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
commit a4da5ad17c
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+/* =============================================================================
+ * ist8310.c - C 板板载磁力计 IST8310 —— 硬件 I2C3 版
+ * 总线:  I2C3(PA8=SCL, PC9=SDA, CubeMX 已配置 100kHz 标准模式),
+ *        替代 legacy 的软件模拟 I2C 与早期移植版的 bsp_i2c_soft
+ * 初始化: 必须先把 RSTN(PG6) 拉高再检测——CubeMX 默认输出低电平会把芯片
+ *         按在复位态,WHO_AM_I(0x10) 永远读不到(绿灯慢闪的根因);
+ *         之后配置 CNTL1(连续 200Hz)/CNTL2(DRDY 下降沿)/AVGCNTL(4 次平均)
+ * 数据:   ist8310_poll() 每 5ms 阻塞读一次 6 字节(约 0.7ms@100kHz),
+ *         由 IMU_Task 调用;DRDY(EXTI3) 不再使用(数据仅做健康监测与
+ *         9 轴扩展预留,无需中断实时性)
+ * 报警:   检测失败/连续读失败 -> 绿灯慢闪(见 monitor_task)
+ * ========================================================================== */
+#include "ist8310.h"
+#include "i2c.h"
+#include "main.h"
+#include "led.h"
+
+#define IST8310_ADDR (0x0E << 1)  // 7 位地址 0x0E,HAL 使用 8 位格式
+
+#define IST8310_WHO_AM_I 0x00
+#define IST8310_CNTL1 0x0A
+#define IST8310_CNTL2 0x0B
+#define IST8310_AVGCNTL 0x41
+#define IST8310_PDCNTL 0x42
+#define IST8310_DATA_START 0x03
+
+#define IST8310_WHO_AM_I_VALUE 0x10
+
+#define IST8310_POLL_PERIOD_MS 5  // 200Hz 读取节奏
+
+float ist8310_magnetic_field[3];
+float ist8310_temperature;
+uint8_t ist8310_online = 0;
+uint8_t ist8310_last_who = 0;
+
+static uint8_t raw_buf[6];
+static uint8_t read_error_count = 0;  // 连续读失败计数(运行中总线异常监测)
+
+/* RSTN(PG6):低电平复位芯片,每次改变需等待生效 */
+static void ist8310_rstn(uint8_t level)
+{
+    HAL_GPIO_WritePin(RSTN_IST8310_GPIO_Port, RSTN_IST8310_Pin,
+                      level ? GPIO_PIN_SET : GPIO_PIN_RESET);
+    HAL_Delay(1);
+}
+
+static uint8_t ist8310_read_who(void)
+{
+    uint8_t who = 0;
+    if (HAL_I2C_Mem_Read(&hi2c3, IST8310_ADDR, IST8310_WHO_AM_I,
+                         I2C_MEMADD_SIZE_8BIT, &who, 1, 10) != HAL_OK)
+        return 0;
+    return who;
+}
+
+void ist8310_init(void)
+{
+    /* 关键:先释放 RSTN(CubeMX 默认输出低电平会把芯片按在复位态,
+     * WHO_AM_I 将永远读不到) */
+    HAL_GPIO_WritePin(RSTN_IST8310_GPIO_Port, RSTN_IST8310_Pin, GPIO_PIN_SET);
+    HAL_Delay(2);
+
+    /* 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++)
+    {
+        ist8310_last_who = ist8310_read_who();
+        if (ist8310_last_who == IST8310_WHO_AM_I_VALUE)
+        {
+            ist8310_online = 1;
+            HAL_I2C_Mem_Write(&hi2c3, IST8310_ADDR, IST8310_CNTL1,
+                              I2C_MEMADD_SIZE_8BIT, (uint8_t[]){0x03}, 1, 10);  // 连续模式 200Hz
+            HAL_I2C_Mem_Write(&hi2c3, IST8310_ADDR, IST8310_CNTL2,
+                              I2C_MEMADD_SIZE_8BIT, (uint8_t[]){0x08}, 1, 10);  // DRDY 下降沿
+            HAL_I2C_Mem_Write(&hi2c3, IST8310_ADDR, IST8310_AVGCNTL,
+                              I2C_MEMADD_SIZE_8BIT, (uint8_t[]){0x12}, 1, 10);  // 4 次采样平均
+            HAL_I2C_Mem_Write(&hi2c3, IST8310_ADDR, IST8310_PDCNTL,
+                              I2C_MEMADD_SIZE_8BIT, (uint8_t[]){0xC0}, 1, 10);  // 正常脉冲时长
+            ist8310_rstn(0);
+            ist8310_rstn(1);
+            return;
+        }
+
+        /* IST8310 连接异常报警:绿灯 1s 周期闪烁(经 TIM5 PWM,
+         * 引脚复用模式下直接写 GPIO 寄存器无效) */
+        static uint8_t counter = 0;
+        counter++;
+        if (counter == 1)
+            led_set_green(1);
+        else if (counter == 5)
+            led_set_green(0);
+        else if (counter == 40)
+            counter = 0;
+        HAL_Delay(25);
+    }
+}
+
+void ist8310_poll(void)
+{
+    static uint32_t last_poll_tick = 0;
+    uint32_t now = HAL_GetTick();
+    if (now - last_poll_tick < IST8310_POLL_PERIOD_MS)
+        return;
+    last_poll_tick = now;
+
+    if (!ist8310_online)
+        return;
+
+    if (HAL_I2C_Mem_Read(&hi2c3, IST8310_ADDR, IST8310_DATA_START,
+                         I2C_MEMADD_SIZE_8BIT, raw_buf, 6, 2) != HAL_OK)
+    {
+        /* 连续 100 次(约 0.5s)失败判定离线,交由监控任务绿灯报警 */
+        if (++read_error_count > 100)
+            ist8310_online = 0;
+        return;
+    }
+    read_error_count = 0;
+
+    int16_t raw_x = (int16_t)(((uint16_t)raw_buf[1] << 8) | raw_buf[0]);
+    int16_t raw_y = (int16_t)(((uint16_t)raw_buf[3] << 8) | raw_buf[2]);
+    int16_t raw_z = (int16_t)(((uint16_t)raw_buf[5] << 8) | raw_buf[4]);
+    ist8310_magnetic_field[0] = raw_x * 0.3f;
+    ist8310_magnetic_field[1] = raw_y * 0.3f;
+    ist8310_magnetic_field[2] = raw_z * 0.3f;
+}