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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14
modules/imu/BMI088driver.c
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@@ -18,8 +18,6 @@ float gyroDiff[3], gNormDiff;
uint8_t caliOffset = 1;
int16_t caliCount = 0;
static uint32_t offset_cal_DWT_Count = 0;
IMU_Data_t BMI088;
#if defined(BMI088_USE_SPI)
@@ -333,17 +331,7 @@ void BMI088_Read(IMU_Data_t *bmi088)
{
static uint8_t buf[8] = {0};
static int16_t bmi088_raw_temp;
static float dt = 1.0;
static uint8_t first_read_flag = 0;
if (!first_read_flag)
{
first_read_flag = 1;
DWT_GetDeltaT(&offset_cal_DWT_Count);
}
else
{
dt = DWT_GetDeltaT(&offset_cal_DWT_Count) * 1000.0;
}
BMI088_accel_read_muli_reg(BMI088_ACCEL_XOUT_L, buf, 6);
bmi088_raw_temp = (int16_t)((buf[1]) << 8) | buf[0];