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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24
application/gimbal/gimbal.c
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@@ -17,29 +17,7 @@ static Gimbal_Ctrl_Cmd_s gimbal_cmd_recv; // 来自cmd的控制信息
static BMI088Instance *bmi088; // 云台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 = {
.work_mode = BMI088_BLOCK_PERIODIC_MODE,
.spi_acc_config = {
.spi_handle = &hspi1,
.GPIOx = GPIOA,
.cs_pin = GPIO_PIN_4,
.spi_work_mode = SPI_BLOCK_MODE,
},
.spi_gyro_config = {
.spi_handle = &hspi1,
.GPIOx = GPIOA,
.cs_pin = GPIO_PIN_4,
.spi_work_mode = SPI_BLOCK_MODE,
},
.heat_pwm_config = {
.htim = &htim10,
.channel = TIM_CHANNEL_1,
.period = 1,
}
};
bmi088=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 = {