139 lines
4.2 KiB
C
139 lines
4.2 KiB
C
/*
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姿态解算任务。
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控制IMU加热到指定温度防止温漂，收集IMU数据给AHRS算法。
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收集BMI088的数据，解算后得到四元数，转换为欧拉角之后放到消息队列中，
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等待其他任务取用。
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*/
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/* Includes ----------------------------------------------------------------- */
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#include <string.h>
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#include "bsp\mm.h"
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#include "bsp\pwm.h"
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#include "bsp\usb.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\ist8310.h"
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#include "task\user_task.h"
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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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#ifdef DEBUG
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BMI088_t bmi088;
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IST8310_t ist8310;
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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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#else
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static BMI088_t bmi088;
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static IST8310_t ist8310;
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static AHRS_t gimbal_ahrs;
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static AHRS_Eulr_t eulr_to_send;
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static KPID_t imu_temp_ctrl_pid;
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#endif
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static const KPID_Params_t imu_temp_ctrl_pid_param = {
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.k = 0.15f,
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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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/* Private function -------------------------------------------------------- */
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/* Exported functions ------------------------------------------------------- */
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/**
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* \brief 姿态解算
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*
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* \param argument 未使用
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*/
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void Task_AttiEsti(void *argument) {
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(void)argument; /* 未使用argument，消除警告 */
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/* 初始化设备 */
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BMI088_Init(&bmi088, &(task_runtime.cfg.cali.bmi088));
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// IST8310_Init(&ist8310, &(task_runtime.cfg.cali.ist8310));
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/* 读取一次磁力计数据，用以初始化姿态解算算法 */
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// IST8310_WaitNew(osWaitForever);
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// IST8310_StartDmaRecv();
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// IST8310_WaitDmaCplt();
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// IST8310_Parse(&ist8310);
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/* 初始化姿态解算算法 */
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AHRS_Init(&gimbal_ahrs, &ist8310.magn, BMI088_GetUpdateFreq(&bmi088));
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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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/* IMU温度控制PWM输出 */
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BSP_PWM_Start(BSP_PWM_IMU_HEAT);
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while (1) {
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#ifdef DEBUG
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/* 记录任务所使用的的栈空间 */
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task_runtime.stack_water_mark.atti_esti =
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osThreadGetStackSpace(osThreadGetId());
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#endif
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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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/* 磁力计的数据接收频率远小于IMU，
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* 这里使用非阻塞操作，保证姿态解算实时性
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*/
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// IST8310_WaitNew(0);
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// IST8310_StartDmaRecv();
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// IST8310_WaitDmaCplt();
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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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// IST8310_Parse(&ist8310);
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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, &ist8310.magn);
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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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/* 将需要与其他任务分享的数据放到消息队列中 */
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osMessageQueueReset(task_runtime.msgq.gimbal.accl);
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osMessageQueuePut(task_runtime.msgq.gimbal.accl, &bmi088.accl, 0, 0);
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osMessageQueueReset(task_runtime.msgq.gimbal.eulr_imu);
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osMessageQueuePut(task_runtime.msgq.gimbal.eulr_imu, &eulr_to_send, 0, 0);
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osMessageQueueReset(task_runtime.msgq.gimbal.gyro);
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osMessageQueuePut(task_runtime.msgq.gimbal.gyro, &bmi088.gyro, 0, 0);
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osMessageQueueReset(task_runtime.msgq.ai.quat);
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osMessageQueuePut(task_runtime.msgq.ai.quat, &(gimbal_ahrs.quat), 0, 0);
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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, 0.0f));
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}
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}
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