mirror of
https://github.com/goldenfishs/MRobot.git
synced 2026-04-01 05:17:13 +08:00
重构User_code目录结构：将文件组织到子文件夹中
主要更改： - 将所有BSP外设文件移动到独立子文件夹（can/, fdcan/, uart/等） - 将所有Component文件移动到独立子文件夹（pid/, filter/, cmd/等） - 将所有Device文件移动到独立子文件夹（dr16/, bmi088/等） - 更新代码生成器以支持新的文件夹结构 - 保持向后兼容性，支持从子文件夹或根目录加载模板 - 添加STRUCTURE.md文档说明新的目录结构 优势： ✅ 更好的代码组织和管理 ✅ 便于添加、删除、修改模板 ✅ 清晰的模块划分 ✅ 向后兼容现有结构
This commit is contained in:
271
assets/User_code/device/dm_imu/dm_imu.c
Normal file
271
assets/User_code/device/dm_imu/dm_imu.c
Normal file
@@ -0,0 +1,271 @@
|
||||
/*
|
||||
DM_IMU数据获取（CAN）
|
||||
*/
|
||||
|
||||
/* Includes ----------------------------------------------------------------- */
|
||||
#include "dm_imu.h"
|
||||
|
||||
#include "bsp/can.h"
|
||||
#include "bsp/time.h"
|
||||
#include "component/user_math.h"
|
||||
#include <string.h>
|
||||
|
||||
/* Private define ----------------------------------------------------------- */
|
||||
#define DM_IMU_OFFLINE_TIMEOUT 1000 // 设备离线判定时间1000ms
|
||||
|
||||
#define ACCEL_CAN_MAX (58.8f)
|
||||
#define ACCEL_CAN_MIN (-58.8f)
|
||||
#define GYRO_CAN_MAX (34.88f)
|
||||
#define GYRO_CAN_MIN (-34.88f)
|
||||
#define PITCH_CAN_MAX (90.0f)
|
||||
#define PITCH_CAN_MIN (-90.0f)
|
||||
#define ROLL_CAN_MAX (180.0f)
|
||||
#define ROLL_CAN_MIN (-180.0f)
|
||||
#define YAW_CAN_MAX (180.0f)
|
||||
#define YAW_CAN_MIN (-180.0f)
|
||||
#define TEMP_MIN (0.0f)
|
||||
#define TEMP_MAX (60.0f)
|
||||
#define Quaternion_MIN (-1.0f)
|
||||
#define Quaternion_MAX (1.0f)
|
||||
|
||||
|
||||
/* Private macro ------------------------------------------------------------ */
|
||||
/* Private typedef ---------------------------------------------------------- */
|
||||
/* Private variables -------------------------------------------------------- */
|
||||
/* Private function --------------------------------------------------------- */
|
||||
|
||||
static uint8_t count = 0; // 计数器，用于判断设备是否离线
|
||||
/**
|
||||
* @brief: 无符号整数转换为浮点数函数
|
||||
*/
|
||||
static float uint_to_float(int x_int, float x_min, float x_max, int bits)
|
||||
{
|
||||
float span = x_max - x_min;
|
||||
float offset = x_min;
|
||||
return ((float)x_int)*span/((float)((1<<bits)-1)) + offset;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 解析加速度计数据
|
||||
*/
|
||||
static int8_t DM_IMU_ParseAccelData(DM_IMU_t *imu, uint8_t *data, uint8_t len) {
|
||||
if (imu == NULL || data == NULL || len < 8) {
|
||||
return DEVICE_ERR;
|
||||
}
|
||||
int8_t temp = data[1];
|
||||
uint16_t acc_x_raw = (data[3] << 8) | data[2];
|
||||
uint16_t acc_y_raw = (data[5] << 8) | data[4];
|
||||
uint16_t acc_z_raw = (data[7] << 8) | data[6];
|
||||
imu->data.temp = (float)temp;
|
||||
imu->data.accl.x = uint_to_float(acc_x_raw, ACCEL_CAN_MIN, ACCEL_CAN_MAX, 16);
|
||||
imu->data.accl.y = uint_to_float(acc_y_raw, ACCEL_CAN_MIN, ACCEL_CAN_MAX, 16);
|
||||
imu->data.accl.z = uint_to_float(acc_z_raw, ACCEL_CAN_MIN, ACCEL_CAN_MAX, 16);
|
||||
return DEVICE_OK;
|
||||
}
|
||||
/**
|
||||
* @brief 解析陀螺仪数据
|
||||
*/
|
||||
static int8_t DM_IMU_ParseGyroData(DM_IMU_t *imu, uint8_t *data, uint8_t len) {
|
||||
if (imu == NULL || data == NULL || len < 8) {
|
||||
return DEVICE_ERR;
|
||||
}
|
||||
uint16_t gyro_x_raw = (data[3] << 8) | data[2];
|
||||
uint16_t gyro_y_raw = (data[5] << 8) | data[4];
|
||||
uint16_t gyro_z_raw = (data[7] << 8) | data[6];
|
||||
imu->data.gyro.x = uint_to_float(gyro_x_raw, GYRO_CAN_MIN, GYRO_CAN_MAX, 16);
|
||||
imu->data.gyro.y = uint_to_float(gyro_y_raw, GYRO_CAN_MIN, GYRO_CAN_MAX, 16);
|
||||
imu->data.gyro.z = uint_to_float(gyro_z_raw, GYRO_CAN_MIN, GYRO_CAN_MAX, 16);
|
||||
return DEVICE_OK;
|
||||
}
|
||||
/**
|
||||
* @brief 解析欧拉角数据
|
||||
*/
|
||||
static int8_t DM_IMU_ParseEulerData(DM_IMU_t *imu, uint8_t *data, uint8_t len) {
|
||||
if (imu == NULL || data == NULL || len < 8) {
|
||||
return DEVICE_ERR;
|
||||
}
|
||||
uint16_t pit_raw = (data[3] << 8) | data[2];
|
||||
uint16_t yaw_raw = (data[5] << 8) | data[4];
|
||||
uint16_t rol_raw = (data[7] << 8) | data[6];
|
||||
imu->data.euler.pit = uint_to_float(pit_raw, PITCH_CAN_MIN, PITCH_CAN_MAX, 16) * M_DEG2RAD_MULT;
|
||||
imu->data.euler.yaw = uint_to_float(yaw_raw, YAW_CAN_MIN, YAW_CAN_MAX, 16) * M_DEG2RAD_MULT;
|
||||
imu->data.euler.rol = uint_to_float(rol_raw, ROLL_CAN_MIN, ROLL_CAN_MAX, 16) * M_DEG2RAD_MULT;
|
||||
return DEVICE_OK;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 解析四元数数据
|
||||
*/
|
||||
static int8_t DM_IMU_ParseQuaternionData(DM_IMU_t *imu, uint8_t *data, uint8_t len) {
|
||||
if (imu == NULL || data == NULL || len < 8) {
|
||||
return DEVICE_ERR;
|
||||
}
|
||||
int w = (data[1] << 6) | ((data[2] & 0xF8) >> 2);
|
||||
int x = ((data[2] & 0x03) << 12) | (data[3] << 4) | ((data[4] & 0xF0) >> 4);
|
||||
int y = ((data[4] & 0x0F) << 10) | (data[5] << 2) | ((data[6] & 0xC0) >> 6);
|
||||
int z = ((data[6] & 0x3F) << 8) | data[7];
|
||||
imu->data.quat.q0 = uint_to_float(w, Quaternion_MIN, Quaternion_MAX, 14);
|
||||
imu->data.quat.q1 = uint_to_float(x, Quaternion_MIN, Quaternion_MAX, 14);
|
||||
imu->data.quat.q2 = uint_to_float(y, Quaternion_MIN, Quaternion_MAX, 14);
|
||||
imu->data.quat.q3 = uint_to_float(z, Quaternion_MIN, Quaternion_MAX, 14);
|
||||
return DEVICE_OK;
|
||||
}
|
||||
|
||||
|
||||
/* Exported functions ------------------------------------------------------- */
|
||||
|
||||
/**
|
||||
* @brief 初始化DM IMU设备
|
||||
*/
|
||||
int8_t DM_IMU_Init(DM_IMU_t *imu, DM_IMU_Param_t *param) {
|
||||
if (imu == NULL || param == NULL) {
|
||||
return DEVICE_ERR_NULL;
|
||||
}
|
||||
|
||||
// 初始化设备头部
|
||||
imu->header.online = false;
|
||||
imu->header.last_online_time = 0;
|
||||
|
||||
// 配置参数
|
||||
imu->param.can = param->can;
|
||||
imu->param.can_id = param->can_id;
|
||||
imu->param.device_id = param->device_id;
|
||||
imu->param.master_id = param->master_id;
|
||||
|
||||
// 清零数据
|
||||
memset(&imu->data, 0, sizeof(DM_IMU_Data_t));
|
||||
|
||||
// 注册CAN接收队列，用于接收回复报文
|
||||
int8_t result = BSP_CAN_RegisterId(imu->param.can, imu->param.master_id, 10);
|
||||
if (result != BSP_OK) {
|
||||
return DEVICE_ERR;
|
||||
}
|
||||
|
||||
return DEVICE_OK;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 请求IMU数据
|
||||
*/
|
||||
int8_t DM_IMU_Request(DM_IMU_t *imu, DM_IMU_RID_t rid) {
|
||||
if (imu == NULL) {
|
||||
return DEVICE_ERR_NULL;
|
||||
}
|
||||
|
||||
// 构造发送数据：id_L, id_H(DM_IMU_ID), RID, 0xcc
|
||||
uint8_t tx_data[4] = {
|
||||
imu->param.device_id & 0xFF, // id_L
|
||||
(imu->param.device_id >> 8) & 0xFF, // id_H
|
||||
(uint8_t)rid, // RID
|
||||
0xCC // 固定值
|
||||
};
|
||||
|
||||
// 发送标准数据帧
|
||||
BSP_CAN_StdDataFrame_t frame = {
|
||||
.id = imu->param.can_id,
|
||||
.dlc = 4,
|
||||
};
|
||||
memcpy(frame.data, tx_data, 4);
|
||||
int8_t result = BSP_CAN_TransmitStdDataFrame(imu->param.can, &frame);
|
||||
return (result == BSP_OK) ? DEVICE_OK : DEVICE_ERR;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 更新IMU数据（从CAN中获取所有数据并解析）
|
||||
*/
|
||||
int8_t DM_IMU_Update(DM_IMU_t *imu) {
|
||||
if (imu == NULL) {
|
||||
return DEVICE_ERR_NULL;
|
||||
}
|
||||
|
||||
BSP_CAN_Message_t msg;
|
||||
int8_t result;
|
||||
bool data_received = false;
|
||||
|
||||
// 持续接收所有可用消息
|
||||
while ((result = BSP_CAN_GetMessage(imu->param.can, imu->param.master_id, &msg, BSP_CAN_TIMEOUT_IMMEDIATE)) == BSP_OK) {
|
||||
// 验证回复数据格式（至少检查数据长度）
|
||||
if (msg.dlc < 3) {
|
||||
continue; // 跳过无效消息
|
||||
}
|
||||
|
||||
// 根据数据位的第0位确定反馈报文类型
|
||||
uint8_t rid = msg.data[0] & 0x0F; // 取第0位的低4位作为RID
|
||||
|
||||
// 根据RID类型解析数据
|
||||
int8_t parse_result = DEVICE_ERR;
|
||||
switch (rid) {
|
||||
case 0x01: // RID_ACCL
|
||||
parse_result = DM_IMU_ParseAccelData(imu, msg.data, msg.dlc);
|
||||
break;
|
||||
case 0x02: // RID_GYRO
|
||||
parse_result = DM_IMU_ParseGyroData(imu, msg.data, msg.dlc);
|
||||
break;
|
||||
case 0x03: // RID_EULER
|
||||
parse_result = DM_IMU_ParseEulerData(imu, msg.data, msg.dlc);
|
||||
break;
|
||||
case 0x04: // RID_QUATERNION
|
||||
parse_result = DM_IMU_ParseQuaternionData(imu, msg.data, msg.dlc);
|
||||
break;
|
||||
default:
|
||||
continue; // 跳过未知类型的消息
|
||||
}
|
||||
|
||||
// 如果解析成功，标记为收到数据
|
||||
if (parse_result == DEVICE_OK) {
|
||||
data_received = true;
|
||||
}
|
||||
}
|
||||
|
||||
// 如果收到任何有效数据，更新设备状态
|
||||
if (data_received) {
|
||||
imu->header.online = true;
|
||||
imu->header.last_online_time = BSP_TIME_Get_ms();
|
||||
return DEVICE_OK;
|
||||
}
|
||||
|
||||
return DEVICE_ERR;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 自动更新IMU所有数据（包括加速度计、陀螺仪、欧拉角和四元数,最高1khz）
|
||||
*/
|
||||
int8_t DM_IMU_AutoUpdateAll(DM_IMU_t *imu){
|
||||
if (imu == NULL) {
|
||||
return DEVICE_ERR_NULL;
|
||||
}
|
||||
switch (count) {
|
||||
case 0:
|
||||
DM_IMU_Request(imu, RID_ACCL);
|
||||
break;
|
||||
case 1:
|
||||
DM_IMU_Request(imu, RID_GYRO);
|
||||
break;
|
||||
case 2:
|
||||
DM_IMU_Request(imu, RID_EULER);
|
||||
break;
|
||||
case 3:
|
||||
DM_IMU_Request(imu, RID_QUATERNION);
|
||||
DM_IMU_Update(imu); // 更新所有数据
|
||||
break;
|
||||
}
|
||||
count++;
|
||||
if (count >= 4) {
|
||||
count = 0; // 重置计数器
|
||||
return DEVICE_OK;
|
||||
}
|
||||
return DEVICE_ERR;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 检查设备是否在线
|
||||
*/
|
||||
bool DM_IMU_IsOnline(DM_IMU_t *imu) {
|
||||
if (imu == NULL) {
|
||||
return false;
|
||||
}
|
||||
|
||||
uint32_t current_time = BSP_TIME_Get_ms();
|
||||
return imu->header.online &&
|
||||
(current_time - imu->header.last_online_time < DM_IMU_OFFLINE_TIMEOUT);
|
||||
}
|
||||
90
assets/User_code/device/dm_imu/dm_imu.h
Normal file
90
assets/User_code/device/dm_imu/dm_imu.h
Normal file
@@ -0,0 +1,90 @@
|
||||
#pragma once
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Includes ----------------------------------------------------------------- */
|
||||
#include "device/device.h"
|
||||
#include "component/ahrs.h"
|
||||
#include "bsp/can.h"
|
||||
/* Exported constants ------------------------------------------------------- */
|
||||
|
||||
#define DM_IMU_CAN_ID_DEFAULT 0x6FF
|
||||
#define DM_IMU_ID_DEFAULT 0x42
|
||||
#define DM_IMU_MST_ID_DEFAULT 0x43
|
||||
|
||||
/* Exported macro ----------------------------------------------------------- */
|
||||
/* Exported types ----------------------------------------------------------- */
|
||||
|
||||
typedef struct {
|
||||
BSP_CAN_t can; // CAN总线句柄
|
||||
uint16_t can_id; // CAN通信ID
|
||||
uint8_t device_id; // 设备ID
|
||||
uint8_t master_id; // 主机ID
|
||||
} DM_IMU_Param_t;
|
||||
typedef enum {
|
||||
RID_ACCL = 0x01, // 加速度计
|
||||
RID_GYRO = 0x02, // 陀螺仪
|
||||
RID_EULER = 0x03, // 欧拉角
|
||||
RID_QUATERNION = 0x04, // 四元数
|
||||
} DM_IMU_RID_t;
|
||||
|
||||
typedef struct {
|
||||
AHRS_Accl_t accl; // 加速度计
|
||||
AHRS_Gyro_t gyro; // 陀螺仪
|
||||
AHRS_Eulr_t euler; // 欧拉角
|
||||
AHRS_Quaternion_t quat; // 四元数
|
||||
float temp; // 温度
|
||||
} DM_IMU_Data_t;
|
||||
|
||||
typedef struct {
|
||||
DEVICE_Header_t header;
|
||||
DM_IMU_Param_t param; // IMU参数配置
|
||||
DM_IMU_Data_t data; // IMU数据
|
||||
} DM_IMU_t;
|
||||
|
||||
/* Exported functions prototypes -------------------------------------------- */
|
||||
|
||||
/**
|
||||
* @brief 初始化DM IMU设备
|
||||
* @param imu DM IMU设备结构体指针
|
||||
* @param param IMU参数配置指针
|
||||
* @return DEVICE_OK 成功，其他值失败
|
||||
*/
|
||||
int8_t DM_IMU_Init(DM_IMU_t *imu, DM_IMU_Param_t *param);
|
||||
|
||||
/**
|
||||
* @brief 请求IMU数据
|
||||
* @param imu DM IMU设备结构体指针
|
||||
* @param rid 请求的数据类型
|
||||
* @return DEVICE_OK 成功，其他值失败
|
||||
*/
|
||||
int8_t DM_IMU_Request(DM_IMU_t *imu, DM_IMU_RID_t rid);
|
||||
|
||||
|
||||
/**
|
||||
* @brief 更新IMU数据（从CAN中获取所有数据并解析）
|
||||
* @param imu DM IMU设备结构体指针
|
||||
* @return DEVICE_OK 成功，其他值失败
|
||||
*/
|
||||
int8_t DM_IMU_Update(DM_IMU_t *imu);
|
||||
|
||||
/**
|
||||
* @brief 自动更新IMU所有数据（包括加速度计、陀螺仪、欧拉角和四元数,最高1khz，运行4次才有完整数据）
|
||||
* @param imu DM IMU设备结构体指针
|
||||
* @return DEVICE_OK 成功，其他值失败
|
||||
*/
|
||||
int8_t DM_IMU_AutoUpdateAll(DM_IMU_t *imu);
|
||||
|
||||
/**
|
||||
* @brief 检查设备是否在线
|
||||
* @param imu DM IMU设备结构体指针
|
||||
* @return true 在线，false 离线
|
||||
*/
|
||||
bool DM_IMU_IsOnline(DM_IMU_t *imu);
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
Reference in New Issue
Block a user