chore: 导入 Simba-OmniInfantry 基线(云台/底盘双工程)

- 云台(ROBOT_TYPE_GIMBAL)与底盘(ROBOT_TYPE_CHASSIS)完整固件源码 - 新增根级 .gitignore,排除 Keil MDK-ARM 构建产物(.o/.d/.crf/.axf/.lnp/.map/.htm/.sct/.dep/.iex/.lst 等) 与 *.uvguix.* / DebugConfig/(与机器绑定的 UI 布局) - core.autocrlf=false,避免固件源码在检出时被改动换行符
2026-09-12 10:28:21 +08:00
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+/* =============================================================================
+ * bmi088.c - C 板板载六轴 IMU BMI088 驱动(HAL 版,架构与 legacy 一致)
+ * 初始化(bmi088_init,任务上下文):
+ *   1. 先关 EXTI4/EXTI9_5 NVIC(数据就绪中断若在初始化期间触发 DMA 读,
+ *      会把 SPI 永久占在 BUSY,导致读 ID 全部失败--疯转/绿灯闪的根因)
+ *   2. 重配 SPI1 为模式3(CPOL=1,CPHA=2边沿)/16 分频(5.25MHz,
+ *      CubeMX 生成的是模式0/2分频 42MHz,BMI088 不支持)
+ *   3. 有界重试读 ID(acc=0x1E, gyro=0x0F),成功后按 legacy 序列配置寄存器
+ *   4. 清 EXTI 挂起标志后放行中断
+ * 运行:  EXTI 下降沿 -> start_dma_read() SPI DMA 读取 -> TxRx 完成回调解析
+ *        (加速度 8 字节 -> 链式读温度 4 字节;陀螺 7 字节),量程 ±3g/±2000dps
+ * ========================================================================== */
+#include "bmi088.h"
+#include "main.h"
+#include "spi.h"
+#include "led.h"
+
+/* ---- 寄存器(与 legacy 一致) ---- */
+#define BMI088_ACC_CHIP_ID 0x00
+#define BMI088_ACC_PWR_CTRL 0x7D
+#define BMI088_ACC_PWR_CONF 0x7C
+#define BMI088_ACC_CONF 0x40
+#define BMI088_ACC_RANGE 0x41
+#define BMI088_INT1_IO_CONF 0x53
+#define BMI088_INT1_INT2_MAP_DATA 0x58
+#define BMI088_ACC_SOFTRESET 0x7E
+#define BMI088_ACC_DATA_START 0x12
+#define BMI088_ACC_TEMP_MSB 0x22
+
+#define BMI088_GYRO_CHIP_ID 0x00
+#define BMI088_GYRO_RANGE 0x0F
+#define BMI088_GYRO_BANDWIDTH 0x10
+#define BMI088_GYRO_LPM1 0x11
+#define BMI088_GYRO_INT_CTRL 0x15
+#define BMI088_INT3_INT4_IO_CONF 0x16
+#define BMI088_INT3_INT4_IO_MAP 0x18
+#define BMI088_GYRO_SOFTRESET 0x14
+#define BMI088_GYRO_DATA_START 0x02
+
+#define BMI088_ACC_ID_VALUE 0x1E
+#define BMI088_GYRO_ID_VALUE 0x0F
+
+#define BMI088_CS_ACC(x) HAL_GPIO_WritePin(CS1_ACCEL_GPIO_Port, CS1_ACCEL_Pin, (x) ? GPIO_PIN_SET : GPIO_PIN_RESET)
+#define BMI088_CS_GYRO(x) HAL_GPIO_WritePin(CS1_GYRO_GPIO_Port, CS1_GYRO_Pin, (x) ? GPIO_PIN_SET : GPIO_PIN_RESET)
+
+float bmi088_accel[3];
+float bmi088_gyro[3];
+float bmi088_temperature;
+uint8_t bmi088_online = 0;
+uint8_t bmi088_last_acc_id = 0;
+uint8_t bmi088_last_gyro_id = 0;
+
+static uint8_t spi_tx_buf[8];
+static uint8_t spi_rx_buf[8];
+
+/* 读数阶段(当前 SPI DMA 正在搬运的数据类型) */
+typedef enum
+{
+    BMI088_PHASE_NONE = 0,
+    BMI088_PHASE_ACCEL,
+    BMI088_PHASE_TEMP,
+    BMI088_PHASE_GYRO,
+} bmi088_phase_e;
+
+static volatile bmi088_phase_e read_phase = BMI088_PHASE_NONE;
+
+extern SPI_HandleTypeDef hspi1;
+
+/* ---- 阻塞式寄存器读写 ---- */
+
+static void accel_write_reg(uint8_t reg, uint8_t data)
+{
+    uint8_t tx[2] = {(uint8_t)(reg & 0x7F), data};
+    BMI088_CS_ACC(0);
+    HAL_SPI_TransmitReceive(&hspi1, tx, spi_rx_buf, 2, 10);
+    BMI088_CS_ACC(1);
+}
+
+static uint8_t accel_read_reg(uint8_t reg)
+{
+    uint8_t tx[3] = {(uint8_t)(reg | 0x80), 0x00, 0x00};  // 加速度计首字节回读为乱码
+    uint8_t rx[3];
+    BMI088_CS_ACC(0);
+    HAL_SPI_TransmitReceive(&hspi1, tx, rx, 3, 10);
+    BMI088_CS_ACC(1);
+    return rx[2];
+}
+
+static void gyro_write_reg(uint8_t reg, uint8_t data)
+{
+    uint8_t tx[2] = {(uint8_t)(reg & 0x7F), data};
+    BMI088_CS_GYRO(0);
+    HAL_SPI_TransmitReceive(&hspi1, tx, spi_rx_buf, 2, 10);
+    BMI088_CS_GYRO(1);
+}
+
+static uint8_t gyro_read_reg(uint8_t reg)
+{
+    uint8_t tx[2] = {(uint8_t)(reg | 0x80), 0x00};
+    uint8_t rx[2];
+    BMI088_CS_GYRO(0);
+    HAL_SPI_TransmitReceive(&hspi1, tx, rx, 2, 10);
+    BMI088_CS_GYRO(1);
+    return rx[1];
+}
+
+/* ---- 数据解析(换算系数与 legacy 一致) ---- */
+
+static void process_accel(void)
+{
+    int16_t raw[3];
+    raw[0] = (int16_t)(((uint16_t)spi_rx_buf[3] << 8) | spi_rx_buf[2]);
+    raw[1] = (int16_t)(((uint16_t)spi_rx_buf[5] << 8) | spi_rx_buf[4]);
+    raw[2] = (int16_t)(((uint16_t)spi_rx_buf[7] << 8) | spi_rx_buf[6]);
+    bmi088_accel[0] = raw[0] * 0.0008974358974f;  // (raw/32768*3)*9.8
+    bmi088_accel[1] = raw[1] * 0.0008974358974f;
+    bmi088_accel[2] = raw[2] * 0.0008974358974f;
+}
+
+static void process_temperature(void)
+{
+    uint16_t raw = ((uint16_t)spi_rx_buf[2] << 3) | (spi_rx_buf[3] >> 5);  // 11bits
+    int16_t temp = (raw > 1023) ? (int16_t)(raw - 2048) : (int16_t)raw;
+    bmi088_temperature = temp * 0.125f + 23.0f;
+}
+
+static void process_gyro(void)
+{
+    int16_t raw[3];
+    raw[0] = (int16_t)(((uint16_t)spi_rx_buf[2] << 8) | spi_rx_buf[1]);
+    raw[1] = (int16_t)(((uint16_t)spi_rx_buf[4] << 8) | spi_rx_buf[3]);
+    raw[2] = (int16_t)(((uint16_t)spi_rx_buf[6] << 8) | spi_rx_buf[5]);
+    bmi088_gyro[0] = raw[0] * 0.0010652644360316952f;  // (raw/32768*2000)/180*π
+    bmi088_gyro[1] = raw[1] * 0.0010652644360316952f;
+    bmi088_gyro[2] = raw[2] * 0.0010652644360316952f;
+}
+
+/* 启动一次 SPI DMA 读(若 SPI 忙则丢弃本次,等下一个数据就绪沿) */
+static void start_dma_read(bmi088_phase_e phase, uint8_t reg, uint8_t len)
+{
+    if (HAL_SPI_GetState(&hspi1) != HAL_SPI_STATE_READY)
+        return;
+    read_phase = phase;
+    spi_tx_buf[0] = (uint8_t)(reg | 0x80);
+    for (uint8_t i = 1; i < len; i++)
+        spi_tx_buf[i] = 0x00;
+
+    if (phase == BMI088_PHASE_ACCEL || phase == BMI088_PHASE_TEMP)
+        BMI088_CS_ACC(0);
+    else
+        BMI088_CS_GYRO(0);
+
+    HAL_SPI_TransmitReceive_DMA(&hspi1, spi_tx_buf, spi_rx_buf, len);
+}
+
+/* ---- 初始化 ---- */
+
+static void error_blink(void)
+{
+    /* BMI088 连接异常报警:绿灯连闪两下(经 TIM5 PWM,引脚在复用模式下
+     * 直接写 GPIO 寄存器无效,必须走 LED 模块) */
+    static uint8_t counter = 0;
+    counter++;
+    if (counter == 1)
+        led_set_green(1);
+    else if (counter == 5)
+        led_set_green(0);
+    else if (counter == 13)
+        led_set_green(1);
+    else if (counter == 17)
+        led_set_green(0);
+    else if (counter == 40)
+        counter = 0;
+    HAL_Delay(25);
+}
+
+void bmi088_init(void)
+{
+    /* 关键:数据就绪中断(EXTI)在芯片上电后就会持续触发,若不屏蔽,
+     * EXTI 回调里的 SPI DMA 读会把 SPI 永远占在 BUSY,初始化的阻塞式
+     * 读 ID 全部失败(legacy 靠初始化期间关闭同款 NVIC 规避,此处一致) */
+    HAL_NVIC_DisableIRQ(EXTI4_IRQn);
+    HAL_NVIC_DisableIRQ(EXTI9_5_IRQn);
+
+    /* CubeMX 生成的 SPI1 为模式0/2分频(42MHz),BMI088 需要模式3 且 <=10MHz,
+     * 此处重新配置为模式3/16分频(5.25MHz,与 legacy 相同) */
+    HAL_SPI_DeInit(&hspi1);
+    hspi1.Init.CLKPolarity = SPI_POLARITY_HIGH;
+    hspi1.Init.CLKPhase = SPI_PHASE_2EDGE;
+    hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_16;
+    if (HAL_SPI_Init(&hspi1) != HAL_OK)
+        return;  // 放弃本次初始化,保持系统可运行
+
+    BMI088_CS_ACC(1);
+    BMI088_CS_GYRO(1);
+
+    /* 检测 ID 并配置寄存器(与 legacy 序列一致)
+     * 有界重试:最多 40 次(约 1s),失败则放弃并保持系统可运行 */
+    for (uint8_t retry = 0; retry < 40; retry++)
+    {
+        bmi088_last_acc_id = accel_read_reg(BMI088_ACC_CHIP_ID);
+        bmi088_last_gyro_id = gyro_read_reg(BMI088_GYRO_CHIP_ID);
+        if (bmi088_last_acc_id == BMI088_ACC_ID_VALUE &&
+            bmi088_last_gyro_id == BMI088_GYRO_ID_VALUE)
+        {
+            bmi088_online = 1;
+            accel_write_reg(BMI088_ACC_SOFTRESET, 0xB6);
+            HAL_Delay(1);  // 加速度计软重启 1ms
+            gyro_write_reg(BMI088_GYRO_SOFTRESET, 0xB6);
+            HAL_Delay(30);  // 陀螺仪软重启 30ms
+
+            accel_read_reg(BMI088_ACC_CHIP_ID);  // 软重启后首笔读写有 bug,丢弃
+            gyro_read_reg(BMI088_GYRO_CHIP_ID);
+
+            accel_write_reg(BMI088_ACC_PWR_CTRL, 0x04);
+            HAL_Delay(1);  // 上电等待(legacy 300us,放宽到 1ms)
+            accel_write_reg(BMI088_ACC_PWR_CONF, 0x00);
+            HAL_Delay(1);
+            accel_write_reg(BMI088_ACC_CONF, 0xAB);   // 800Hz ODR,正常低通
+            HAL_Delay(1);
+            accel_write_reg(BMI088_ACC_RANGE, 0x00);  // ±3g
+            HAL_Delay(1);
+            accel_write_reg(BMI088_INT1_IO_CONF, 0x08);   // INT1 推挽,低有效
+            HAL_Delay(1);
+            accel_write_reg(BMI088_INT1_INT2_MAP_DATA, 0x04);  // INT1=数据就绪
+            HAL_Delay(1);
+
+            gyro_write_reg(BMI088_GYRO_RANGE, 0x00);      // ±2000°/s
+            HAL_Delay(1);
+            gyro_write_reg(BMI088_GYRO_BANDWIDTH, 0x82);  // 116Hz 带宽,1kHz ODR
+            HAL_Delay(1);
+            gyro_write_reg(BMI088_GYRO_LPM1, 0x00);       // 正常模式
+            HAL_Delay(1);
+            gyro_write_reg(BMI088_GYRO_INT_CTRL, 0x80);   // 使能数据就绪中断
+            HAL_Delay(1);
+            gyro_write_reg(BMI088_INT3_INT4_IO_CONF, 0x00);  // INT3 推挽,低有效
+            HAL_Delay(1);
+            gyro_write_reg(BMI088_INT3_INT4_IO_MAP, 0x01);   // INT3=数据就绪
+            HAL_Delay(1);
+            break;
+        }
+        error_blink();
+    }
+
+    /* 配置成功后清除挂起的数据就绪标志,再放行 EXTI 中断 */
+    if (bmi088_online)
+    {
+        __HAL_GPIO_EXTI_CLEAR_IT(INT1_ACCEL_Pin);
+        __HAL_GPIO_EXTI_CLEAR_IT(INT1_GYRO_Pin);
+        HAL_NVIC_EnableIRQ(EXTI4_IRQn);
+        HAL_NVIC_EnableIRQ(EXTI9_5_IRQn);
+    }
+}
+
+/* ---- 中断回调 ---- */
+
+/* EXTI4(加速度计数据就绪)/ EXTI5(陀螺仪数据就绪) */
+void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
+{
+    if (!bmi088_online)
+        return;  // 初始化完成前不启动 DMA 读,避免占用 SPI
+
+    if (GPIO_Pin == INT1_ACCEL_Pin)
+    {
+        if (read_phase == BMI088_PHASE_NONE)
+            start_dma_read(BMI088_PHASE_ACCEL, BMI088_ACC_DATA_START, 8);
+    }
+    else if (GPIO_Pin == INT1_GYRO_Pin)
+    {
+        if (read_phase == BMI088_PHASE_NONE)
+            start_dma_read(BMI088_PHASE_GYRO, BMI088_GYRO_DATA_START, 7);
+    }
+}
+
+/* SPI 收发完成 */
+void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef * hspi)
+{
+    if (hspi->Instance != SPI1)
+        return;
+
+    switch (read_phase)
+    {
+        case BMI088_PHASE_ACCEL:
+            BMI088_CS_ACC(1);
+            process_accel();
+            read_phase = BMI088_PHASE_NONE;
+            start_dma_read(BMI088_PHASE_TEMP, BMI088_ACC_TEMP_MSB, 4);  // 链式读取温度
+            break;
+
+        case BMI088_PHASE_TEMP:
+            BMI088_CS_ACC(1);
+            process_temperature();
+            read_phase = BMI088_PHASE_NONE;
+            break;
+
+        case BMI088_PHASE_GYRO:
+            BMI088_CS_GYRO(1);
+            process_gyro();
+            read_phase = BMI088_PHASE_NONE;
+            break;
+
+        default:
+            break;
+    }
+}