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更新项目结构，修改自述文件

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This commit is contained in:
Huang Haoyu
2026-05-17 21:16:52 +08:00
parent bc5bd0c72e
commit a4ccd91c75
28 changed files with 129 additions and 50 deletions
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87
00-Driver/BMI088Middleware.c Normal file
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#include "BMI088Middleware.h"
#include "main.h"
extern SPI_HandleTypeDef hspi1;
void BMI088_GPIO_init(void)
{
}
void BMI088_com_init(void)
{
}
void BMI088_delay_ms(uint16_t ms)
{
while(ms--)
{
BMI088_delay_us(1000);
}
}
void BMI088_delay_us(uint16_t us)
{
uint32_t ticks = 0;
uint32_t told = 0;
uint32_t tnow = 0;
uint32_t tcnt = 0;
uint32_t reload = 0;
reload = SysTick->LOAD;
ticks = us * 168;
told = SysTick->VAL;
while (1)
{
tnow = SysTick->VAL;
if (tnow != told)
{
if (tnow < told)
{
tcnt += told - tnow;
}
else
{
tcnt += reload - tnow + told;
}
told = tnow;
if (tcnt >= ticks)
{
break;
}
}
}
}
void BMI088_ACCEL_NS_L(void)
{
HAL_GPIO_WritePin(CS1_ACCEL_GPIO_Port, CS1_ACCEL_Pin, GPIO_PIN_RESET);
}
void BMI088_ACCEL_NS_H(void)
{
HAL_GPIO_WritePin(CS1_ACCEL_GPIO_Port, CS1_ACCEL_Pin, GPIO_PIN_SET);
}
void BMI088_GYRO_NS_L(void)
{
HAL_GPIO_WritePin(CS1_GYRO_GPIO_Port, CS1_GYRO_Pin, GPIO_PIN_RESET);
}
void BMI088_GYRO_NS_H(void)
{
HAL_GPIO_WritePin(CS1_GYRO_GPIO_Port, CS1_GYRO_Pin, GPIO_PIN_SET);
}
uint8_t BMI088_read_write_byte(uint8_t txdata)
{
uint8_t rx_data;
HAL_SPI_TransmitReceive(&hspi1, &txdata, &rx_data, 1, 1000);
return rx_data;
}

20
00-Driver/BMI088Middleware.h Normal file
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#ifndef BMI088MIDDLEWARE_H
#define BMI088MIDDLEWARE_H
#include <stdint.h>
#define BMI088_USE_SPI
void BMI088_GPIO_init(void);
void BMI088_com_init(void);
void BMI088_delay_ms(uint16_t ms);
void BMI088_delay_us(uint16_t us);
void BMI088_ACCEL_NS_L(void);
void BMI088_ACCEL_NS_H(void);
void BMI088_GYRO_NS_L(void);
void BMI088_GYRO_NS_H(void);
uint8_t BMI088_read_write_byte(uint8_t reg);
#endif

243
00-Driver/BMI088driver.c Normal file
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#include "BMI088driver.h"
#include "BMI088reg.h"
#include "BMI088Middleware.h"
float BMI088_ACCEL_SEN = BMI088_ACCEL_3G_SEN;
float BMI088_GYRO_SEN = BMI088_GYRO_2000_SEN;
//加速度计读写
#define BMI088_accel_write_single_reg(reg, data) \
{ \
BMI088_ACCEL_NS_L(); \
BMI088_write_single_reg((reg), (data)); \
BMI088_ACCEL_NS_H(); \
}
#define BMI088_accel_read_single_reg(reg, data) \
{ \
BMI088_ACCEL_NS_L(); \
BMI088_read_write_byte((reg) | 0x80); \
BMI088_read_write_byte(0x55); \
(data) = BMI088_read_write_byte(0x55); \
BMI088_ACCEL_NS_H(); \
}
//#define BMI088_accel_write_muli_reg( reg, data, len) { BMI088_ACCEL_NS_L(); BMI088_write_muli_reg(reg, data, len); BMI088_ACCEL_NS_H(); }
#define BMI088_accel_read_muli_reg(reg, data, len) \
{ \
BMI088_ACCEL_NS_L(); \
BMI088_read_write_byte((reg) | 0x80); \
BMI088_read_muli_reg(reg, data, len); \
BMI088_ACCEL_NS_H(); \
}
//角速度寄存器读写函数
#define BMI088_gyro_write_single_reg(reg, data) \
{ \
BMI088_GYRO_NS_L(); \
BMI088_write_single_reg((reg), (data)); \
BMI088_GYRO_NS_H(); \
}
#define BMI088_gyro_read_single_reg(reg, data) \
{ \
BMI088_GYRO_NS_L(); \
BMI088_read_single_reg((reg), &(data)); \
BMI088_GYRO_NS_H(); \
}
//#define BMI088_gyro_write_muli_reg( reg, data, len) { BMI088_GYRO_NS_L(); BMI088_write_muli_reg( ( reg ), ( data ), ( len ) ); BMI088_GYRO_NS_H(); }
#define BMI088_gyro_read_muli_reg(reg, data, len) \
{ \
BMI088_GYRO_NS_L(); \
BMI088_read_muli_reg((reg), (data), (len)); \
BMI088_GYRO_NS_H(); \
}
static void BMI088_write_single_reg(uint8_t reg, uint8_t data);
static void BMI088_read_single_reg(uint8_t reg, uint8_t *return_data);
//static void BMI088_write_muli_reg(uint8_t reg, uint8_t* buf, uint8_t len );
static void BMI088_read_muli_reg(uint8_t reg, uint8_t *buf, uint8_t len);
//寄存器表
static uint8_t write_BMI088_accel_reg_data_error[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_3G, 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}
};
static uint8_t write_BMI088_gyro_reg_data_error[BMI088_WRITE_GYRO_REG_NUM][3] =
{
{BMI088_GYRO_RANGE, BMI088_GYRO_2000, BMI088_GYRO_RANGE_ERROR},
{BMI088_GYRO_BANDWIDTH, BMI088_GYRO_1000_116_HZ | BMI088_GYRO_BANDWIDTH_MUST_Set, BMI088_GYRO_BANDWIDTH_ERROR},
{BMI088_GYRO_LPM1, BMI088_GYRO_NORMAL_MODE, BMI088_GYRO_LPM1_ERROR},
{BMI088_GYRO_CTRL, BMI088_DRDY_ON, BMI088_GYRO_CTRL_ERROR},
{BMI088_GYRO_INT3_INT4_IO_CONF, BMI088_GYRO_INT3_GPIO_PP | BMI088_GYRO_INT3_GPIO_LOW, BMI088_GYRO_INT3_INT4_IO_CONF_ERROR},
{BMI088_GYRO_INT3_INT4_IO_MAP, BMI088_GYRO_DRDY_IO_INT3, BMI088_GYRO_INT3_INT4_IO_MAP_ERROR}
};
//初始化函数
uint8_t BMI088_init(void)
{
uint8_t error = BMI088_NO_ERROR;
// GPIO and SPI Init .
BMI088_GPIO_init();
BMI088_com_init();
error |= bmi088_accel_init();
error |= bmi088_gyro_init();
return error;
}
unsigned char bmi088_accel_init(void)
{
uint8_t res = 0;
uint8_t write_reg_num = 0;
//check commiunication
BMI088_accel_read_single_reg(BMI088_ACC_CHIP_ID, res);
BMI088_delay_us(BMI088_COM_WAIT_SENSOR_TIME);
BMI088_accel_read_single_reg(BMI088_ACC_CHIP_ID, res);
BMI088_delay_us(BMI088_COM_WAIT_SENSOR_TIME);
//accel software reset
BMI088_accel_write_single_reg(BMI088_ACC_SOFTRESET, BMI088_ACC_SOFTRESET_VALUE);
BMI088_delay_ms(BMI088_LONG_DELAY_TIME);
//check commiunication is normal after reset
BMI088_accel_read_single_reg(BMI088_ACC_CHIP_ID, res);
BMI088_delay_us(BMI088_COM_WAIT_SENSOR_TIME);
BMI088_accel_read_single_reg(BMI088_ACC_CHIP_ID, res);
BMI088_delay_us(BMI088_COM_WAIT_SENSOR_TIME);
// check the "who am I"
if (res != BMI088_ACC_CHIP_ID_VALUE)
{
return BMI088_NO_SENSOR;
}
//set accel sonsor config and check
for (write_reg_num = 0; write_reg_num < BMI088_WRITE_ACCEL_REG_NUM; write_reg_num++)
{
BMI088_accel_write_single_reg(write_BMI088_accel_reg_data_error[write_reg_num][0], write_BMI088_accel_reg_data_error[write_reg_num][1]);
BMI088_delay_us(BMI088_COM_WAIT_SENSOR_TIME);
BMI088_accel_read_single_reg(write_BMI088_accel_reg_data_error[write_reg_num][0], res);
BMI088_delay_us(BMI088_COM_WAIT_SENSOR_TIME);
if (res != write_BMI088_accel_reg_data_error[write_reg_num][1])
{
return write_BMI088_accel_reg_data_error[write_reg_num][2];
}
}
return BMI088_NO_ERROR;
}
unsigned char bmi088_gyro_init(void)
{
uint8_t write_reg_num = 0;
uint8_t res = 0;
//check commiunication
BMI088_gyro_read_single_reg(BMI088_GYRO_CHIP_ID, res);
BMI088_delay_us(BMI088_COM_WAIT_SENSOR_TIME);
BMI088_gyro_read_single_reg(BMI088_GYRO_CHIP_ID, res);
BMI088_delay_us(BMI088_COM_WAIT_SENSOR_TIME);
//reset the gyro sensor
BMI088_gyro_write_single_reg(BMI088_GYRO_SOFTRESET, BMI088_GYRO_SOFTRESET_VALUE);
BMI088_delay_ms(BMI088_LONG_DELAY_TIME);
//check commiunication is normal after reset
BMI088_gyro_read_single_reg(BMI088_GYRO_CHIP_ID, res);
BMI088_delay_us(BMI088_COM_WAIT_SENSOR_TIME);
BMI088_gyro_read_single_reg(BMI088_GYRO_CHIP_ID, res);
BMI088_delay_us(BMI088_COM_WAIT_SENSOR_TIME);
// check the "who am I"
if (res != BMI088_GYRO_CHIP_ID_VALUE)
{
return BMI088_NO_SENSOR;
}
//set gyro sonsor config and check
for (write_reg_num = 0; write_reg_num < BMI088_WRITE_GYRO_REG_NUM; write_reg_num++)
{
BMI088_gyro_write_single_reg(write_BMI088_gyro_reg_data_error[write_reg_num][0], write_BMI088_gyro_reg_data_error[write_reg_num][1]);
BMI088_delay_us(BMI088_COM_WAIT_SENSOR_TIME);
BMI088_gyro_read_single_reg(write_BMI088_gyro_reg_data_error[write_reg_num][0], res);
BMI088_delay_us(BMI088_COM_WAIT_SENSOR_TIME);
if (res != write_BMI088_gyro_reg_data_error[write_reg_num][1])
{
return write_BMI088_gyro_reg_data_error[write_reg_num][2];
}
}
return BMI088_NO_ERROR;
}
//BMI088寄存器读写函数
void BMI088_read(float gyro[3], float accel[3], float *temperate)
{
uint8_t buf[8] = {0, 0, 0, 0, 0, 0};
int16_t bmi088_raw_temp;
BMI088_accel_read_muli_reg(BMI088_ACCEL_XOUT_L, buf, 6);
bmi088_raw_temp = (int16_t)((buf[1]) << 8) | buf[0];
accel[0] = bmi088_raw_temp * BMI088_ACCEL_SEN;
bmi088_raw_temp = (int16_t)((buf[3]) << 8) | buf[2];
accel[1] = bmi088_raw_temp * BMI088_ACCEL_SEN;
bmi088_raw_temp = (int16_t)((buf[5]) << 8) | buf[4];
accel[2] = bmi088_raw_temp * BMI088_ACCEL_SEN;
BMI088_gyro_read_muli_reg(BMI088_GYRO_CHIP_ID, buf, 8);
if(buf[0] == BMI088_GYRO_CHIP_ID_VALUE)
{
bmi088_raw_temp = (int16_t)((buf[3]) << 8) | buf[2];
gyro[0] = bmi088_raw_temp * BMI088_GYRO_SEN;
bmi088_raw_temp = (int16_t)((buf[5]) << 8) | buf[4];
gyro[1] = bmi088_raw_temp * BMI088_GYRO_SEN;
bmi088_raw_temp = (int16_t)((buf[7]) << 8) | buf[6];
gyro[2] = bmi088_raw_temp * BMI088_GYRO_SEN;
}
BMI088_accel_read_muli_reg(BMI088_TEMP_M, buf, 2);
bmi088_raw_temp = (int16_t)((buf[0] << 3) | (buf[1] >> 5));
if (bmi088_raw_temp > 1023)
{
bmi088_raw_temp -= 2048;
}
*temperate = bmi088_raw_temp * BMI088_TEMP_FACTOR + BMI088_TEMP_OFFSET;
}
static void BMI088_write_single_reg(uint8_t reg, uint8_t data)
{
BMI088_read_write_byte(reg);
BMI088_read_write_byte(data);
}
static void BMI088_read_single_reg(uint8_t reg, uint8_t *return_data)
{
BMI088_read_write_byte(reg | 0x80);
*return_data = BMI088_read_write_byte(0x55);
}
static void BMI088_read_muli_reg(uint8_t reg, uint8_t *buf, uint8_t len)
{
BMI088_read_write_byte(reg | 0x80);
while (len != 0)
{
*buf = BMI088_read_write_byte(0x55);
buf++;
len--;
}
}

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00-Driver/BMI088driver.h Normal file
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#ifndef BMI088DRIVER_H
#define BMI088DRIVER_H
#include <stdint.h>
#include "main.h" // 包含 HAL 库等基础定义
// 温度计算参数（来自 BMI088 数据手册）
#define BMI088_TEMP_FACTOR 0.125f // 温度分辨率：0.125°C/LSB
#define BMI088_TEMP_OFFSET 23.0f // 温度偏移：0 LSB 对应 23°C
// 配置寄存器数量（用于初始化校验）
#define BMI088_WRITE_ACCEL_REG_NUM 6 // 加速度计需配置的寄存器个数
#define BMI088_WRITE_GYRO_REG_NUM 6 // 陀螺仪需配置的寄存器个数
// 数据就绪状态位（用于多传感器同步）
#define BMI088_GYRO_DATA_READY_BIT 0 // 陀螺仪数据就绪标志位
#define BMI088_ACCEL_DATA_READY_BIT 1 // 加速度计数据就绪标志位
#define BMI088_ACCEL_TEMP_DATA_READY_BIT 2 // 加速度计温度数据就绪标志位
// 延时参数（单位：毫秒 / 微秒）
#define BMI088_LONG_DELAY_TIME 80 // 软件复位后所需长延时（ms）
#define BMI088_COM_WAIT_SENSOR_TIME 150 // 寄存器写入后等待传感器响应时间（us）
// I²C 地址（实际使用 SPI，此处可能为遗留定义或备用）
// 注意：BMI088 通常通过 SPI 通信，I²C 地址在此驱动中未使用
#define BMI088_ACCEL_IIC_ADDRESSE (0x18 << 1) // 加速度计 I²C 地址（7-bit 左移1位）
#define BMI088_GYRO_IIC_ADDRESSE (0x68 << 1) // 陀螺仪 I²C 地址
// 量程选择（取消注释以切换量程，当前启用 3G / 2000°/s）
// 注意：灵敏度（SEN）必须与量程匹配！
#define BMI088_ACCEL_RANGE_3G
// #define BMI088_ACCEL_RANGE_6G
// #define BMI088_ACCEL_RANGE_12G
// #define BMI088_ACCEL_RANGE_24G
#define BMI088_GYRO_RANGE_2000
// #define BMI088_GYRO_RANGE_1000
// #define BMI088_GYRO_RANGE_500
// #define BMI088_GYRO_RANGE_250
// #define BMI088_GYRO_RANGE_125
// 灵敏度系数（单位转换：LSB → 物理单位）
// 根据所选量程自动使用对应的 SEN 值
// - 加速度单位：m/s² （注意：部分系统用 g，需确认）
// - 角速度单位：rad/s （若需 °/s，需额外转换）
// 加速度计灵敏度（m/s² per LSB）
#define BMI088_ACCEL_3G_SEN 0.0008974358974f // ±3g 量程
#define BMI088_ACCEL_6G_SEN 0.00179443359375f // ±6g
#define BMI088_ACCEL_12G_SEN 0.0035888671875f // ±12g
#define BMI088_ACCEL_24G_SEN 0.007177734375f // ±24g
// 陀螺仪灵敏度（rad/s per LSB）
#define BMI088_GYRO_2000_SEN 0.00106526443603169529841533860381f // ±2000°/s
#define BMI088_GYRO_1000_SEN 0.00053263221801584764920766930190693f // ±1000°/s
#define BMI088_GYRO_500_SEN 0.00026631610900792382460383465095346f // ±500°/s
#define BMI088_GYRO_250_SEN 0.00013315805450396191230191732547673f // ±250°/s
#define BMI088_GYRO_125_SEN 0.000066579027251980956150958662738366f // ±125°/s
// 原始数据结构体（直接从传感器读取的16位整型数据）
// 使用 __packed 防止编译器对齐填充，确保内存布局紧凑
typedef __packed struct BMI088_RAW_DATA
{
uint8_t status; // 状态字节（如数据就绪标志）
int16_t accel[3]; // 加速度原始值 [X, Y, Z]
int16_t temp; // 温度原始值
int16_t gyro[3]; // 陀螺仪原始值 [X, Y, Z]
} bmi088_raw_data_t;
// 物理数据结构体（转换后的浮点型物理量）
typedef struct BMI088_REAL_DATA
{
uint8_t status; // 状态字节
float accel[3]; // 加速度 (m/s²)
float temp; // 温度 (°C)
float gyro[3]; // 角速度 (rad/s)
float time; // 时间戳（秒，可由 HAL_GetTick() 转换）
} bmi088_real_data_t;
// 错误码定义（用于初始化返回值）
// 高位用于标识模块，低位用于具体错误
enum
{
BMI088_NO_ERROR = 0x00, // 无错误
// 加速度计配置错误
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,
// 陀螺仪配置错误
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,
// 自检错误（高位标志）
BMI088_SELF_TEST_ACCEL_ERROR = 0x80, // 加速度计自检失败
BMI088_SELF_TEST_GYRO_ERROR = 0x40, // 陀螺仪自检失败
// 严重错误
BMI088_NO_SENSOR = 0xFF, // 未检测到传感器（ID 不匹配）
};
// 公共函数声明
/**
* @brief 初始化 BMI088（加速度计 + 陀螺仪）
* @return 错误码（0 表示成功，非0表示具体错误）
*/
uint8_t BMI088_init(void);
/**
* @brief 单独初始化加速度计
* @return 错误码
*/
unsigned char bmi088_accel_init(void);
/**
* @brief 单独初始化陀螺仪
* @return 错误码
*/
unsigned char bmi088_gyro_init(void);
/**
* @brief 读取 BMI088 传感器数据
* @param gyro[3] 输出：陀螺仪角速度（单位由 BMI088_GYRO_xxx_SEN 决定，通常为 rad/s）
* @param accel[3] 输出：加速度（单位由 BMI088_ACCEL_xxx_SEN 决定，通常为 m/s²）
* @param temperate 输出：温度（°C）
*
* @note 此函数内部已处理片选、SPI 通信、数据解析
*/
void BMI088_read(float gyro[3], float accel[3], float *temperate);
#endif // BMI088DRIVER_H

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#ifndef BMI088REG_H
#define BMI088REG_H
#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)
#endif

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#include "bsp_can.h"
#include "main.h"
#include "Motor.h"
//===============变量区
extern CAN_HandleTypeDef hcan1;
extern CAN_HandleTypeDef hcan2;
//===============公共函数
void Can_Filter_Init(void)
{
CAN_FilterTypeDef can_filter_st;
can_filter_st.FilterActivation = ENABLE;
can_filter_st.FilterMode = CAN_FILTERMODE_IDMASK;//CAN_FILTERMODE_IDLIST//CAN_FILTERMODE_IDMASK
can_filter_st.FilterScale = CAN_FILTERSCALE_16BIT;
can_filter_st.FilterIdHigh = 0x0000; //(0x207<<5)
can_filter_st.FilterIdLow = 0x0000;
can_filter_st.FilterMaskIdHigh = 0x0000;//(0x1FF<<5)
can_filter_st.FilterMaskIdLow = 0x0000;
can_filter_st.FilterBank = 0;
can_filter_st.FilterFIFOAssignment = CAN_RX_FIFO0;
HAL_CAN_ConfigFilter(&hcan1, &can_filter_st);
HAL_CAN_Start(&hcan1);
HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);
can_filter_st.SlaveStartFilterBank = 14;
can_filter_st.FilterBank = 14;
HAL_CAN_ConfigFilter(&hcan2, &can_filter_st);
HAL_CAN_Start(&hcan2);
HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING);
}
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
CAN_RxHeaderTypeDef rx_header;
uint8_t rx_data[8];
// 读取接收到的消息
if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rx_header, rx_data) != HAL_OK)
return; // 安全检查
// 只处理标准帧
if (rx_header.IDE != CAN_ID_STD)
return;
// 根据 CAN 外设实例区分总线
if (hcan == &hcan1)
{
switch (rx_header.StdId)
{
case 0x201:
CAN1_M3508_DataProcess(0x201,rx_data);break;
case 0x202:
CAN1_M3508_DataProcess(0x202,rx_data);break;
case 0x203:
CAN1_M3508_DataProcess(0x203,rx_data);break;
case 0x204:
CAN1_M3508_DataProcess(0x204,rx_data);break;
case 0x205:
break;
case 0x206:
break;
case 0x207:
break;
case 0x208:
break;
default:
{
break;
}
}
}
else if (hcan == &hcan2)
{
switch (rx_header.StdId)
{
case 0x201:
break;
case 0x202:
break;
case 0x203:
break;
case 0x204:
break;
case 0x205:
CAN2_M6020_DataProcess(0x205,rx_data);break;
case 0x206:
CAN2_M6020_DataProcess(0x206,rx_data);break;
case 0x207:
break;
case 0x208:
break;
case 0x149:
CToC_CANDataProcess(0x149,rx_data);break;
default:
{
break;
}
}
}
}

10
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#ifndef BSP_CAN_H
#define BSP_CAN_H
#include <stdint.h>
#include "Motor.h"
#include "Chassis_CtoC.h"
void Can_Filter_Init(void);
#endif

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#include "BSP_USART.h"
#include "usart.h"
#include "main.h"
extern UART_HandleTypeDef huart1; //usart.c
extern DMA_HandleTypeDef hdma_usart1_tx; //usart.c
extern UART_HandleTypeDef huart3; //usart.c
extern DMA_HandleTypeDef hdma_usart3_rx; //usart.c
void UART2_TxDma_Init(void)
{
//enable the DMA transfer for the receiver request
SET_BIT(huart1.Instance->CR3, USART_CR3_DMAT);
}
void UART2_TxDma_Enable(uint8_t *data, uint16_t len)
{
//disable DMA
__HAL_DMA_DISABLE(&hdma_usart1_tx);
while(hdma_usart1_tx.Instance->CR & DMA_SxCR_EN)
{
__HAL_DMA_DISABLE(&hdma_usart1_tx);
}
//clear flag
__HAL_DMA_CLEAR_FLAG(&hdma_usart1_tx, DMA_HISR_TCIF7);
__HAL_DMA_CLEAR_FLAG(&hdma_usart1_tx, DMA_HISR_HTIF7);
//set data address
hdma_usart1_tx.Instance->M0AR = (uint32_t)(data);
//set data length
hdma_usart1_tx.Instance->NDTR = len;
//enable DMA
__HAL_DMA_ENABLE(&hdma_usart1_tx);
}
void UART2_SendByte(uint8_t Byte)
{
HAL_UART_Transmit(&huart1, &Byte, 1, 0xFFFF);
}
void UART2_SendArray(uint8_t *Array,uint16_t Length)
{
for(uint16_t i=0;i<Length;i++)
UART2_SendByte(Array[i]);
}
void UART2_SendString(char *String)
{
for(uint8_t i=0;String[i]!='\0';i++)
UART2_SendByte(String[i]);//依次发送字符串的每一位
}
void UART2_SendNumber(uint32_t Number,uint8_t Length)
{
for(uint8_t i=0;i<Length;i++)
UART2_SendByte(Number/USART_Pow(10,Length-i-1)%10+'0');//以文本形式发送数字每一位
}
void UART2_SendNumber_Sign(int32_t Number, uint8_t Length)
{
// 处理负数
if (Number < 0) {
UART2_SendByte('-');
Number = -Number; // 转为正数（注意：INT32_MIN 有边界问题，见下方说明）
}
// 发送每一位数字
for (uint8_t i = 0; i < Length; i++) {
// 计算当前位的除数（10^(Length - i - 1)）
uint32_t divisor = 1;
for (uint8_t j = 0; j < Length - i - 1; j++) {
divisor *= 10;
}
uint8_t digit = (Number / divisor) % 10;
UART2_SendByte(digit + '0');
}
}
void UART2_SendFloat_Sign(float value, uint8_t decimal_places)
{
char buffer[32]; // 足够容纳 -123456.789\0
// 安全格式化：防止缓冲区溢出
int len = snprintf(buffer, sizeof(buffer), "%.*f", decimal_places, value);
// 防止 snprintf 出错（返回负数或超长）
if (len < 0 || len >= (int)sizeof(buffer)) {
UART2_SendString("ERR_FLOAT");
return;
}
// 发送字符串
for (int i = 0; i < len; i++) {
UART2_SendByte(buffer[i]);
}
}
uint32_t USART_Pow(uint32_t X, uint32_t Y)
{
uint32_t Result = 1;
while(Y--)
{
Result *= X;
}
return Result;
}
void DBUS_DMA_Init(uint8_t *rx1_buf, uint8_t *rx2_buf, uint16_t dma_buf_num)
{
//enable the DMA transfer for the receiver request
SET_BIT(huart3.Instance->CR3, USART_CR3_DMAR);
//enalbe idle interrupt
__HAL_UART_ENABLE_IT(&huart3, UART_IT_IDLE);
//disable DMA
__HAL_DMA_DISABLE(&hdma_usart3_rx);
while(hdma_usart3_rx.Instance->CR & DMA_SxCR_EN)
{
__HAL_DMA_DISABLE(&hdma_usart3_rx);
}
hdma_usart3_rx.Instance->PAR = (uint32_t) & (USART3->DR);
//memory buffer 1
hdma_usart3_rx.Instance->M0AR = (uint32_t)(rx1_buf);
//memory buffer 2
hdma_usart3_rx.Instance->M1AR = (uint32_t)(rx2_buf);
//data length
hdma_usart3_rx.Instance->NDTR = dma_buf_num;
//enable double memory buffer
SET_BIT(hdma_usart3_rx.Instance->CR, DMA_SxCR_DBM);
//enable DMA
__HAL_DMA_ENABLE(&hdma_usart3_rx);
}

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#ifndef BSP_USART_H
#define BSP_USART_H
#include <stdint.h>
#include <stdio.h>
#include <string.h>
//板子上的usart2，不是外设usart2
void UART2_TxDma_Init(void);
void UART2_TxDma_Enable(uint8_t *data, uint16_t len);
void UART2_SendByte (uint8_t Byte);
void UART2_SendArray (uint8_t *Array,uint16_t Length);
void UART2_SendString (char *String);
void UART2_SendNumber (uint32_t Number,uint8_t Length);
void UART2_SendNumber_Sign(int32_t Number, uint8_t Length);
void UART2_SendFloat_Sign(float value, uint8_t decimal_places);
//void UART2_Printf(char *format,...);
uint32_t USART_Pow(uint32_t X, uint32_t Y);
//uint8_t UART2_GetRxFlag(void);
void DBUS_DMA_Init(uint8_t *rx1_buf, uint8_t *rx2_buf, uint16_t dma_buf_num);
#endif

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#ifndef __PARAMETER_H
#define __PARAMETER_H
/*=============================================数学参数=============================================*/
#define PI 3.141592653589793238462643383279f
/*=============================================结构参数=============================================*/
/*=============================================麦轮参数=============================================*/
#define Mecanum_WheelRadius 7.0f//麦轮半径(单位cm)
#define Mecanum_rx 24.00f//底盘中心到轮子中心的距离的x轴分量(单位cm)
#define Mecanum_ry 24.00f//底盘中心到轮子中心的距离的y轴分量(单位cm)
/*=============================================电机参数=============================================*/
#define M3508_MotorReductionRatio 19.0f//麦轮电机减速比
#define M3508_Encoder 8191.0f//麦轮电机编码器
#define M6020_MotorReductionRatio 36.0f//云台电机减速比
#define M6020_Encoder 8191.0f//云台电机编码器
#endif