清除所有的legacy support，增加编译时的内存使用预测和Werror选项，统一命名。

modules/imu/BMI088driver.c

@@ -5,7 +5,7 @@
 #include "bsp_log.h"
 #include <math.h>
 
-#warning this is a legacy support. test the new BMI088 module as soon as possible.
+#pragma message "this is a legacy support. test the new BMI088 module as soon as possible."
 
 float BMI088_ACCEL_SEN = BMI088_ACCEL_6G_SEN;
 float BMI088_GYRO_SEN = BMI088_GYRO_2000_SEN;

modules/imu/ins_task.c

@@ -14,8 +14,8 @@
 #include "ins_task.h"
 #include "controller.h"
 #include "QuaternionEKF.h"
-#include "bsp_temperature.h"
 #include "spi.h"
+#include "tim.h"
 #include "user_lib.h"
 #include "general_def.h"
 #include "master_process.h"
@@ -35,6 +35,11 @@ static float RefTemp = 40; // 恒温设定温度
 
 static void IMU_Param_Correction(IMU_Param_t *param, float gyro[3], float accel[3]);
 
+static void IMUPWMSet(uint16_t pwm)
+{
+    __HAL_TIM_SetCompare(&htim10, TIM_CHANNEL_1, pwm);
+}
+
 /**
  * @brief 温度控制
  *
@@ -79,6 +84,8 @@ attitude_t *INS_Init(void)
     else
         return (attitude_t *)&INS.Gyro;
 
+    HAL_TIM_PWM_Start(&htim10, TIM_CHANNEL_1);
+
     while (BMI088Init(&hspi1, 1) != BMI088_NO_ERROR)
         ;
     IMU_Param.scale[X] = 1;