robofish/MRobot
1
0
Fork 0
mirror of https://github.com/goldenfishs/MRobot.git synced 2025-09-14 12:54:33 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

修改can

Browse Source
This commit is contained in:
Robofish 2025-08-28 21:38:00 +08:00
parent 89b6af6138
commit 006ee185e9
1 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
assets/User_code/device/dm_imu.c
View File

@ -7,6 +7,7 @@
#include "bsp/can.h" #include "bsp/can.h"
#include "bsp/time.h" #include "bsp/time.h"
#include "component/user_math.h"
#include <string.h> #include <string.h>
/* Private define ----------------------------------------------------------- */ /* Private define ----------------------------------------------------------- */
@ -86,13 +87,12 @@ static int8_t DM_IMU_ParseEulerData(DM_IMU_t *imu, uint8_t *data, uint8_t len) {
uint16_t pit_raw = (data[3] << 8) | data[2]; uint16_t pit_raw = (data[3] << 8) | data[2];
uint16_t yaw_raw = (data[5] << 8) | data[4]; uint16_t yaw_raw = (data[5] << 8) | data[4];
uint16_t rol_raw = (data[7] << 8) | data[6]; uint16_t rol_raw = (data[7] << 8) | data[6];
imu->data.euler.pit = uint_to_float(pit_raw, PITCH_CAN_MIN, PITCH_CAN_MAX, 16); imu->data.euler.pit = uint_to_float(pit_raw, PITCH_CAN_MIN, PITCH_CAN_MAX, 16) * M_DEG2RAD_MULT;
imu->data.euler.yaw = uint_to_float(yaw_raw, YAW_CAN_MIN, YAW_CAN_MAX, 16); imu->data.euler.yaw = uint_to_float(yaw_raw, YAW_CAN_MIN, YAW_CAN_MAX, 16) * M_DEG2RAD_MULT;
imu->data.euler.rol = uint_to_float(rol_raw, ROLL_CAN_MIN, ROLL_CAN_MAX, 16); imu->data.euler.rol = uint_to_float(rol_raw, ROLL_CAN_MIN, ROLL_CAN_MAX, 16) * M_DEG2RAD_MULT;
return DEVICE_OK; return DEVICE_OK;
} }
/** /**
* @brief 解析四元数数据 * @brief 解析四元数数据
*/ */