef __cplusplus
- extern "C" {
+extern "C"
+{
 #endif

 /* Includes ------------------------------------------------------------------*/
@ -50,76 +51,76 @@
 /* Define size for the receive and transmit buffer over CDC */
 #define APP_RX_DATA_SIZE 2048
 #define APP_TX_DATA_SIZE 2048
-/* USER CODE BEGIN EXPORTED_DEFINES */
+  /* USER CODE BEGIN EXPORTED_DEFINES */

-/* USER CODE END EXPORTED_DEFINES */
+  /* USER CODE END EXPORTED_DEFINES */

-/**
+  /**
   * @}
   */

-/** @defgroup USBD_CDC_IF_Exported_Types USBD_CDC_IF_Exported_Types
+  /** @defgroup USBD_CDC_IF_Exported_Types USBD_CDC_IF_Exported_Types
   * @brief Types.
   * @{
   */

-/* USER CODE BEGIN EXPORTED_TYPES */
+  /* USER CODE BEGIN EXPORTED_TYPES */

-/* USER CODE END EXPORTED_TYPES */
+  /* USER CODE END EXPORTED_TYPES */

-/**
+  /**
   * @}
   */

-/** @defgroup USBD_CDC_IF_Exported_Macros USBD_CDC_IF_Exported_Macros
+  /** @defgroup USBD_CDC_IF_Exported_Macros USBD_CDC_IF_Exported_Macros
   * @brief Aliases.
   * @{
   */

-/* USER CODE BEGIN EXPORTED_MACRO */
+  /* USER CODE BEGIN EXPORTED_MACRO */

-/* USER CODE END EXPORTED_MACRO */
+  /* USER CODE END EXPORTED_MACRO */

-/**
+  /**
   * @}
   */

-/** @defgroup USBD_CDC_IF_Exported_Variables USBD_CDC_IF_Exported_Variables
+  /** @defgroup USBD_CDC_IF_Exported_Variables USBD_CDC_IF_Exported_Variables
   * @brief Public variables.
   * @{
   */

-/** CDC Interface callback. */
-extern USBD_CDC_ItfTypeDef USBD_Interface_fops_FS;
+  /** CDC Interface callback. */
+  extern USBD_CDC_ItfTypeDef USBD_Interface_fops_FS;

-/* USER CODE BEGIN EXPORTED_VARIABLES */
+  /* USER CODE BEGIN EXPORTED_VARIABLES */

-/* USER CODE END EXPORTED_VARIABLES */
+  /* USER CODE END EXPORTED_VARIABLES */

-/**
+  /**
   * @}
   */

-/** @defgroup USBD_CDC_IF_Exported_FunctionsPrototype USBD_CDC_IF_Exported_FunctionsPrototype
+  /** @defgroup USBD_CDC_IF_Exported_FunctionsPrototype USBD_CDC_IF_Exported_FunctionsPrototype
   * @brief Public functions declaration.
   * @{
   */

-uint8_t CDC_Transmit_FS(uint8_t* Buf, uint16_t Len);
+  uint8_t CDC_Transmit_FS(uint8_t *Buf, uint16_t Len);

-/* USER CODE BEGIN EXPORTED_FUNCTIONS */
+  /* USER CODE BEGIN EXPORTED_FUNCTIONS */
+uint8_t *CDCInitRxbufferNcallback(void (*callback)(uint32_t));
+  /* USER CODE END EXPORTED_FUNCTIONS */

-/* USER CODE END EXPORTED_FUNCTIONS */
-
-/**
+  /**
   * @}
   */

-/**
+  /**
   * @}
   */

-/**
+  /**
   * @}
   */

@ -128,4 +129,3 @@ uint8_t CDC_Transmit_FS(uint8_t* Buf, uint16_t Len);
 #endif

 #endif /* __USBD_CDC_IF_H__ */
-
--- a/HAL_N_Middlewares/Src/usbd_cdc_if.c
+++ b/HAL_N_Middlewares/Src/usbd_cdc_if.c
@ -49,7 +49,7 @@
 */

 /* USER CODE BEGIN PRIVATE_TYPES */
-
+void (*transmitcpltcallback)(uint32_t);
 /* USER CODE END PRIVATE_TYPES */

 /**
@ -87,14 +87,13 @@
 */
 /* Create buffer for reception and transmission           */
 /* It's up to user to redefine and/or remove those define */
+
+/* USER CODE BEGIN PRIVATE_VARIABLES */
 /** Received data over USB are stored in this buffer      */
 uint8_t UserRxBufferFS[APP_RX_DATA_SIZE];

 /** Data to send over USB CDC are stored in this buffer   */
 uint8_t UserTxBufferFS[APP_TX_DATA_SIZE];
-
-/* USER CODE BEGIN PRIVATE_VARIABLES */
-
 /* USER CODE END PRIVATE_VARIABLES */

 /**
@ -123,8 +122,8 @@ extern USBD_HandleTypeDef hUsbDeviceFS;

 static int8_t CDC_Init_FS(void);
 static int8_t CDC_DeInit_FS(void);
-static int8_t CDC_Control_FS(uint8_t cmd, uint8_t* pbuf, uint16_t length);
-static int8_t CDC_Receive_FS(uint8_t* pbuf, uint32_t *Len);
+static int8_t CDC_Control_FS(uint8_t cmd, uint8_t *pbuf, uint16_t length);
+static int8_t CDC_Receive_FS(uint8_t *pbuf, uint32_t *Len);
 static int8_t CDC_TransmitCplt_FS(uint8_t *pbuf, uint32_t *Len, uint8_t epnum);

 /* USER CODE BEGIN PRIVATE_FUNCTIONS_DECLARATION */
@ -136,13 +135,12 @@ static int8_t CDC_TransmitCplt_FS(uint8_t *pbuf, uint32_t *Len, uint8_t epnum);
 */

 USBD_CDC_ItfTypeDef USBD_Interface_fops_FS =
-{
+    {
        CDC_Init_FS,
        CDC_DeInit_FS,
        CDC_Control_FS,
        CDC_Receive_FS,
-  CDC_TransmitCplt_FS
-};
+        CDC_TransmitCplt_FS};

 /* Private functions ---------------------------------------------------------*/
 /**
@ -177,10 +175,10 @@ static int8_t CDC_DeInit_FS(void)
 * @param  length: Number of data to be sent (in bytes)
 * @retval Result of the operation: USBD_OK if all operations are OK else USBD_FAIL
 */
-static int8_t CDC_Control_FS(uint8_t cmd, uint8_t* pbuf, uint16_t length)
+static int8_t CDC_Control_FS(uint8_t cmd, uint8_t *pbuf, uint16_t length)
 {
    /* USER CODE BEGIN 5 */
-  switch(cmd)
+    switch (cmd)
    {
    case CDC_SEND_ENCAPSULATED_COMMAND:

@ -258,7 +256,7 @@ static int8_t CDC_Control_FS(uint8_t cmd, uint8_t* pbuf, uint16_t length)
 * @param  Len: Number of data received (in bytes)
 * @retval Result of the operation: USBD_OK if all operations are OK else USBD_FAIL
 */
-static int8_t CDC_Receive_FS(uint8_t* Buf, uint32_t *Len)
+static int8_t CDC_Receive_FS(uint8_t *Buf, uint32_t *Len)
 {
    /* USER CODE BEGIN 6 */
    USBD_CDC_SetRxBuffer(&hUsbDeviceFS, &Buf[0]);
@ -278,12 +276,13 @@ static int8_t CDC_Receive_FS(uint8_t* Buf, uint32_t *Len)
 * @param  Len: Number of data to be sent (in bytes)
 * @retval USBD_OK if all operations are OK else USBD_FAIL or USBD_BUSY
 */
-uint8_t CDC_Transmit_FS(uint8_t* Buf, uint16_t Len)
+uint8_t CDC_Transmit_FS(uint8_t *Buf, uint16_t Len)
 {
    uint8_t result = USBD_OK;
    /* USER CODE BEGIN 7 */
-  USBD_CDC_HandleTypeDef *hcdc = (USBD_CDC_HandleTypeDef*)hUsbDeviceFS.pClassData;
-  if (hcdc->TxState != 0){
+    USBD_CDC_HandleTypeDef *hcdc = (USBD_CDC_HandleTypeDef *)hUsbDeviceFS.pClassData;
+    if (hcdc->TxState != 0)
+    {
        return USBD_BUSY;
    }
    USBD_CDC_SetTxBuffer(&hUsbDeviceFS, Buf, Len);
@ -292,6 +291,12 @@ uint8_t CDC_Transmit_FS(uint8_t* Buf, uint16_t Len)
    return result;
 }

+uint8_t *CDCInitRxbufferNcallback(void (*callback)(uint32_t))
+{
+    transmitcpltcallback=callback;
+    return (uint8_t *)UserRxBufferFS;
+}
+
 /**
 * @brief  CDC_TransmitCplt_FS
 *         Data transmitted callback
@ -311,6 +316,10 @@ static int8_t CDC_TransmitCplt_FS(uint8_t *Buf, uint32_t *Len, uint8_t epnum)
    UNUSED(Buf);
    UNUSED(Len);
    UNUSED(epnum);
+    if(transmitcpltcallback!=NULL)
+    {
+        transmitcpltcallback(*Len);
+    }
    /* USER CODE END 13 */
    return result;
 }
--- a/2
+++ b/2
@ -116,6 +116,7 @@ bsp/spi/bsp_spi.c \
 bsp/iic/bsp_iic.c \
 bsp/can/bsp_can.c \
 bsp/usart/bsp_usart.c \
+bsp/usb/bsp_usb.c \
 bsp/log/bsp_log.c \
 bsp/bsp_init.c \
 modules/algorithm/controller.c \
@ -237,6 +238,7 @@ C_INCLUDES =  \
 -Ibsp/dwt \
 -Ibsp/can \
 -Ibsp/usart \
+-Ibsp/usb \
 -Ibsp/gpio \
 -Ibsp/spi \
 -Ibsp/iic \
--- a/bsp/bsp_init.c
+++ b/bsp/bsp_init.c
@ -1,6 +1,7 @@
 #include "bsp_init.h"
 #include "bsp_log.h"
 #include "bsp_dwt.h"
+#include "bsp_usb.h"
 #include "bsp_buzzer.h"
 #include "bsp_led.h"
 #include "bsp_temperature.h"
@ -10,6 +11,7 @@ void BSPInit()
 {
    DWT_Init(168);
    BSPLogInit();
+    USBInit(); // 务必在进入操作系统之前执行USB初始化

    // legacy support，待删除,将在实现了led/tempctrl/buzzer的module之后移动到app层
    LEDInit();
--- a/bsp/usb/bsp_usb.c
+++ b/bsp/usb/bsp_usb.c
@ -1 +1,27 @@
 #include "bsp_usb.h"
+
+static uint8_t *bsp_usb_rx_buffer; // 接收到的数据会被放在这里,buffer size为2028
+// 注意usb单个数据包(Full speed模式下)最大为64byte,超出可能会出现丢包情况
+
+__weak void USBTransmitCpltCallback(uint32_t len)
+{
+    // 本次发送的数据
+    UNUSED(len);
+    // 传输完成会调用此函数,to do something
+}
+
+uint8_t *USBInit()
+{
+    USB_ResetPort(USB_OTG_FS);                                              // 上电后重新枚举usb设备
+    USBTransmit((uint8_t *)"USB DEVICE READY", sizeof("USB DEVICE READY")); // 发送初始化完成信息
+    bsp_usb_rx_buffer = CDCInitRxbufferNcallback(USBTransmitCpltCallback);                         // 获取接收数据指针
+
+    return bsp_usb_rx_buffer;
+}
+
+void USBTransmit(uint8_t *buffer, uint16_t len)
+{
+    CDC_Transmit_FS(buffer, len); // 发送
+}
+
+
--- a/bsp/usb/bsp_usb.h
+++ b/bsp/usb/bsp_usb.h
@ -2,4 +2,19 @@
 #include "usbd_cdc.h"
 #include "usbd_conf.h"
 #include "usbd_desc.h"
+#include "usbd_cdc_if.h"

+typedef enum
+{
+    USB_CONNECTION_RAWDATA = 0,
+    USB_CONNECTION_VOFA,
+    USB_CONNECTION_SEASKY,
+} USB_Connection_Type_e; // 选择usb连接模式,默认为原始数据
+// 方便调试,也可以不用
+
+/* @note 虚拟串口的波特率/校验位/数据位等动态可变,取决于上位机的设定 */
+/* 使用时不需要关心这些设置(作为从机) */
+
+uint8_t *USBInit(); // bsp初始化时调用会重新枚举设备
+
+void USBTransmit(uint8_t *buffer, uint16_t len); // 通过usb发送数据
--- a/bsp/usb/bsp_usb.md
+++ b/bsp/usb/bsp_usb.md
@ -0,0 +1,3 @@
+# bsp usb
+
+简单写点,有待优化.
--- a/modules/BMI088/bmi088.c
+++ b/modules/BMI088/bmi088.c
@ -148,29 +148,65 @@ static uint8_t BMI088GyroInit(BMI088Instance *bmi088)
        reg = BMI088_Gyro_Init_Table[i][REG];
        data = BMI088_Gyro_Init_Table[i][DATA];
        BMI088GyroWrite(bmi088, reg, data);    // 写入寄存器
-        BMI088GyroRead(bmi088, reg, &data, 1); // 写完之后立刻读回检查
+        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
        if (data != BMI088_Gyro_Init_Table[i][DATA])
            error |= BMI088_Gyro_Init_Table[i][ERROR];
-        //{i--;} 可以设置retry次数,如果retry次数用完了,则返回error
+        //{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
    }
   
-    bmi088->acc_coef = 1.0;                         // 尚未初始化时设定为1,使得BMI088Acquire可以正常使用
-    bmi088->BMI088_GYRO_SEN = BMI088_GYRO_2000_SEN; // 后续改为从initTable中获取
-    bmi088->BMI088_ACCEL_SEN = BMI088_ACCEL_6G_SEN; // 用宏字符串拼接
-    bmi088->gNorm
    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);
+    // code to go here ...
+}
+
+static void BMI088GyroSPIFinishCallback(SPIInstance *spi)
+{
+    static BMI088Instance *bmi088;
+    bmi088 = (BMI088Instance *)(spi->id);
+}
+
+static void BMI088AccINTCallback(GPIOInstance *gpio)
+{
+    static BMI088Instance *bmi088;
+    bmi088 = (BMI088Instance *)(gpio->id);
+}
+
+static void BMI088GyroINTCallback(GPIOInstance *gpio)
+{
+    static BMI088Instance *bmi088;
+    bmi088 = (BMI088Instance *)(gpio->id);
+}
+
+// -------------------------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? 7个float数据有点费时,不然用DMA? or memcpy
+ * 
+ * @param bmi088 
+ * @return BMI088_Data_t 
+ */
 BMI088_Data_t BMI088Acquire(BMI088Instance *bmi088)
 {
    // 分配空间保存返回的数据,指针传递
    static BMI088_Data_t data_store;
    static float dt_imu = 1.0; // 初始化为1,这样也可以不用first_read_flag,各有优劣
    // 如果是blocking模式,则主动触发一次读取并返回数据
-    static uint8_t buf[6] = {0};    // 最多读取6个byte(gyro)
+    static uint8_t buf[6] = {0};    // 最多读取6个byte(gyro/acc,temp是2)
    static uint8_t first_read_flag; // 判断是否时第一次进入此函数(第一次读取)
    // 用于初始化DWT的计数,暂时没想到更好的方法
    if (!first_read_flag)
@ -182,7 +218,7 @@ BMI088_Data_t BMI088Acquire(BMI088Instance *bmi088)
    BMI088AccelRead(bmi088, BMI088_ACCEL_XOUT_L, buf, 6);
    static float calc_coef_acc; // 防止重复计算
    if (!first_read_flag)       // 初始化的时候赋值
-        calc_coef_acc = bmi088->BMI088_ACCEL_SEN * bmi088->acc_coef;
+        calc_coef_acc = bmi088->BMI088_ACCEL_SEN * bmi088->acc_coef; // 你要是不爽可以用宏或者全局变量,但我认为你现在很爽
    bmi088->acc[0] = calc_coef_acc * (float)(int16_t)(((buf[1]) << 8) | buf[0]);
    bmi088->acc[1] = calc_coef_acc * (float)(int16_t)(((buf[3]) << 8) | buf[2]);
    bmi088->acc[3] = calc_coef_acc * (float)(int16_t)(((buf[5]) << 8) | buf[4]);
@ -235,7 +271,7 @@ BMI088_Data_t BMI088Acquire(BMI088Instance *bmi088)
 */
 void BMI088CalibrateIMU(BMI088Instance *_bmi088)
 {
-    if (_bmi088->cali_mode == BMI088_CALIBRATE_ONLINE_MODE)
+    if (_bmi088->cali_mode == BMI088_CALIBRATE_ONLINE_MODE) // 性感bmi088在线标定,耗时6s
    {
        // 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
@ -288,7 +324,7 @@ void BMI088CalibrateIMU(BMI088Instance *_bmi088)
                _bmi088->gyro_offset[2] += _bmi088->gyro[2]; // 累加当前值,最后除以calib times获得零飘
                // 因为标定时传感器静止,所以采集到的值就是漂移

-                if (i == 0)
+                if (i == 0) // 避免未定义的行为(else中)
                {
                    gNormMax = gNormTemp; // 初始化成当前的重力加速度模长
                    gNormMin = gNormTemp;
@ -340,9 +376,10 @@ void BMI088CalibrateIMU(BMI088Instance *_bmi088)
                 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); // 条件
+                 fabsf(_bmi088->gyro_offset[2]) > 0.01f); // 满足条件说明标定环境不好
    }
-    if (_bmi088->cali_mode == BMI088_LOAD_PRE_CALI_MODE) // 如果标定失败也会进来
+
+    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
    {
        // 读取标定数据
        // code to go here ...
@ -385,7 +422,23 @@ BMI088Instance *BMI088Register(BMI088_Init_Config_s *config)

    // 还有其他方案可用,比如阻塞等待传输完成,但是比较笨.

-    // 注册实例
+    // 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;
+    } // 注册实例
    bmi088_instance->spi_acc = SPIRegister(&config->spi_acc_config);
    bmi088_instance->spi_gyro = SPIRegister(&config->spi_gyro_config);
    bmi088_instance->acc_int = GPIORegister(&config->acc_int_config);
@ -396,6 +449,12 @@ BMI088Instance *BMI088Register(BMI088_Init_Config_s *config)
    error |= BMI088AccelInit(bmi088_instance);
    error |= BMI088GyroInit(bmi088_instance);

+    // 尚未标定时先设置为默认值,使得数据拼接和缩放可以正常进行
+    bmi088_instance->acc_coef = 1.0;                         // 尚未初始化时设定为1,使得BMI088Acquire可以正常使用
+    bmi088_instance->BMI088_GYRO_SEN = BMI088_GYRO_2000_SEN; // 后续改为从initTable中获取
+    bmi088_instance->BMI088_ACCEL_SEN = BMI088_ACCEL_6G_SEN; // 用宏字符串拼接
+    // bmi088->gNorm =
+
    // 标定acc和gyro
    BMI088CalibrateIMU(bmi088_instance);

--- a/modules/BMI088/bmi088.h
+++ b/modules/BMI088/bmi088.h
@ -72,19 +72,19 @@ typedef struct
        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
+        // 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;
-    BMI088_Work_Mode_e work_mode;
-    BMI088_Calibrate_Mode_e cali_mode;
    PID_Init_Config_s heat_pid_config;
    PWM_Init_Config_s heat_pwm_config;
 } BMI088_Init_Config_s;
@ -105,4 +105,12 @@ BMI088Instance *BMI088Register(BMI088_Init_Config_s *config);
 * @return BMI088_Data_t 读取到的数据
 */
 BMI088_Data_t BMI088Acquire(BMI088Instance *bmi088);
+
+/**
+ * @brief 标定传感器
+ * 
+ * @param _bmi088 待标定的实例
+ */
+void BMI088CalibrateIMU(BMI088Instance *_bmi088);
+
 #endif // !__BMI088_H__
--- a/modules/master_machine/master_process.c
+++ b/modules/master_machine/master_process.c
@ -15,7 +15,7 @@

 static Vision_Recv_s recv_data;
 // @todo:由于后续需要进行IMU-Cam的硬件触发采集控制,因此可能需要将发送设置为定时任务,或由IMU采集完成产生的中断唤醒的任务,
-// 使得时间戳对齐. 因此,在send_data中设定其他的标志位数据,让ins_task填充姿态值.
+// 后者显然更nice,使得时间戳对齐. 因此,在send_data中设定其他的标志位数据,让ins_task填充姿态值.
 // static Vision_Send_s send_data;
 static USARTInstance *vision_usart_instance;