imu

User/task/atti_esit.c

@@ -1,38 +1,202 @@
 /*
-    atti_esit Task
+    atti_esti Task
     
 */
 
 /* Includes ----------------------------------------------------------------- */
+#include "cmsis_os2.h"
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
-
+#include "bsp/mm.h"
+#include "bsp/pwm.h"
+#include "bsp/gpio.h"
+#include "bsp/flash.h"
+#include "component/ahrs.h"
+#include "component/pid.h"
+#include "device/bmi088.h"
+#include "task/user_task.h"
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
 /* Private define ----------------------------------------------------------- */
+/* 使用Sector 11末尾存储校准数据 */
+#define FLASH_CALI_ADDR (ADDR_FLASH_SECTOR_11 + 0x1F000) /* Sector 11末尾 */
+#define FLASH_CALI_MAGIC 0x42494D38  /* "BMI8" 魔数，用于验证数据有效性 */
+#define CALIB_SAMPLES 10000  /* 校准采样数量 */
+
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
 /* USER STRUCT BEGIN */
+BMI088_t bmi088;
+
+/* 校准请求标识位 */
+volatile bool request_calibration = false;
+
+AHRS_t gimbal_ahrs;
+AHRS_Magn_t magn;
+AHRS_Eulr_t eulr_to_send;
+
+KPID_t imu_temp_ctrl_pid;
+BMI088_Cali_t cali_bmi088 = {
+  .gyro_offset = {0.0f, 0.0f, 0.0f},  /* 默认值，将从Flash加载 */
+};
+
+/* Flash存储结构 */
+typedef struct {
+  uint32_t magic;  /* 魔数，用于验证数据有效性 */
+  BMI088_Cali_t cali_data;
+} Flash_Cali_t;
+
+static const KPID_Params_t imu_temp_ctrl_pid_param = {
+    .k = 0.3f,
+    .p = 1.0f,
+    .i = 0.01f,
+    .d = 0.0f,
+    .i_limit = 1.0f,
+    .out_limit = 1.0f,
+};
+
+/* 校准相关变量 */
+typedef enum {
+  CALIB_IDLE,     // 空闲状态
+  CALIB_RUNNING,  // 正在校准
+  CALIB_DONE      // 校准完成
+} CalibState_t;
+
+static CalibState_t calib_state = CALIB_IDLE;
+static uint16_t calib_count = 0;
+static struct {
+  float x_sum;
+  float y_sum; 
+  float z_sum;
+} gyro_sum= {0.0f,0.0f,0.0f};
+/* 按钮回调函数：设置校准请求标识位 */
+static void request_gyro_calibration(void) {
+  request_calibration = true;
+}
+
+/* 从Flash加载校准数据 */
+static bool load_calibration_from_flash(void) {
+  Flash_Cali_t flash_data;
+  BSP_Flash_ReadBytes(FLASH_CALI_ADDR, &flash_data, sizeof(Flash_Cali_t));
+  
+  /* 验证魔数 */
+  if (flash_data.magic == FLASH_CALI_MAGIC) {
+    cali_bmi088 = flash_data.cali_data;
+    return true;
+  }
+  return false;
+}
+
+/* 保存校准数据到Flash */
+static void save_calibration_to_flash(void) {
+  Flash_Cali_t flash_data;
+  flash_data.magic = FLASH_CALI_MAGIC;
+  flash_data.cali_data = cali_bmi088;
+  
+  /* 擦除扇区（注意：这会擦除整个Sector 11，如果有其他数据需要保留请修改） */
+  BSP_Flash_EraseSector(FLASH_SECTOR_11);
+  
+  /* 写入数据 */
+  BSP_Flash_WriteBytes(FLASH_CALI_ADDR, (uint8_t*)&flash_data, sizeof(Flash_Cali_t));
+}
 
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
 /* Exported functions ------------------------------------------------------- */
-void Task_atti_esit(void *argument) {
+void Task_atti_esti(void *argument) {
   (void)argument; /* 未使用argument，消除警告 */
 
-  
+  uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
-  osDelay(ATTI_ESIT_INIT_DELAY); /* 延时一段时间再开启任务 */
-
   /* USER CODE INIT BEGIN */
-
+  /* 尝试从Flash加载校准数据 */
+  if (!load_calibration_from_flash()) {
+    /* Flash中无有效校准数据，使用默认值 */
+    cali_bmi088.gyro_offset.x = 0.0f;
+    cali_bmi088.gyro_offset.y = 0.0f;
+    cali_bmi088.gyro_offset.z = 0.0f;
+  }
+  
+  BMI088_Init(&bmi088, &cali_bmi088);
+  AHRS_Init(&gimbal_ahrs, &magn, BMI088_GetUpdateFreq(&bmi088));
+  PID_Init(&imu_temp_ctrl_pid, KPID_MODE_NO_D,
+           1.0f / BMI088_GetUpdateFreq(&bmi088), &imu_temp_ctrl_pid_param);
+  BSP_PWM_Start(BSP_PWM_IMU_HEAT_PWM);
+  
+  /* 注册按钮回调函数并启用中断 */
+  BSP_GPIO_RegisterCallback(BSP_GPIO_USER_KEY, request_gyro_calibration);
+  BSP_GPIO_EnableIRQ(BSP_GPIO_USER_KEY);
   /* USER CODE INIT END */
-
+  
   while (1) {
     /* USER CODE BEGIN */
+    BMI088_WaitNew();
+    BMI088_AcclStartDmaRecv();
+    BMI088_AcclWaitDmaCplt();
+
+    BMI088_GyroStartDmaRecv();
+    BMI088_GyroWaitDmaCplt();
+
+    /* 锁住RTOS内核防止数据解析过程中断，造成错误 */
+    osKernelLock();
+    /* 接收完所有数据后，把数据从原始字节加工成方便计算的数据 */
+    BMI088_ParseAccl(&bmi088);
+    BMI088_ParseGyro(&bmi088);
+    // IST8310_Parse(&ist8310);
+
+    /* 检查校准请求标识位 */
+    if (request_calibration && calib_state == CALIB_IDLE) {
+      calib_state = CALIB_RUNNING;
+      calib_count = 0;
+      gyro_sum.x_sum = 0.0f;
+      gyro_sum.y_sum = 0.0f;
+      gyro_sum.z_sum = 0.0f;
+      request_calibration = false;  /* 清除标识位 */
+    }
+
+    /* 陀螺仪校准处理 */
+    if (calib_state == CALIB_RUNNING) {
+      /* 累加陀螺仪数据用于计算零偏 */
+      gyro_sum.x_sum += bmi088.gyro.x;
+      gyro_sum.y_sum += bmi088.gyro.y;
+      gyro_sum.z_sum += bmi088.gyro.z;
+      calib_count++;
+
+      /* 达到采样数量后计算平均值并更新零偏 */
+      if (calib_count >= CALIB_SAMPLES) {
+        /* 计算平均值作为零偏 */
+        cali_bmi088.gyro_offset.x = gyro_sum.x_sum / CALIB_SAMPLES;
+        cali_bmi088.gyro_offset.y = gyro_sum.y_sum / CALIB_SAMPLES;
+        cali_bmi088.gyro_offset.z = gyro_sum.z_sum / CALIB_SAMPLES;
+        
+        /* 保存校准数据到Flash */
+        save_calibration_to_flash();
+        
+        /* 校准完成，重置为空闲状态以便下次校准 */
+        calib_state = CALIB_IDLE;
+        
+        /* 重新初始化BMI088以应用新的校准数据 */
+        BMI088_Init(&bmi088, &cali_bmi088);
+        AHRS_Init(&gimbal_ahrs, &magn, BMI088_GetUpdateFreq(&bmi088));
+      }
+    }
+
+    /* 只有在非校准状态下才进行正常的姿态解析 */
+    if (calib_state != CALIB_RUNNING) {
+      /* 根据设备接收到的数据进行姿态解析 */
+      AHRS_Update(&gimbal_ahrs, &bmi088.accl, &bmi088.gyro, &magn);
+
+      /* 根据解析出来的四元数计算欧拉角 */
+      AHRS_GetEulr(&eulr_to_send, &gimbal_ahrs);
+    }
+    
+    osKernelUnlock();
+
+    BSP_PWM_SetComp(BSP_PWM_IMU_HEAT_PWM, PID_Calc(&imu_temp_ctrl_pid, 40.0f, bmi088.temp, 0.0f, 0.0f));
 
     /* USER CODE END */
+    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
   }
   
 }