From 38264c53e1f46fe50a9a8a15b02432322cbcad7d Mon Sep 17 00:00:00 2001
From: TuxMonkey <8196772+tuxmonkey@user.noreply.gitee.com>
Date: Sun, 16 Nov 2025 21:05:10 +0800
Subject: [PATCH] release bmi088 to dwt delay

---
 User_Code/module/periph/imu/BMI088driver.c | 38 +++++++++-------------
 ozonedeb/windebnewestux.jdebug             |  1 +
 2 files changed, 17 insertions(+), 22 deletions(-)

diff --git a/User_Code/module/periph/imu/BMI088driver.c b/User_Code/module/periph/imu/BMI088driver.c
index 7a93553..80f8f22 100644
--- a/User_Code/module/periph/imu/BMI088driver.c
+++ b/User_Code/module/periph/imu/BMI088driver.c
@@ -246,27 +246,23 @@ uint8_t bmi088_accel_init(void)
 {
     // check commiunication
     BMI088_accel_read_single_reg(BMI088_ACC_CHIP_ID, res);
-    // DWT_Delay(0.001);
-    HAL_Delay(BMI088_LONG_DELAY_TIME);
+    DWT_Delay(0.001);
     BMI088_accel_read_single_reg(BMI088_ACC_CHIP_ID, res);
-    // DWT_Delay(0.001);
-    HAL_Delay(BMI088_LONG_DELAY_TIME);
+    DWT_Delay(0.001);
     // accel software reset
     BMI088_accel_write_single_reg(BMI088_ACC_SOFTRESET, BMI088_ACC_SOFTRESET_VALUE);
     // HAL_Delay(BMI088_LONG_DELAY_TIME);
-    HAL_Delay(BMI088_COM_WAIT_SENSOR_TIME);
+    DWT_Delay(0.08);
     // check commiunication is normal after reset
     BMI088_accel_read_single_reg(BMI088_ACC_CHIP_ID, res);
-    // DWT_Delay(0.001);
-    HAL_Delay(BMI088_LONG_DELAY_TIME);
+    DWT_Delay(0.001);
     BMI088_accel_read_single_reg(BMI088_ACC_CHIP_ID, res);
-    // DWT_Delay(0.001);
-    HAL_Delay(BMI088_LONG_DELAY_TIME);
+    DWT_Delay(0.001);
 
     // check the "who am I"
     if (res != BMI088_ACC_CHIP_ID_VALUE)
     {
-        // Todo: LOGERROR("[bmi088] Can not read bmi088 acc chip id");
+        // LOGERROR("[bmi088] Can not read bmi088 acc chip id");
         return BMI088_NO_SENSOR;
     }
 
@@ -276,12 +272,10 @@ uint8_t bmi088_accel_init(void)
 
         BMI088_accel_write_single_reg(BMI088_Accel_Init_Table[write_reg_num][0],
                                       BMI088_Accel_Init_Table[write_reg_num][1]);
-        // DWT_Delay(0.001);
-        HAL_Delay(BMI088_LONG_DELAY_TIME);
+        DWT_Delay(0.001);
 
         BMI088_accel_read_single_reg(BMI088_Accel_Init_Table[write_reg_num][0], res);
-        // DWT_Delay(0.001);
-        HAL_Delay(BMI088_LONG_DELAY_TIME);
+        DWT_Delay(0.001);
 
         if (res != BMI088_Accel_Init_Table[write_reg_num][1])
         {
@@ -297,24 +291,24 @@ uint8_t bmi088_gyro_init(void)
 {
     // check commiunication
     BMI088_gyro_read_single_reg(BMI088_GYRO_CHIP_ID, res);
-    HAL_Delay(BMI088_LONG_DELAY_TIME);
+    DWT_Delay(0.001);
     BMI088_gyro_read_single_reg(BMI088_GYRO_CHIP_ID, res);
-    HAL_Delay(BMI088_LONG_DELAY_TIME);
+    DWT_Delay(0.001);
 
     // reset the gyro sensor
     BMI088_gyro_write_single_reg(BMI088_GYRO_SOFTRESET, BMI088_GYRO_SOFTRESET_VALUE);
     // HAL_Delay(BMI088_LONG_DELAY_TIME);
-    HAL_Delay(BMI088_COM_WAIT_SENSOR_TIME);
+    DWT_Delay(0.08);
     // check commiunication is normal after reset
     BMI088_gyro_read_single_reg(BMI088_GYRO_CHIP_ID, res);
-    HAL_Delay(BMI088_LONG_DELAY_TIME);
+    DWT_Delay(0.001);
     BMI088_gyro_read_single_reg(BMI088_GYRO_CHIP_ID, res);
-    HAL_Delay(BMI088_LONG_DELAY_TIME);
+    DWT_Delay(0.001);
 
     // check the "who am I"
     if (res != BMI088_GYRO_CHIP_ID_VALUE)
     {
-        //Todo: LOGERROR("[bmi088] Can not read bmi088 gyro chip id");
+        // LOGERROR("[bmi088] Can not read bmi088 gyro chip id");
         return BMI088_NO_SENSOR;
     }
 
@@ -324,10 +318,10 @@ uint8_t bmi088_gyro_init(void)
 
         BMI088_gyro_write_single_reg(BMI088_Gyro_Init_Table[write_reg_num][0],
                                      BMI088_Gyro_Init_Table[write_reg_num][1]);
-        HAL_Delay(BMI088_LONG_DELAY_TIME);
+        DWT_Delay(0.001);
 
         BMI088_gyro_read_single_reg(BMI088_Gyro_Init_Table[write_reg_num][0], res);
-        HAL_Delay(BMI088_LONG_DELAY_TIME); //但是不知道为什么还是yaw pitch还是nan
+        DWT_Delay(0.001);
 
         if (res != BMI088_Gyro_Init_Table[write_reg_num][1])
         {
diff --git a/ozonedeb/windebnewestux.jdebug b/ozonedeb/windebnewestux.jdebug
index 17bbb67..e2fce1d 100644
--- a/ozonedeb/windebnewestux.jdebug
+++ b/ozonedeb/windebnewestux.jdebug
@@ -33,6 +33,7 @@ void OnProjectLoad (void) {
   //
   // User settings
   //
+  Project.SetOSPlugin ("FreeRTOSPlugin");
   File.Open ("D:/RM/Elec Control/TronOneH7_Scaffold/cmake-build-debug/TronOneH7_Scaffold.elf");
 }