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屏蔽TDK IMU

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This commit is contained in:
Winston Qu 2023-10-23 13:20:32 +08:00
parent 058d4943cc
commit aff61940e0
6 changed files with 47 additions and 58 deletions
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4
.settings/language.settings.xml
View File

@ -5,7 +5,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1232746581911447161" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-699922888415560126" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>
@ -16,7 +16,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1232746581911447161" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-699922888415560126" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>

19
ASM330LHH/user_ams330lhh.c
View File

@ -24,16 +24,6 @@ static int32_t platform_read(void *handle, uint8_t reg, uint8_t *bufp, uint16_t
{
uint8_t temp = reg;
temp |= 0x80;
// GPIO_TypeDef *GPIOx;
// uint16_t GPIO_Pin;
// if (handle == &hspi1) {
// GPIOx = SPI1_CS_PORT;
// GPIO_Pin = SPI1_CS_PIN;
// }
// HAL_GPIO_WritePin(GPIOx, GPIO_Pin, GPIO_PIN_RESET);
// HAL_SPI_Transmit(handle, &temp, 1, 1000);
// HAL_SPI_Receive(handle, bufp, len, 1000);
// HAL_GPIO_WritePin(GPIOx, GPIO_Pin, GPIO_PIN_SET);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_RESET);
HAL_SPI_Transmit(handle, &temp, 1, 1000);
@ -94,12 +84,9 @@ void asm_sample()
asm330.x_gyro = 0.001 * asm330lhh_from_fs2000dps_to_mdps(data_raw_angular_rate[0]);
asm330.y_gyro = 0.001 * asm330lhh_from_fs2000dps_to_mdps(data_raw_angular_rate[1]);
asm330.z_gyro = 0.001 * asm330lhh_from_fs2000dps_to_mdps(data_raw_angular_rate[2]);
// angular_rate_mdps[0] = asm330lhh_from_fs2000dps_to_mdps(
// data_raw_angular_rate[0]);
// angular_rate_mdps[1] = asm330lhh_from_fs2000dps_to_mdps(
// data_raw_angular_rate[1]);
// angular_rate_mdps[2] = asm330lhh_from_fs2000dps_to_mdps(
// data_raw_angular_rate[2]);
// angular_rate_mdps[0] = asm330lhh_from_fs2000dps_to_mdps(data_raw_angular_rate[0]);
// angular_rate_mdps[1] = asm330lhh_from_fs2000dps_to_mdps(data_raw_angular_rate[1]);
// angular_rate_mdps[2] = asm330lhh_from_fs2000dps_to_mdps(data_raw_angular_rate[2]);
}
asm330lhh_xl_flag_data_ready_get(&spi1_dev, &reg);

29
ASM330LHH/user_asm330lhh.h
View File

@ -14,20 +14,21 @@
#define IMU_NOT_READY 1
#define IMU_LOCK 1
#define IMU_UNLOCK 0
typedef struct{
int16_t x_a; //加速度值原始数据
int16_t y_a;
int16_t z_a;
int16_t x_g; //角速度值原始数据
int16_t y_g;
int16_t z_g;
float x_acc; //转换为真实加速度
float y_acc;
float z_acc;
float x_gyro; //转换为真实角速度
float y_gyro;
float z_gyro;
}asm_value;
typedef struct
{
int16_t x_a; //加速度值原始数据
int16_t y_a;
int16_t z_a;
int16_t x_g; //角速度值原始数据
int16_t y_g;
int16_t z_g;
float x_acc; //转换为真实加速度
float y_acc;
float z_acc;
float x_gyro; //转换为真实角速度
float y_gyro;
float z_gyro;
} asm_value;
extern asm_value asm330;
void user_dev_init();

2
Core/Src/gpio.c
View File

@ -55,7 +55,7 @@ void MX_GPIO_Init(void)
HAL_GPIO_WritePin(SPI2_CSN_GPIO_Port, SPI2_CSN_Pin, GPIO_PIN_SET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, LED0_Pin|LED1_Pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOB, LED0_Pin|LED1_Pin, GPIO_PIN_SET);
/*Configure GPIO pins : PAPin PAPin */
GPIO_InitStruct.Pin = PPS_INT_Pin|SPI2_INIT1_Pin;

2
Core/Src/main.c
View File

@ -104,7 +104,7 @@ int main(void)
/* USER CODE BEGIN 2 */
HAL_TIM_Base_Start(&htim3);
user_dev_init();
user_dev_init1();
// user_dev_init1();
memcpy(IMU_mng_TDK.name, "TDK\0", 4);
memcpy(IMU_mng_ST.name, "STM\0", 4);
/* enable IMU */

49
Core/Src/stm32f1xx_it.c
View File

@ -288,9 +288,9 @@ void USART1_IRQHandler(void)
/* USER CODE END USART1_IRQn 0 */
HAL_UART_IRQHandler(&huart1);
/* USER CODE BEGIN USART1_IRQn 1 */
if(__HAL_UART_GET_FLAG(&huart1,UART_FLAG_TC) != RESET)
if (__HAL_UART_GET_FLAG(&huart1,UART_FLAG_TC) != RESET)
{
__HAL_UART_CLEAR_FLAG(&huart1,UART_FLAG_TC);
__HAL_UART_CLEAR_FLAG(&huart1, UART_FLAG_TC);
U1_DMA_BUSY = 0;
}
/* USER CODE END USART1_IRQn 1 */
@ -340,28 +340,29 @@ void USART2_IRQHandler(void)
/* USER CODE BEGIN 1 */
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
if (GPIO_Pin == SPI2_INIT1_Pin && 1 == IMU_mng_TDK.enable)
{
TDK_IMU_INT = 1;
if (0 == IMU_mng_TDK.lock)
{
IMU_mng_TDK.ready = 1;
IMU_mng_TDK.gpstime = SYS_TIME.SYS_GPST_TIME;
IMU_mng_TDK.utctime = SYS_TIME.SYS_UTC_TIME;
IMU_mng_TDK.gpstime.sec = IMU_mng_TDK.utctime.sec = __HAL_TIM_GET_COUNTER(&htim3) / 10000.0;
}
else
{
HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_RESET);
printf("ERROR -> TDK IMU RD TIME OUT! \r\n");
printf("Go to loop! please reboot MCU! \r\n");
// while (1)
// ;
}
HAL_GPIO_TogglePin(LED1_GPIO_Port, LED1_Pin);
}
else if (GPIO_Pin == SPI1_INIT1_Pin && 1 == IMU_mng_ST.enable)
// if (GPIO_Pin == SPI2_INIT1_Pin && 1 == IMU_mng_TDK.enable)
// {
//
// TDK_IMU_INT = 1;
// if (0 == IMU_mng_TDK.lock)
// {
// IMU_mng_TDK.ready = 1;
// IMU_mng_TDK.gpstime = SYS_TIME.SYS_GPST_TIME;
// IMU_mng_TDK.utctime = SYS_TIME.SYS_UTC_TIME;
// IMU_mng_TDK.gpstime.sec = IMU_mng_TDK.utctime.sec = __HAL_TIM_GET_COUNTER(&htim3) / 10000.0;
// }
// else
// {
// HAL_GPIO_WritePin(LED1_GPIO_Port, LED1_Pin, GPIO_PIN_RESET);
// printf("ERROR -> TDK IMU RD TIME OUT! \r\n");
// printf("Go to loop! please reboot MCU! \r\n");
//// while (1)
//// ;
// }
// HAL_GPIO_TogglePin(LED1_GPIO_Port, LED1_Pin);
// }
// else
if (GPIO_Pin == SPI1_INIT1_Pin && 1 == IMU_mng_ST.enable)
{
ST_IMU_INT = 1;