修复BMI088初始化异常,测试通过请尽快迁移到新版本。增加了电机的协议说明。

application/gimbal/gimbal.c

@@ -5,6 +5,8 @@
 #include "message_center.h"
 #include "general_def.h"
 
+#include "bmi088.h"
+
 static attitude_t *gimba_IMU_data;   // 云台IMU数据
 static DJIMotorInstance *yaw_motor;   // yaw电机
 static DJIMotorInstance *pitch_motor; // pitch电机
@@ -14,10 +16,49 @@ static Subscriber_t *gimbal_sub;                  // cmd控制消息订阅者
 static Gimbal_Upload_Data_s gimbal_feedback_data; // 回传给cmd的云台状态信息
 static Gimbal_Ctrl_Cmd_s gimbal_cmd_recv;         // 来自cmd的控制信息
 
+BMI088Instance* imu;
 void GimbalInit()
 {
-    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
+    
 
+    BMI088_Init_Config_s imu_config = {
+        .spi_acc_config={
+            .GPIOx=CS1_ACCEL_GPIO_Port,
+            .cs_pin=CS1_ACCEL_Pin,
+            .spi_handle=&hspi1,
+        },
+        .spi_gyro_config={
+            .GPIOx=CS1_GYRO_GPIO_Port,
+            .cs_pin=CS1_GYRO_Pin,
+            .spi_handle=&hspi1,
+        },
+        .acc_int_config={
+            .exti_mode=EXTI_TRIGGER_FALLING,
+            .GPIO_Pin=INT_ACC_Pin,
+            .GPIOx=INT_ACC_GPIO_Port,
+        },
+        .gyro_int_config={
+            .exti_mode=EXTI_TRIGGER_FALLING,
+            .GPIO_Pin=INT_GYRO_Pin,
+            .GPIOx=INT_GYRO_GPIO_Port,
+        },
+        .heat_pid_config={
+            .Kp=0.0f,
+            .Kd=0.0f,
+            .Ki=0.0f,
+            .MaxOut=0.0f,
+            .DeadBand=0.0f,
+        },
+        .heat_pwm_config={
+            .channel=TIM_CHANNEL_1,
+            .htim=&htim1,
+        },
+        .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
     // YAW
     Motor_Init_Config_s yaw_config = {
         .can_init_config = {