From 700b0dee8c2add8c0dc9c081404824b59753905f Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Sat, 4 Oct 2025 23:28:12 +0800
Subject: [PATCH] gai

---
 User/task/imu.c | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/User/task/imu.c b/User/task/imu.c
index 0dc500f..1a788a8 100644
--- a/User/task/imu.c
+++ b/User/task/imu.c
@@ -18,6 +18,7 @@
 /* Private variables -------------------------------------------------------- */
 /* USER STRUCT BEGIN */
 DM_IMU_t dm_imu;
+int i= 0;
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
@@ -39,9 +40,14 @@ void Task_imu(void *argument) {
   
   while (1) {
     tick += delay_tick; /* 计算下一个唤醒时刻 */
+    i++;
+
     /* USER CODE BEGIN */
     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
+    }
+    if (i>1){
+        i=0;
+// 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 = 150,
         .dlc = 8,
@@ -117,7 +123,7 @@ void Task_imu(void *argument) {
       memcpy(&quat_frame.data[4], &q2_int, 2);
       memcpy(&quat_frame.data[6], &q3_int, 2);
       
-      BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &quat_frame);
+      BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &quat_frame);        
     }
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */