test bmi088

application/chassis/chassis.md

@@ -1,7 +1,7 @@
 # chassis
 
 
-
+@Todo 使用条件编译，选择麦轮(全向轮),舵轮,平衡底盘
 ## 工作流程
 
 首先进行初始化，`ChasissInit()`会被`RobotInit()`调用，进行裁判系统、底盘电机的初始化。如果为双板模式，则还会初始化IMU，并且将消息订阅者和发布者的初始化改为`CANComm`的初始化。

application/cmd/robot_cmd.c

@@ -8,6 +8,7 @@
 #include "message_center.h"
 #include "general_def.h"
 #include "dji_motor.h"
+#include "bmi088.h"
 // bsp
 #include "bsp_dwt.h"
 #include "bsp_log.h"
@@ -45,8 +46,51 @@ static Shoot_Upload_Data_s shoot_fetch_data; // 从发射获取的反馈信息
 
 static Robot_Status_e robot_state; // 机器人整体工作状态
 
+BMI088Instance *bmi088; // 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_IT_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_IT_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 = 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
 
@@ -275,6 +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,&bmi088_data) ;
     // 从其他应用获取回传数据
 #ifdef ONE_BOARD
     SubGetMessage(chassis_feed_sub, (void *)&chassis_fetch_data);

application/gimbal/gimbal.c

@@ -5,7 +5,6 @@
 #include "message_center.h"
 #include "general_def.h"
 #include "bmi088.h"
-#include "bmi088.h"
 
 static attitude_t *gimba_IMU_data; // 云台IMU数据
 static DJIMotorInstance *yaw_motor, *pitch_motor;
@@ -15,12 +14,32 @@ 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
 
-//static BMI088Instance *bmi088; // 云台IMU
+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
+    //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);
+    };
+    bmi088=BMI088Register(&imu_config);
     // YAW
     Motor_Init_Config_s yaw_config = {
         .can_init_config = {
@@ -149,7 +168,7 @@ void GimbalTask()
     // ...
 
     // 设置反馈数据,主要是imu和yaw的ecd
-    //gimbal_feedback_data.gimbal_imu_data = *gimba_IMU_data;
+    gimbal_feedback_data.gimbal_imu_data = *gimba_IMU_data;
     gimbal_feedback_data.yaw_motor_single_round_angle = yaw_motor->measure.angle_single_round;
 
     // 推送消息

application/robot.c

@@ -31,12 +31,12 @@ void RobotInit()
 
 #if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
     RobotCMDInit();
-    GimbalInit();
-    ShootInit();
+    //GimbalInit();
+    //ShootInit();
 #endif
 
 #if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
-    ChassisInit();
+    //ChassisInit();
 #endif
 
     OSTaskInit(); // 创建基础任务
@@ -49,12 +49,12 @@ void RobotTask()
 {
 #if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
     RobotCMDTask();
-    GimbalTask();
-    ShootTask();
+    //GimbalTask();
+    //ShootTask();
 #endif
 
 #if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
-    ChassisTask();
+    //ChassisTask();
 #endif
 
 }