TuxMonkey/bf_original_balance_chassis
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Correct spi chip selection

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chenfu
2023-12-23 11:09:36 +08:00
parent b052126648
commit 9dd0057563
8 changed files with 125 additions and 110 deletions
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86
application/cmd/robot_cmd.c
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@@ -50,48 +50,48 @@ BMI088Instance *bmi088_test; // 云台IMU
BMI088_Data_t bmi088_data;
void RobotCMDInit()
{
BMI088_Init_Config_s bmi088_config = {
.cali_mode = BMI088_CALIBRATE_ONLINE_MODE,
.work_mode = BMI088_BLOCK_TRIGGER_MODE,
.spi_acc_config = {
.spi_handle = &hspi1,
.GPIOx = GPIOA,
.cs_pin = GPIO_PIN_4,
.spi_work_mode = SPI_DMA_MODE,
},
.acc_int_config = {
.GPIOx = GPIOC,
.GPIO_Pin = GPIO_PIN_4,
.exti_mode = GPIO_EXTI_MODE_RISING,
},
.spi_gyro_config = {
.spi_handle = &hspi1,
.GPIOx = GPIOB,
.cs_pin = GPIO_PIN_0,
.spi_work_mode = SPI_DMA_MODE,
},
.gyro_int_config = {
.GPIO_Pin = GPIO_PIN_5,
.GPIOx = GPIOC,
.exti_mode = GPIO_EXTI_MODE_RISING,
},
.heat_pwm_config = {
.htim = &htim10,
.channel = TIM_CHANNEL_1,
.period = 1,
},
.heat_pid_config = {
.Kp = 0.5,
.Ki = 0,
.Kd = 0,
.DeadBand = 0.1,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.IntegralLimit = 100,
.MaxOut = 100,
},
};
bmi088_test = BMI088Register(&bmi088_config);
rc_data = RemoteControlInit(&huart3); // 修改为对应串口,注意如果是自研板dbus协议串口需选用添加了反相器的那个
// BMI088_Init_Config_s bmi088_config = {
// .cali_mode = BMI088_CALIBRATE_ONLINE_MODE,
// .work_mode = BMI088_BLOCK_TRIGGER_MODE,
// .spi_acc_config = {
// .spi_handle = &hspi1,
// .GPIOx = GPIOA,
// .cs_pin = GPIO_PIN_4,
// .spi_work_mode = SPI_DMA_MODE,
// },
// .acc_int_config = {
// .GPIOx = GPIOC,
// .GPIO_Pin = GPIO_PIN_4,
// .exti_mode = GPIO_EXTI_MODE_RISING,
// },
// .spi_gyro_config = {
// .spi_handle = &hspi1,
// .GPIOx = GPIOB,
// .cs_pin = GPIO_PIN_0,
// .spi_work_mode = SPI_DMA_MODE,
// },
// .gyro_int_config = {
// .GPIO_Pin = GPIO_PIN_5,
// .GPIOx = GPIOC,
// .exti_mode = GPIO_EXTI_MODE_RISING,
// },
// .heat_pwm_config = {
// .htim = &htim10,
// .channel = TIM_CHANNEL_1,
// .period = 1,
// },
// .heat_pid_config = {
// .Kp = 0.5,
// .Ki = 0,
// .Kd = 0,
// .DeadBand = 0.1,
// .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
// .IntegralLimit = 100,
// .MaxOut = 100,
// },
// };
//bmi088_test = BMI088Register(&bmi088_config);
rc_data = RemoteControlInit(&huart3); // 修改为对应串口,注意如果是自研板dbus协议串口需选用添加了反相器的那个
vision_recv_data = VisionInit(&huart1); // 视觉通信串口
gimbal_cmd_pub = PubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s));
@@ -319,7 +319,7 @@ static void EmergencyHandler()
/* 机器人核心控制任务,200Hz频率运行(必须高于视觉发送频率) */
void RobotCMDTask()
{
BMI088Acquire(bmi088_test,&bmi088_data) ;
// BMI088Acquire(bmi088_test,&bmi088_data) ;
// 从其他应用获取回传数据
#ifdef ONE_BOARD
SubGetMessage(chassis_feed_sub, (void *)&chassis_fetch_data);