TuxMonkey/bf_original_balance_chassis
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增加了debug文档和一些todo

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This commit is contained in:
NeoZng
2023-02-22 13:53:25 +08:00
parent 7bb141af06
commit 3cf1831237
18 changed files with 248 additions and 426 deletions
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7
application/gimbal/gimbal.c
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@@ -19,8 +19,6 @@ static Gimbal_Ctrl_Cmd_s gimbal_cmd_recv; // 来自cmd的控制信息
BMI088Instance* imu;
void GimbalInit()
{
BMI088_Init_Config_s imu_config = {
.spi_acc_config={
.GPIOx=CS1_ACCEL_GPIO_Port,
@@ -56,9 +54,8 @@ void GimbalInit()
.cali_mode=BMI088_CALIBRATE_ONLINE_MODE,
.work_mode=BMI088_BLOCK_PERIODIC_MODE,
};
imu=BMI088Register(&imu_config);
// gimba_IMU_data = INS_Init(); // IMU先初始化,获取姿态数据指针赋给yaw电机的其他数据来源
// imu=BMI088Register(&imu_config);
gimba_IMU_data = INS_Init(); // IMU先初始化,获取姿态数据指针赋给yaw电机的其他数据来源
// YAW
Motor_Init_Config_s yaw_config = {
.can_init_config = {