133 lines
4.3 KiB
C
133 lines
4.3 KiB
C
/*
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atti_esti Task
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陀螺仪接收解算任务
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "task/user_task.h"
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/* USER INCLUDE BEGIN*/
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#include "bsp/pwm.h"
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#include "bsp/gpio.h"
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#include "component/ahrs.h"
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#include "component/pid.h"
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#include "device/bmi088.h"
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#include "device/n100.h"
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#include "task/user_task.h"
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/* USER INCLUDE END*/
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/* Private typedef ---------------------------------------------------------- */
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/* Private define ----------------------------------------------------------- */
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/* Private macro ------------------------------------------------------------ */
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/* Private variables -------------------------------------------------------- */
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/* USER STRUCT BEGIN*/
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BMI088_t bmi088;
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N100_t n100;
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BMI088_Cali_t bmi088_cali = {
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.gyro_offset = {0.0f, 0.0f, 0.0f},
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}; /* BMI088校准数据 */
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AHRS_Magn_t mage = {0.0f, 0.0f, 0.0f}; /* 磁力计数据，未使用 */
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AHRS_t gimbal_ahrs;
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AHRS_Eulr_t eulr_to_send;
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KPID_t imu_temp_ctrl_pid;
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const KPID_Params_t imu_temp_ctrl_pid_param = {
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.k = 0.3f,
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.p = 1.0f,
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.i = 0.0f,
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.d = 0.0f,
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.i_limit = 1.0f,
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.out_limit = 1.0f,
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};
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/* USER STRUCT END*/
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/* Private function --------------------------------------------------------- */
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/* Exported functions ------------------------------------------------------- */
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void Task_atti_esti(void *argument) {
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(void)argument; /* 未使用argument，消除警告 */
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osDelay(ATTI_ESTI_INIT_DELAY); /* 延时一段时间再开启任务 */
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/* USER CODE INIT BEGIN*/
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switch (task_runtime.config.chassis_imu_type) {
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case IMU_BOARD_BMI088:
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BMI088_Init(&bmi088, &bmi088_cali); /* 初始化BMI088传感器 */
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AHRS_Init(&gimbal_ahrs, &mage, BMI088_GetUpdateFreq(&bmi088)); /* 初始化姿态解算算法 */
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/* 初始化IMU温度控制PID，防止温漂 */
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// PID_Init(&imu_temp_ctrl_pid, KPID_MODE_NO_D,
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// 1.0f / BMI088_GetUpdateFreq(&bmi088), &imu_temp_ctrl_pid_param);
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// BSP_PWM_Start(BSP_PWM_IMU_HEAT);
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break;
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case IMU_WHEELREC_N100:
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N100_Init(&n100);
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BSP_GPIO_SetPin(BSP_GPIO_5V_EN, BSP_GPIO_ON); /* 打开5V电源 */
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break;
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default:
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break;
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}
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/* USER CODE INIT END*/
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while (1) {
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/* USER CODE BEGIN */
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switch (task_runtime.config.chassis_imu_type) {
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case IMU_BOARD_BMI088:
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/* 等待IMU新数据 */
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BMI088_WaitNew();
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/* 开始数据接收DMA，加速度计和陀螺仪共用同一个SPI接口，
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* 一次只能开启一个DMA
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*/
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BMI088_AcclStartDmaRecv();
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BMI088_AcclWaitDmaCplt();
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BMI088_GyroStartDmaRecv();
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BMI088_GyroWaitDmaCplt();
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/* 锁住RTOS内核防止数据解析过程中断，造成错误 */
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osKernelLock();
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/* 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 */
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BMI088_ParseAccl(&bmi088);
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BMI088_ParseGyro(&bmi088);
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/* 根据设备接收到的数据进行姿态解析 */
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AHRS_Update(&gimbal_ahrs, &bmi088.accl, &bmi088.gyro, &mage);
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/* 根据解析出来的四元数计算欧拉角 */
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AHRS_GetEulr(&eulr_to_send, &gimbal_ahrs);
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osKernelUnlock();
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/* 将欧拉角数据放入消息队列 */
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osMessageQueueReset(task_runtime.msgq.body.eulr_imu);
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osMessageQueuePut(task_runtime.msgq.body.eulr_imu, &eulr_to_send, 0, 0); /* 将欧拉角数据放入消息队列 */
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/* PID控制IMU温度，PWM输出 */
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// BSP_PWM_Set(BSP_PWM_IMU_HEAT,
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// PID_Calc(&imu_temp_ctrl_pid, 40.0f, bmi088.temp, 0.0f, 0.01f));
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break;
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case IMU_WHEELREC_N100:
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N100_StartReceiving(&n100);
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if (N100_WaitDmaCplt()) {
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osKernelLock();
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N100_ParseData(&n100);
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osKernelUnlock();
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} else {
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N100_HandleOffline(&n100);
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}
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osMessageQueueReset(task_runtime.msgq.body.eulr_imu); /* 重置消息队列 */
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osMessageQueuePut(task_runtime.msgq.body.eulr_imu, &n100.eulr, 0, 0); /* 将欧拉角数据放入消息队列 */
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break;
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default:
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break;
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}
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/* USER CODE END */
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}
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} |