TuxMonkey/bf_original_balance_chassis
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添加cmakelists的支持，修复了一些静态检查warning

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This commit is contained in:
NeoZng
2023-07-26 14:31:49 +08:00
parent 668848a1e8
commit cb3aeb4063
10 changed files with 147 additions and 36 deletions
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18
modules/BMI088/bmi088.c
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@@ -188,31 +188,31 @@ static uint8_t BMI088GyroInit(BMI088Instance *bmi088)
*/
static void BMI088AccSPIFinishCallback(SPIInstance *spi)
{
static BMI088Instance *bmi088;
bmi088 = (BMI088Instance *)(spi->id);
// static BMI088Instance *bmi088;
// bmi088 = (BMI088Instance *)(spi->id);
// 若第一次读取加速度,则在这里启动温度读取
// 如果使用异步姿态更新,此处唤醒量测更新的任务
}
static void BMI088GyroSPIFinishCallback(SPIInstance *spi)
{
static BMI088Instance *bmi088;
bmi088 = (BMI088Instance *)(spi->id);
// static BMI088Instance *bmi088;
// bmi088 = (BMI088Instance *)(spi->id);
// 若不是异步,啥也不做;否则启动姿态的预测步(propagation)
}
static void BMI088AccINTCallback(GPIOInstance *gpio)
{
static BMI088Instance *bmi088;
bmi088 = (BMI088Instance *)(gpio->id);
// static BMI088Instance *bmi088;
// bmi088 = (BMI088Instance *)(gpio->id);
// 启动加速度计数据读取(和温度读取,如果有必要),并转换为实际值
// 读取完毕会调用BMI088AccSPIFinishCallback
}
static void BMI088GyroINTCallback(GPIOInstance *gpio)
{
static BMI088Instance *bmi088;
bmi088 = (BMI088Instance *)(gpio->id);
// static BMI088Instance *bmi088;
// bmi088 = (BMI088Instance *)(gpio->id);
// 启动陀螺仪数据读取,并转换为实际值
// 读取完毕会调用BMI088GyroSPIFinishCallback
}
@@ -258,6 +258,7 @@ uint8_t BMI088Acquire(BMI088Instance *bmi088, BMI088_Data_t *data_store)
// 如果数据还没准备好,则返回空数据?或者返回上一次的数据?或者返回错误码? @todo
if (bmi088->update_flag.imu_ready == 0)
return 0;
return 1;
}
/* pre calibrate parameter to go here */
@@ -286,7 +287,6 @@ void BMI088CalibrateIMU(BMI088Instance *_bmi088)
// 一次性参数用完就丢,不用static
float startTime; // 开始标定时间,用于确定是否超时
uint16_t CaliTimes = 6000; // 标定次数(6s)
uint8_t buf[6] = {0}; // buffer
float gyroMax[3], gyroMin[3]; // 保存标定过程中读取到的数据最大值判断是否满足标定环境
float gNormTemp, gNormMax, gNormMin; // 同上,计算矢量范数(模长)
float gyroDiff[3], gNormDiff; // 每个轴的最大角速度跨度及其模长