TuxMonkey/bf_original_balance_chassis
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完成基于bsp的bmi088编写,更新can comm的CAN配置

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NeoZng
2023-04-13 16:09:03 +08:00
parent 4a2bc01525
commit ec005f163c
8 changed files with 77 additions and 115 deletions
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4
application/gimbal/gimbal.c
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@@ -54,8 +54,8 @@ void GimbalInit()
.cali_mode = BMI088_CALIBRATE_ONLINE_MODE,
.work_mode = BMI088_BLOCK_PERIODIC_MODE,
};
// imu=BMI088Register(&imu_config);
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
imu=BMI088Register(&imu_config);
// 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
// YAW
Motor_Init_Config_s yaw_config = {
.can_init_config = {