BlueMicrosystem2_V2.1.3标准例程测试及简单解读

1万 · 2020-12-14 09:48

该技术贴针对STSW-STLKT01例程里的LSM6DSM加速度传感器的初始化解读了函数的调用过程，大体的调用过程如下：

main.c ->SensorTile_accelero.c –> LSM6DSM_ACC_GYRO_driver_HL.c -> LSM6DSM_ACC_GYRO_driver.c -> SensorTile.c -> stm32l4xx_hal_gpio.c

main.c ->SensorTile_accelero.c –> LSM6DSM_ACC_GYRO_driver_HL.c -> LSM6DSM_ACC_GYRO_driver.c -> SensorTile.c ->stm32l4xx_hal_spi.h

通过这两个步骤解决了传感器的初始化过程。

翌日，我对BlueMicrosystem2_V2.1.3的main函数进行了研究，总体的流程是这样的：

1.首先是编译器的选择以及变量定义、函数声明，此处省略无数字；
进入int main(void)主函数：

HAL_Init();

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HAL的初始化，什么是HAL呢，其实就是硬件抽象层。
硬件抽象层是位于操作系统内核与硬件电路之间的接口层，其目的在于将硬件抽象化。它隐藏了特定平台的硬件接口细节,为操作系统提供虚拟硬件平台,使其具有硬件无关性,可在多种平台上进行移植。从软硬件测试的角度来看，软硬件的测试工作都可分别基于硬件抽象层来完成，使得软硬件测试工作的并行进行成为可能。

2.硬件抽象层初始化完成之后，进行

JumpToBootloader();

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RestartInBootLoaderMode = 0x0;

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启动BootLoader。BootLoader是在操作系统内核运行之前运行。可以初始化硬件设备、建立内存空间映射图，从而将系统的软硬件环境带到一个合适状态，以便为最终调用操作系统内核准备好正确的环境。

3.系统的时钟配置

SystemClock_Config();
Sensor_IO_SPI_CS_Init_All();
InitTargetPlatform(TARGET_NUCLEO);或者InitTargetPlatform(TARGET_NUCLEO);
InitLicenseManager();

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4.输出一些版本信息
5.初始化蓝牙服务

Init_BlueNRG_Stack();
Init_BlueNRG_Custom_Services();

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6.设置加速度计的级别为2G

Set2GAccelerometerFullScale();

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读取加速度计的灵敏度

BSP_ACCELERO_Get_Sensitivity(TargetBoardFeatures.HandleAccSensor,&sensitivity);
sensitivity_Mul = sensitivity * ((float) FROM_MG_TO_G);

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7.初始化定时器

InitTimers();

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8.判断校准是不是在内存中已经使用，进行控制，然后设置起始时间

if(LicensesIndexMap[OSX_MOTION_FX] != -1)
{
if(osxLicencesManager.LicVector[LicensesIndexMap[OSX_MOTION_FX]].osxLicenseInitialized) {
ReCallCalibrationFromMemory(osxLicencesManager.Header.MagnetoCalibration);
}
}
StartTime = HAL_GetTick();

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9.此时初始化完成，开始进入运行的wihle（1）循环，在其中控制指示灯的闪烁频率，并且通过中断的方式来实现各个传感器数据的读取，以完成整个系统的常规运行。

while (1){
/* Led Blinking when there is not a client connected */
if(!connected) {
if(!TargetBoardFeatures.LedStatus) {
if(HAL_GetTick()-StartTime > 1000) {
LedOnTargetPlatform();
TargetBoardFeatures.LedStatus =1;
StartTime = HAL_GetTick();
}
} else {
if(HAL_GetTick()-StartTime > 50) {
LedOffTargetPlatform();
TargetBoardFeatures.LedStatus =0;
StartTime = HAL_GetTick();
}
}
}
/* Handle Interrupt from MEMS */
if(MEMSInterrupt) {
MEMSCallback();
MEMSInterrupt=0;
}
/* Handle user button */
if(ButtonPressed) {
ButtonCallback();
ButtonPressed=0;
}
/* Handle Re-Calibration */
if(ForceReCalibration) {
ForceReCalibration=0;
ReCalibration();
}
/* handle BLE event */
if(HCI_ProcessEvent) {
HCI_ProcessEvent=0;
HCI_Process();
}
if(set_connectable){
/* Initializes the osx libraries if there is a valid license */
/* Initialize MotionFX library */
if(LicensesIndexMap[OSX_MOTION_FX] != -1){
if((osxLicencesManager.LicVector[LicensesIndexMap[OSX_MOTION_FX]].osxLicenseInitialized) & (TargetBoardFeatures.osxMotionFXIsInitalized==0)){
MotionFX_manager_init();
MotionFX_manager_start_9X();
}
}
#ifdef OSX_BMS_MOTIONAR
/* Initialize MotionAR Library */
if(LicensesIndexMap[OSX_MOTION_AR] != -1){
if((osxLicencesManager.LicVector[LicensesIndexMap[OSX_MOTION_AR]].osxLicenseInitialized) & (TargetBoardFeatures.osxMotionARIsInitalized==0)){
MotionAR_manager_init();
}
}
#endif /* OSX_BMS_MOTIONAR */
#ifdef OSX_BMS_MOTIONCP
/* Initialize MotionCP Library */
if(LicensesIndexMap[OSX_MOTION_CP] != -1){
if((osxLicencesManager.LicVector[LicensesIndexMap[OSX_MOTION_CP]].osxLicenseInitialized) & (TargetBoardFeatures.osxMotionCPIsInitalized==0)){
MotionCP_manager_init();
}
}
#endif /* OSX_BMS_MOTIONCP */
#ifdef OSX_BMS_MOTIONGR
/* Initialize MotionGR Library */
if(LicensesIndexMap[OSX_MOTION_GR] != -1){
if((osxLicencesManager.LicVector[LicensesIndexMap[OSX_MOTION_GR]].osxLicenseInitialized) & (TargetBoardFeatures.osxMotionGRIsInitalized==0)){
MotionGR_manager_init();
}
}
#endif /* OSX_BMS_MOTIONGR */
#ifdef OSX_BMS_ACOUSTIC_SOURCE_LOCALIZATION
/* Initialize AcousticSL Library */
if(LicensesIndexMap[OSX_ACOUSTIC_SL] != -1){
if((osxLicencesManager.LicVector[LicensesIndexMap[OSX_ACOUSTIC_SL]].osxLicenseInitialized) & (TargetBoardFeatures.osxAcousticSLIsInitalized==0)){
AcousticSL_Manager_init();
}
}
#endif /* OSX_BMS_ACOUSTIC_SOURCE_LOCALIZATION */
#ifdef OSX_BMS_BLUEVOICE
/* Initialize BlueVoice Library */
if(LicensesIndexMap[OSX_AUDIO_BV] != -1) {
if((osxLicencesManager.LicVector[LicensesIndexMap[OSX_AUDIO_BV]].osxLicenseInitialized) & (TargetBoardFeatures.osxAudioBVIsInitalized==0)){
AudioBV_Manager_init();
}
}
#endif /* OSX_BMS_BLUEVOICE */
if(NecessityToSaveLicense!=0) {
if(NecessityToSaveLicense & OSX_BMS_RESET_LIC) {
/* Reset before write data in Memory */
NecessityToSaveLicense &= (~OSX_BMS_RESET_LIC);
ResetLicensesStatus();
}
if(NecessityToSaveLicense & OSX_BMS_SAVE_LIC) {
/* Save the data in Memory */
NecessityToSaveLicense &= (~OSX_BMS_SAVE_LIC);
SaveLicensesStatus();
}
}
#if 0
/* Update the BlueNRG firmware */
if(MakeUpdateBlueNRG){
UpdateFWBlueNRG(SizeOfUpdateBlueNRG);
MakeUpdateBlueNRG=0;
/* Restart the Bluethoot services */
/* Initialize the BlueNRG */
Init_BlueNRG_Stack();
/* Initialize the BlueNRG Custom services */
Init_BlueNRG_Custom_Services();
}
#endif
/* Now update the BLE advertize data and make the Board connectable */
setConnectable();
set_connectable = FALSE;
#ifdef USE_STM32F4XX_NUCLEO
//BSP_AUDIO_IN_Record(PDM_Buffer, 0);
#endif /* USE_STM32F4XX_NUCLEO */
}
/* Environmental Data */
if(SendEnv) {
SendEnv=0;
SendEnvironmentalData();
}
/* Mic Data */
if (SendAudioLevel) {
SendAudioLevel = 0;
SendAudioLevelData();
}
/* Motion Data */
if(SendAccGyroMag) {
SendAccGyroMag=0;
SendMotionData();
}
/* osxMotionFX */
if(Quaternion) {
Quaternion=0;
ComputeQuaternions();
}
#ifdef OSX_BMS_BLUEVOICE
/* BlueVoice Data */
if(SendBlueVoice){
osx_BlueVoice_SendData(&num_byte_sent);
SendBlueVoice = 0;
}
#endif /* OSX_BMS_BLUEVOICE */
#ifdef OSX_BMS_MOTIONAR
/* osxMotionAR */
if(UpdateMotionAR) {
UpdateMotionAR=0;
ComputeMotionAR();
}
#endif /* OSX_BMS_MOTIONAR */
#ifdef OSX_BMS_MOTIONCP
/* osxMotionCP */
if(UpdateMotionCP) {
UpdateMotionCP=0;
ComputeMotionCP();
}
#endif /* OSX_BMS_MOTIONCP */
#ifdef OSX_BMS_MOTIONGR
/* osxMotionGR */
if(UpdateMotionGR) {
UpdateMotionGR=0;
ComputeMotionGR();
}
#endif /* OSX_BMS_MOTIONGR */
#ifdef OSX_BMS_ACOUSTIC_SOURCE_LOCALIZATION
/* Audio Source Localization Data */
if (SendAudioSourceLocalization)
{
SendAudioSourceLocalization = 0;
SendAudioSourceLocalizationData();
}
#endif /* OSX_BMS_ACOUSTIC_SOURCE_LOCALIZATION */
/* Wait for Event */
__WFI();
}