202 lines
6.2 KiB
C
202 lines
6.2 KiB
C
/*
|
||
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_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 */
|
||
/* 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 */
|
||
}
|
||
|
||
} |