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release bmi088 to dwt delay

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TuxMonkey
2025-11-16 21:05:10 +08:00
parent 66da7a1935
commit 38264c53e1
2 changed files with 17 additions and 22 deletions
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38
User_Code/module/periph/imu/BMI088driver.c
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@@ -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])
{