TuxMonkey/bf_original_balance_chassis
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fix can rx fifo bug

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NeoZeng
2022-11-23 22:10:44 +08:00
parent 62b1783b59
commit 490b957045
11 changed files with 123 additions and 73 deletions
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15
modules/imu/ins_task.c
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@@ -26,13 +26,14 @@ const float xb[3] = {1, 0, 0};
const float yb[3] = {0, 1, 0};
const float zb[3] = {0, 0, 1};
// 用于获取两次采样之间的时间间隔
uint32_t INS_DWT_Count = 0;
static float dt = 0, t = 0;
uint8_t ins_debug_mode = 0;
float RefTemp = 40;
float RefTemp = 40; // 恒温设定温度
static void IMU_Param_Correction(IMU_Param_t *param, float gyro[3], float accel[3]);
/* 调用此函数获得姿态数据指针 */
attitude_t *GetINSptr()
{
return (attitude_t *)&INS.Roll;
@@ -45,13 +46,12 @@ attitude_t *GetINSptr()
static void IMU_Temperature_Ctrl(void)
{
PID_Calculate(&TempCtrl, BMI088.Temperature, RefTemp);
imu_pwm_set(float_constrain(float_rounding(TempCtrl.Output), 0, UINT32_MAX));
}
void INS_Init(void)
{
// while (BMI088_init(&hspi1, 1) != BMI088_NO_ERROR);
while (BMI088Init(&hspi1, 1) != BMI088_NO_ERROR);
IMU_Param.scale[X] = 1;
IMU_Param.scale[Y] = 1;
IMU_Param.scale[Z] = 1;
@@ -75,6 +75,7 @@ void INS_Init(void)
INS.AccelLPF = 0.0085;
}
/* 注意以1kHz的频率运行此任务 */
void INS_Task(void)
{
static uint32_t count = 0;
@@ -134,12 +135,10 @@ void INS_Task(void)
IMU_Temperature_Ctrl();
}
if ((count % 1000) == 0)
if ((count++ % 1000) == 0)
{
// 200hz
// 1Hz 可以加入monitor函数,检查IMU是否正常运行/离线
}
count++;
}
/**