TuxMonkey/bf_original_balance_chassis
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update seasky doc

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NeoZng
2022-11-11 22:23:17 +08:00
parent 33e10fa687
commit 55e12955b7
9 changed files with 118 additions and 42 deletions
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23
modules/imu/ins_task.c
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@@ -2,6 +2,7 @@
******************************************************************************
* @file ins_task.c
* @author Wang Hongxi
* @author annotation and modificaiton by neozng
* @version V2.0.0
* @date 2022/2/23
* @brief
@@ -37,6 +38,17 @@ attitude_t *GetINSptr()
return (attitude_t *)&INS.Roll;
}
/**
* @brief 温度控制
*
*/
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);
@@ -242,17 +254,6 @@ static void IMU_Param_Correction(IMU_Param_t *param, float gyro[3], float accel[
lastRollOffset = param->Roll;
}
/**
* @brief 温度控制
*
*/
void IMU_Temperature_Ctrl(void)
{
PID_Calculate(&TempCtrl, BMI088.Temperature, RefTemp);
imu_pwm_set(float_constrain(float_rounding(TempCtrl.Output), 0, UINT32_MAX));
}
//------------------------------------functions below are not used in this demo-------------------------------------------------
//----------------------------------you can read them for learning or programming-----------------------------------------------
//----------------------------------they could also be helpful for further design-----------------------------------------------