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https://github.com/goldenfishs/MRobot.git
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271 lines
8.6 KiB
C
271 lines
8.6 KiB
C
/*
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DM_IMU数据获取（CAN）
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "dm_imu.h"
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#include "bsp/can.h"
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#include "bsp/time.h"
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#include "component/user_math.h"
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#include <string.h>
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/* Private define ----------------------------------------------------------- */
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#define DM_IMU_OFFLINE_TIMEOUT 1000 // 设备离线判定时间1000ms
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#define ACCEL_CAN_MAX (58.8f)
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#define ACCEL_CAN_MIN (-58.8f)
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#define GYRO_CAN_MAX (34.88f)
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#define GYRO_CAN_MIN (-34.88f)
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#define PITCH_CAN_MAX (90.0f)
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#define PITCH_CAN_MIN (-90.0f)
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#define ROLL_CAN_MAX (180.0f)
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#define ROLL_CAN_MIN (-180.0f)
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#define YAW_CAN_MAX (180.0f)
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#define YAW_CAN_MIN (-180.0f)
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#define TEMP_MIN (0.0f)
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#define TEMP_MAX (60.0f)
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#define Quaternion_MIN (-1.0f)
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#define Quaternion_MAX (1.0f)
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/* Private macro ------------------------------------------------------------ */
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/* Private typedef ---------------------------------------------------------- */
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/* Private variables -------------------------------------------------------- */
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/* Private function --------------------------------------------------------- */
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static uint8_t count = 0; // 计数器，用于判断设备是否离线
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/**
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* @brief: 无符号整数转换为浮点数函数
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*/
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static float uint_to_float(int x_int, float x_min, float x_max, int bits)
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{
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float span = x_max - x_min;
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float offset = x_min;
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return ((float)x_int)*span/((float)((1<<bits)-1)) + offset;
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}
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/**
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* @brief 解析加速度计数据
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*/
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static int8_t DM_IMU_ParseAccelData(DM_IMU_t *imu, uint8_t *data, uint8_t len) {
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if (imu == NULL || data == NULL || len < 8) {
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return DEVICE_ERR;
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}
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int8_t temp = data[1];
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uint16_t acc_x_raw = (data[3] << 8) | data[2];
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uint16_t acc_y_raw = (data[5] << 8) | data[4];
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uint16_t acc_z_raw = (data[7] << 8) | data[6];
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imu->data.temp = (float)temp;
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imu->data.accl.x = uint_to_float(acc_x_raw, ACCEL_CAN_MIN, ACCEL_CAN_MAX, 16);
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imu->data.accl.y = uint_to_float(acc_y_raw, ACCEL_CAN_MIN, ACCEL_CAN_MAX, 16);
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imu->data.accl.z = uint_to_float(acc_z_raw, ACCEL_CAN_MIN, ACCEL_CAN_MAX, 16);
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return DEVICE_OK;
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}
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/**
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* @brief 解析陀螺仪数据
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*/
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static int8_t DM_IMU_ParseGyroData(DM_IMU_t *imu, uint8_t *data, uint8_t len) {
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if (imu == NULL || data == NULL || len < 8) {
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return DEVICE_ERR;
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}
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uint16_t gyro_x_raw = (data[3] << 8) | data[2];
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uint16_t gyro_y_raw = (data[5] << 8) | data[4];
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uint16_t gyro_z_raw = (data[7] << 8) | data[6];
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imu->data.gyro.x = uint_to_float(gyro_x_raw, GYRO_CAN_MIN, GYRO_CAN_MAX, 16);
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imu->data.gyro.y = uint_to_float(gyro_y_raw, GYRO_CAN_MIN, GYRO_CAN_MAX, 16);
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imu->data.gyro.z = uint_to_float(gyro_z_raw, GYRO_CAN_MIN, GYRO_CAN_MAX, 16);
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return DEVICE_OK;
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}
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/**
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* @brief 解析欧拉角数据
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*/
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static int8_t DM_IMU_ParseEulerData(DM_IMU_t *imu, uint8_t *data, uint8_t len) {
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if (imu == NULL || data == NULL || len < 8) {
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return DEVICE_ERR;
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}
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uint16_t pit_raw = (data[3] << 8) | data[2];
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uint16_t yaw_raw = (data[5] << 8) | data[4];
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uint16_t rol_raw = (data[7] << 8) | data[6];
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imu->data.euler.pit = uint_to_float(pit_raw, PITCH_CAN_MIN, PITCH_CAN_MAX, 16) * M_DEG2RAD_MULT;
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imu->data.euler.yaw = uint_to_float(yaw_raw, YAW_CAN_MIN, YAW_CAN_MAX, 16) * M_DEG2RAD_MULT;
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imu->data.euler.rol = uint_to_float(rol_raw, ROLL_CAN_MIN, ROLL_CAN_MAX, 16) * M_DEG2RAD_MULT;
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return DEVICE_OK;
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}
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/**
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* @brief 解析四元数数据
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*/
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static int8_t DM_IMU_ParseQuaternionData(DM_IMU_t *imu, uint8_t *data, uint8_t len) {
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if (imu == NULL || data == NULL || len < 8) {
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return DEVICE_ERR;
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}
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int w = (data[1] << 6) | ((data[2] & 0xF8) >> 2);
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int x = ((data[2] & 0x03) << 12) | (data[3] << 4) | ((data[4] & 0xF0) >> 4);
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int y = ((data[4] & 0x0F) << 10) | (data[5] << 2) | ((data[6] & 0xC0) >> 6);
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int z = ((data[6] & 0x3F) << 8) | data[7];
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imu->data.quat.q0 = uint_to_float(w, Quaternion_MIN, Quaternion_MAX, 14);
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imu->data.quat.q1 = uint_to_float(x, Quaternion_MIN, Quaternion_MAX, 14);
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imu->data.quat.q2 = uint_to_float(y, Quaternion_MIN, Quaternion_MAX, 14);
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imu->data.quat.q3 = uint_to_float(z, Quaternion_MIN, Quaternion_MAX, 14);
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return DEVICE_OK;
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}
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/* Exported functions ------------------------------------------------------- */
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/**
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* @brief 初始化DM IMU设备
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*/
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int8_t DM_IMU_Init(DM_IMU_t *imu, DM_IMU_Param_t *param) {
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if (imu == NULL || param == NULL) {
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return DEVICE_ERR_NULL;
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}
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// 初始化设备头部
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imu->header.online = false;
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imu->header.last_online_time = 0;
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// 配置参数
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imu->param.can = param->can;
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imu->param.can_id = param->can_id;
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imu->param.device_id = param->device_id;
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imu->param.master_id = param->master_id;
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// 清零数据
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memset(&imu->data, 0, sizeof(DM_IMU_Data_t));
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// 注册CAN接收队列，用于接收回复报文
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int8_t result = BSP_CAN_RegisterId(imu->param.can, imu->param.master_id, 10);
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if (result != BSP_OK) {
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return DEVICE_ERR;
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}
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return DEVICE_OK;
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}
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/**
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* @brief 请求IMU数据
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*/
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int8_t DM_IMU_Request(DM_IMU_t *imu, DM_IMU_RID_t rid) {
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if (imu == NULL) {
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return DEVICE_ERR_NULL;
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}
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// 构造发送数据：id_L, id_H(DM_IMU_ID), RID, 0xcc
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uint8_t tx_data[4] = {
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imu->param.device_id & 0xFF, // id_L
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(imu->param.device_id >> 8) & 0xFF, // id_H
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(uint8_t)rid, // RID
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0xCC // 固定值
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};
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// 发送标准数据帧
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BSP_CAN_StdDataFrame_t frame = {
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.id = imu->param.can_id,
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.dlc = 4,
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};
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memcpy(frame.data, tx_data, 4);
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int8_t result = BSP_CAN_TransmitStdDataFrame(imu->param.can, &frame);
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return (result == BSP_OK) ? DEVICE_OK : DEVICE_ERR;
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}
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/**
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* @brief 更新IMU数据（从CAN中获取所有数据并解析）
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*/
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int8_t DM_IMU_Update(DM_IMU_t *imu) {
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if (imu == NULL) {
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return DEVICE_ERR_NULL;
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}
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BSP_CAN_Message_t msg;
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int8_t result;
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bool data_received = false;
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// 持续接收所有可用消息
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while ((result = BSP_CAN_GetMessage(imu->param.can, imu->param.master_id, &msg, BSP_CAN_TIMEOUT_IMMEDIATE)) == BSP_OK) {
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// 验证回复数据格式（至少检查数据长度）
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if (msg.dlc < 3) {
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continue; // 跳过无效消息
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}
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// 根据数据位的第0位确定反馈报文类型
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uint8_t rid = msg.data[0] & 0x0F; // 取第0位的低4位作为RID
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// 根据RID类型解析数据
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int8_t parse_result = DEVICE_ERR;
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switch (rid) {
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case 0x01: // RID_ACCL
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parse_result = DM_IMU_ParseAccelData(imu, msg.data, msg.dlc);
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break;
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case 0x02: // RID_GYRO
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parse_result = DM_IMU_ParseGyroData(imu, msg.data, msg.dlc);
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break;
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case 0x03: // RID_EULER
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parse_result = DM_IMU_ParseEulerData(imu, msg.data, msg.dlc);
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break;
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case 0x04: // RID_QUATERNION
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parse_result = DM_IMU_ParseQuaternionData(imu, msg.data, msg.dlc);
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break;
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default:
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continue; // 跳过未知类型的消息
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}
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// 如果解析成功，标记为收到数据
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if (parse_result == DEVICE_OK) {
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data_received = true;
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}
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}
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// 如果收到任何有效数据，更新设备状态
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if (data_received) {
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imu->header.online = true;
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imu->header.last_online_time = BSP_TIME_Get_ms();
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return DEVICE_OK;
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}
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return DEVICE_ERR;
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}
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/**
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* @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）
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*/
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int8_t DM_IMU_AutoUpdateAll(DM_IMU_t *imu){
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if (imu == NULL) {
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return DEVICE_ERR_NULL;
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}
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switch (count) {
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case 0:
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DM_IMU_Request(imu, RID_ACCL);
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break;
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case 1:
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DM_IMU_Request(imu, RID_GYRO);
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break;
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case 2:
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DM_IMU_Request(imu, RID_EULER);
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break;
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case 3:
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DM_IMU_Request(imu, RID_QUATERNION);
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DM_IMU_Update(imu); // 更新所有数据
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break;
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}
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count++;
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if (count >= 4) {
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count = 0; // 重置计数器
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}
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return DEVICE_OK;
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}
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/**
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* @brief 检查设备是否在线
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*/
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bool DM_IMU_IsOnline(DM_IMU_t *imu) {
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if (imu == NULL) {
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return false;
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}
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uint32_t current_time = BSP_TIME_Get_ms();
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return imu->header.online &&
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(current_time - imu->header.last_online_time < DM_IMU_OFFLINE_TIMEOUT);
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}
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