robofish/rm_balance
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This commit is contained in:
Robofish 2025-10-04 23:22:40 +08:00
parent 01ea1a9e78
commit 50a36aa5f6
1 changed files with 4 additions and 4 deletions
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8
User/task/imu.c
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@ -43,7 +43,7 @@ void Task_imu(void *argument) {
if (DM_IMU_AutoUpdateAll(&dm_imu) == DEVICE_OK) {
// 发送加速度计数据 (ID: 0x66) - 三轴压缩到一帧，每轴2字节，精度0.01g
BSP_CAN_StdDataFrame_t accl_frame = {
.id = 0x66,
.id = 150,
.dlc = 8,
.data = {0}
};
@ -62,7 +62,7 @@ void Task_imu(void *argument) {
// 发送陀螺仪数据 (ID: 0x67) - 三轴压缩到一帧，每轴2字节，精度0.01°/s
BSP_CAN_StdDataFrame_t gyro_frame = {
.id = 0x67,
.id = 0x151,
.dlc = 8,
.data = {0}
};
@ -81,7 +81,7 @@ void Task_imu(void *argument) {
// 发送欧拉角数据 (ID: 0x68) - 三轴压缩到一帧，每轴2字节，精度0.01度
BSP_CAN_StdDataFrame_t euler_frame = {
.id = 0x68,
.id = 0x152,
.dlc = 8,
.data = {0}
};
@ -100,7 +100,7 @@ void Task_imu(void *argument) {
// 发送四元数数据 (ID: 0x69) - 四分量压缩到一帧，每分量2字节，精度0.0001
BSP_CAN_StdDataFrame_t quat_frame = {
.id = 0x69,
.id = 0x153,
.dlc = 8,
.data = {0}
};