更新项目结构，修改自述文件

2026-05-17 21:16:52 +08:00
parent bc5bd0c72e
commit a4ccd91c75
28 changed files with 129 additions and 50 deletions
--- a/00-Driver/BMI088Middleware.c
+++ b/00-Driver/BMI088Middleware.c
@@ -0,0 +1,87 @@
+#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;
+}
+