diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index 3e3e7cd..863c98e 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -5,7 +5,7 @@
-
+
@@ -16,7 +16,7 @@
-
+
diff --git a/ASM330LHH/user_ams330lhh.c b/ASM330LHH/user_ams330lhh.c
index 7451e6c..c204559 100644
--- a/ASM330LHH/user_ams330lhh.c
+++ b/ASM330LHH/user_ams330lhh.c
@@ -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, ®);
diff --git a/ASM330LHH/user_asm330lhh.h b/ASM330LHH/user_asm330lhh.h
index cd912db..b9fe951 100644
--- a/ASM330LHH/user_asm330lhh.h
+++ b/ASM330LHH/user_asm330lhh.h
@@ -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();
diff --git a/Core/Src/gpio.c b/Core/Src/gpio.c
index 6e79bea..b006043 100644
--- a/Core/Src/gpio.c
+++ b/Core/Src/gpio.c
@@ -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;
diff --git a/Core/Src/main.c b/Core/Src/main.c
index c23aabb..46937cf 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -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 */
diff --git a/Core/Src/stm32f1xx_it.c b/Core/Src/stm32f1xx_it.c
index 653c574..5841bd9 100644
--- a/Core/Src/stm32f1xx_it.c
+++ b/Core/Src/stm32f1xx_it.c
@@ -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;