robofish/rm_balance
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Robofish 2025-10-04 23:28:12 +08:00
parent 50a36aa5f6
commit 700b0dee8c
1 changed files with 8 additions and 2 deletions
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10
User/task/imu.c
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@ -18,6 +18,7 @@
/* Private variables -------------------------------------------------------- */ /* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */ /* USER STRUCT BEGIN */
DM_IMU_t dm_imu; DM_IMU_t dm_imu;
int i= 0;
/* USER STRUCT END */ /* USER STRUCT END */
/* Private function --------------------------------------------------------- */ /* Private function --------------------------------------------------------- */
@ -39,9 +40,14 @@ void Task_imu(void *argument) {
while (1) { while (1) {
tick += delay_tick; /* 计算下一个唤醒时刻 */ tick += delay_tick; /* 计算下一个唤醒时刻 */
i++;
/* USER CODE BEGIN */ /* USER CODE BEGIN */
if (DM_IMU_AutoUpdateAll(&dm_imu) == DEVICE_OK) { 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 = { BSP_CAN_StdDataFrame_t accl_frame = {
.id = 150, .id = 150,
.dlc = 8, .dlc = 8,
@ -117,7 +123,7 @@ void Task_imu(void *argument) {
memcpy(&quat_frame.data[4], &q2_int, 2); memcpy(&quat_frame.data[4], &q2_int, 2);
memcpy(&quat_frame.data[6], &q3_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 */ /* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */