bisultanov/RaDrone
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Попытка реализовать очередь в чтении IMU. Неудача - HardFault

Browse Source
This commit is contained in:
Раджаб Бисултанов
2026-04-09 12:50:11 +03:00
parent 3b0bf415a9
commit 9948fc6497
2 changed files with 121 additions and 52 deletions
Download Patch File Download Diff File Expand all files Collapse all files

25
Source/BSP/Inc/imu.h
View File

@@ -24,11 +24,11 @@
#define ACCEL_FCHOICE_ON 1
#define ACCEL_FCHOICE_OFF 0
static volatile uint8_t i2c_busy = 0;
/*static volatile uint8_t i2c_busy = 0;
static uint8_t i2c_buf[16];
static uint8_t i2c_len = 0;
static uint8_t i2c_reg = 0;
static uint8_t i2c_addr = 0;
static uint8_t i2c_addr = 0;*/
typedef struct
{
@@ -36,7 +36,22 @@ typedef struct
int16_t gx, gy, gz; // lsb
} imu_raw_t;
static void (*i2c_callback)(uint8_t* buf) = 0;
typedef struct I2C_Request
{
uint8_t addr;
uint8_t reg;
uint8_t *buf;
uint8_t len;
void (*callback)(uint8_t*);
struct I2C_Request* next;
} I2C_Request;
static I2C_Request* i2c_head = 0;
static uint8_t i2c_busy = 0;
//static void (*i2c_callback)(uint8_t* buf) = 0;
void imu_pow_init();
@@ -50,7 +65,9 @@ void imu_tim6_init(const uint16_t freq);
void i2c_read(uint8_t addr, uint8_t reg, uint8_t* buf, uint8_t len);
uint8_t i2c_read_async(uint8_t addr, uint8_t reg, uint8_t len, void (*cb)(uint8_t*));
void i2c_enqueue(I2C_Request* req);
void i2c_start_next();
void i2c_read_async(uint8_t addr, uint8_t reg, uint8_t len, void (*cb)(uint8_t*));
void i2c_write(uint8_t addr, uint8_t reg, uint8_t data);