TuxMonkey/bf_original_balance_chassis
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test bmi088

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This commit is contained in:
chenfu
2023-12-03 18:41:36 +08:00
parent e42c77611b
commit c2256da27c
7 changed files with 76 additions and 12 deletions
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29
application/gimbal/gimbal.c
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@@ -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