TuxMonkey/bf_original_balance_chassis
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finish all bsp utilities

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This commit is contained in:
NeoZng
2022-11-01 22:32:15 +08:00
parent c113ca81e0
commit a2b7558047
13 changed files with 514 additions and 436 deletions
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9
modules/imu/ins_task.c
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@@ -16,7 +16,7 @@
#include "bsp_temperature.h"
#include "spi.h"
INS_t INS;
static INS_t INS;
IMU_Param_t IMU_Param;
PID_t TempCtrl = {0};
@@ -31,6 +31,11 @@ float RefTemp = 40;
static void IMU_Param_Correction(IMU_Param_t *param, float gyro[3], float accel[3]);
attitude_t *GetINSptr()
{
return (attitude_t *)&INS.Roll;
}
void INS_Init(void)
{
// while (BMI088_init(&hspi1, 1) != BMI088_NO_ERROR);
@@ -51,7 +56,7 @@ void INS_Init(void)
.Ki = 20,
.Kd = 0,
.Improve = 0x01}; // enable integratiaon limit
PID_Init(&TempCtrl,&config);
PID_Init(&TempCtrl, &config);
// noise of accel is relatively big and of high freq,thus lpf is used
INS.AccelLPF = 0.0085;