RMUL2025/User/task/atti_esti.c

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2025-03-09 17:01:52 +08:00
/*
姿
IMU加热到指定温度防止温漂IMU数据给AHRS算法
BMI088的数据
*/
/* Includes ----------------------------------------------------------------- */
#include <string.h>
#include "bsp\mm.h"
#include "bsp\pwm.h"
#include "bsp\usb.h"
#include "component\ahrs.h"
#include "component\pid.h"
#include "device\bmi088.h"
#include "device\ist8310.h"
#include "task\user_task.h"
/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
#ifdef DEBUG
BMI088_t bmi088;
IST8310_t ist8310;
AHRS_t gimbal_ahrs;
AHRS_Eulr_t eulr_to_send;
KPID_t imu_temp_ctrl_pid;
#else
static BMI088_t bmi088;
static IST8310_t ist8310;
static AHRS_t gimbal_ahrs;
static AHRS_Eulr_t eulr_to_send;
static KPID_t imu_temp_ctrl_pid;
#endif
static const KPID_Params_t imu_temp_ctrl_pid_param = {
.k = 0.15f,
.p = 1.0f,
.i = 0.0f,
.d = 0.0f,
.i_limit = 1.0f,
.out_limit = 1.0f,
};
/* Private function -------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
/**
* \brief 姿
*
* \param argument 使
*/
void Task_AttiEsti(void *argument) {
(void)argument; /* 未使用argument消除警告 */
/* 初始化设备 */
BMI088_Init(&bmi088, &(task_runtime.cfg.cali.bmi088));
// IST8310_Init(&ist8310, &(task_runtime.cfg.cali.ist8310));
/* 读取一次磁力计数据,用以初始化姿态解算算法 */
// IST8310_WaitNew(osWaitForever);
// IST8310_StartDmaRecv();
// IST8310_WaitDmaCplt();
// IST8310_Parse(&ist8310);
/* 初始化姿态解算算法 */
AHRS_Init(&gimbal_ahrs, &ist8310.magn, BMI088_GetUpdateFreq(&bmi088));
/* 初始化IMU温度控制PID防止温漂 */
PID_Init(&imu_temp_ctrl_pid, KPID_MODE_NO_D,
1.0f / BMI088_GetUpdateFreq(&bmi088), &imu_temp_ctrl_pid_param);
/* IMU温度控制PWM输出 */
BSP_PWM_Start(BSP_PWM_IMU_HEAT);
while (1) {
#ifdef DEBUG
/* 记录任务所使用的的栈空间 */
task_runtime.stack_water_mark.atti_esti =
osThreadGetStackSpace(osThreadGetId());
#endif
/* 等待IMU新数据 */
BMI088_WaitNew();
/* 开始数据接收DMA加速度计和陀螺仪共用同一个SPI接口
* DMA
*/
BMI088_AcclStartDmaRecv();
BMI088_AcclWaitDmaCplt();
BMI088_GyroStartDmaRecv();
BMI088_GyroWaitDmaCplt();
/* 磁力计的数据接收频率远小于IMU
* 使姿
*/
// IST8310_WaitNew(0);
// IST8310_StartDmaRecv();
// IST8310_WaitDmaCplt();
/* 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);
/* 根据设备接收到的数据进行姿态解析 */
AHRS_Update(&gimbal_ahrs, &bmi088.accl, &bmi088.gyro, &ist8310.magn);
/* 根据解析出来的四元数计算欧拉角 */
AHRS_GetEulr(&eulr_to_send, &gimbal_ahrs);
osKernelUnlock();
/* 将需要与其他任务分享的数据放到消息队列中 */
osMessageQueueReset(task_runtime.msgq.gimbal.accl);
osMessageQueuePut(task_runtime.msgq.gimbal.accl, &bmi088.accl, 0, 0);
osMessageQueueReset(task_runtime.msgq.gimbal.eulr_imu);
osMessageQueuePut(task_runtime.msgq.gimbal.eulr_imu, &eulr_to_send, 0, 0);
osMessageQueueReset(task_runtime.msgq.ai.quat);
osMessageQueuePut(task_runtime.msgq.ai.quat, &(gimbal_ahrs.quat), 0, 0);
osMessageQueueReset(task_runtime.msgq.gimbal.gyro);
osMessageQueuePut(task_runtime.msgq.gimbal.gyro, &bmi088.gyro, 0, 0);
/* PID控制IMU温度PWM输出 */
BSP_PWM_Set(BSP_PWM_IMU_HEAT,
PID_Calc(&imu_temp_ctrl_pid, 40.0f, bmi088.temp, 0.0f, 0.0f));
}
}