test bmi088

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);