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imu test

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TuxMonkey
2025-11-16 17:19:14 +08:00
parent de8a0d5117
commit ab01747052
20 changed files with 10796 additions and 234 deletions
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12
User_Code/module/periph/imu/BMI088driver.c
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@@ -5,7 +5,7 @@
#include "bsp_log.h"
#include <math.h>
#pragma message "this is a legacy support. test the new BMI088 module as soon as possible."
// Todo: #pragma message "this is a legacy support. test the new BMI088 module as soon as possible."
float BMI088_ACCEL_SEN = BMI088_ACCEL_6G_SEN;
float BMI088_GYRO_SEN = BMI088_GYRO_2000_SEN;
@@ -64,7 +64,9 @@ IMU_Data_t BMI088;
}
static void BMI088_write_single_reg(uint8_t reg, uint8_t data);
static void BMI088_read_single_reg(uint8_t reg, uint8_t *return_data);
static void BMI088_read_muli_reg(uint8_t reg, uint8_t *buf, uint8_t len);
#elif defined(BMI088_USE_IIC)
@@ -138,7 +140,7 @@ void Calibrate_MPU_Offset(IMU_Data_t *bmi088)
bmi088->GyroOffset[2] = GzOFFSET;
bmi088->gNorm = gNORM;
bmi088->TempWhenCali = 40;
LOGERROR("[BMI088] Calibrate Failed! Use offline params");
// Todo: LOGERROR("[BMI088] Calibrate Failed! Use offline params");
break;
}
@@ -209,7 +211,7 @@ void Calibrate_MPU_Offset(IMU_Data_t *bmi088)
gyroDiff[1] > 0.5f || //0.15
gyroDiff[2] > 0.5f) //0.15
{
LOGWARNING("[bmi088] calibration was interrupted\n");
// LOGWARNING("[bmi088] calibration was interrupted\n");
break;
}
@@ -264,7 +266,7 @@ uint8_t bmi088_accel_init(void)
// check the "who am I"
if (res != BMI088_ACC_CHIP_ID_VALUE)
{
LOGERROR("[bmi088] Can not read bmi088 acc chip id");
// Todo: LOGERROR("[bmi088] Can not read bmi088 acc chip id");
return BMI088_NO_SENSOR;
}
@@ -312,7 +314,7 @@ uint8_t bmi088_gyro_init(void)
// check the "who am I"
if (res != BMI088_GYRO_CHIP_ID_VALUE)
{
LOGERROR("[bmi088] Can not read bmi088 gyro chip id");
//Todo: LOGERROR("[bmi088] Can not read bmi088 gyro chip id");
return BMI088_NO_SENSOR;
}