TuxMonkey/tronone-h7-scaffold
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TuxMonkey
2025-11-20 19:26:42 +08:00
parent d49c023f3c
commit 1ff64dea82
7 changed files with 19 additions and 5 deletions
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4
User_Code/module/periph/imu/BMI088/BMI088driver.c
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@@ -205,7 +205,9 @@ void Calibrate_MPU_Offset(IMU_Data_t *bmi088)
gNormDiff = gNormMax - gNormMin;
for (uint8_t j = 0; j < 3; ++j)
{
gyroDiff[j] = gyroMax[j] - gyroMin[j];
}
if (gNormDiff > 0.5f ||
gyroDiff[0] > 0.5f || //0.15
gyroDiff[1] > 0.5f || //0.15
@@ -220,7 +222,9 @@ void Calibrate_MPU_Offset(IMU_Data_t *bmi088)
bmi088->gNorm /= (float) CaliTimes;
for (uint8_t i = 0; i < 3; ++i)
{
bmi088->GyroOffset[i] /= (float) CaliTimes;
}
BMI088_accel_read_muli_reg(BMI088_TEMP_M, buf, 2);
bmi088_raw_temp = (int16_t) ((buf[0] << 3) | (buf[1] >> 5));