TuxMonkey/bf_original_balance_chassis
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增加了遥控器按键功能并修改所有函数和类型定义为标准格式

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This commit is contained in:
NeoZng
2022-12-05 21:01:26 +08:00
parent 3947c48230
commit 9c9ea14bde
40 changed files with 352 additions and 251 deletions
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10
modules/imu/ins_task.c
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@@ -20,7 +20,7 @@
static INS_t INS;
static IMU_Param_t IMU_Param;
static PID_t TempCtrl = {0};
static PIDInstance TempCtrl = {0};
const float xb[3] = {1, 0, 0};
const float yb[3] = {0, 1, 0};
@@ -33,7 +33,6 @@ 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]);
/**
* @brief 温度控制
*
@@ -41,12 +40,13 @@ static void IMU_Param_Correction(IMU_Param_t *param, float gyro[3], float accel[
static void IMU_Temperature_Ctrl(void)
{
PID_Calculate(&TempCtrl, BMI088.Temperature, RefTemp);
imu_pwm_set(float_constrain(float_rounding(TempCtrl.Output), 0, UINT32_MAX));
IMUPWMSet(float_constrain(float_rounding(TempCtrl.Output), 0, UINT32_MAX));
}
attitude_t* INS_Init(void)
attitude_t *INS_Init(void)
{
while (BMI088Init(&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;