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修改imu

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This commit is contained in:
Robofish 2025-10-04 21:05:11 +08:00
parent ff2a3c5862
commit 81a5306962
1 changed files with 56 additions and 14 deletions
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70
User/task/imu.c
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@ -41,41 +41,83 @@ void Task_imu(void *argument) {
tick += delay_tick; /* 计算下一个唤醒时刻 */
/* USER CODE BEGIN */
if (DM_IMU_AutoUpdateAll(&dm_imu) == DEVICE_OK) {
// 发送加速度计数据 (ID: 0x66) - 前8字节 (x, y)
// 发送加速度计数据 (ID: 0x66) - 三轴压缩到一帧，每轴2字节，精度0.01g
BSP_CAN_StdDataFrame_t accl_frame = {
.id = 0x66,
.dlc = 8,
.data = {0}
};
memcpy(accl_frame.data, &dm_imu.data.accl, 8);
// 转换为16位整数发送 (精度0.01g，范围±327.67g)
int16_t accl_x_int = (int16_t)(dm_imu.data.accl.x * 100.0f);
int16_t accl_y_int = (int16_t)(dm_imu.data.accl.y * 100.0f);
int16_t accl_z_int = (int16_t)(dm_imu.data.accl.z * 100.0f);
// 打包数据：x(2字节) + y(2字节) + z(2字节) + 2字节保留
memcpy(&accl_frame.data[0], &accl_x_int, 2);
memcpy(&accl_frame.data[2], &accl_y_int, 2);
memcpy(&accl_frame.data[4], &accl_z_int, 2);
BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &accl_frame);
// 发送陀螺仪数据 (ID: 0x67) - 前8字节 (x, y)
// 发送陀螺仪数据 (ID: 0x67) - 三轴压缩到一帧，每轴2字节，精度0.01°/s
BSP_CAN_StdDataFrame_t gyro_frame = {
.id = 0x67,
.dlc = 8,
.data = {0}
};
memcpy(gyro_frame.data, &dm_imu.data.gyro, 8);
// 转换为16位整数发送 (精度0.01°/s，范围±327.67°/s)
int16_t gyro_x_int = (int16_t)(dm_imu.data.gyro.x * 57.2958f * 100.0f); // 弧度/s转角度/s*100
int16_t gyro_y_int = (int16_t)(dm_imu.data.gyro.y * 57.2958f * 100.0f);
int16_t gyro_z_int = (int16_t)(dm_imu.data.gyro.z * 57.2958f * 100.0f);
// 打包数据：x(2字节) + y(2字节) + z(2字节) + 2字节保留
memcpy(&gyro_frame.data[0], &gyro_x_int, 2);
memcpy(&gyro_frame.data[2], &gyro_y_int, 2);
memcpy(&gyro_frame.data[4], &gyro_z_int, 2);
BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &gyro_frame);
// 发送欧拉角数据 (ID: 0x68) - 前8字节 (yaw, pit)
// 发送欧拉角数据 (ID: 0x68) - 三轴压缩到一帧，每轴2字节，精度0.01度
BSP_CAN_StdDataFrame_t euler_frame = {
.id = 0x68,
.dlc = 8,
.data = {0}
};
memcpy(euler_frame.data, &dm_imu.data.euler, 8);
// 转换为16位整数发送 (精度0.01度，范围±327.67度)
int16_t yaw_int = (int16_t)(dm_imu.data.euler.yaw * 57.2958f * 100.0f); // 弧度转角度*100
int16_t pit_int = (int16_t)(dm_imu.data.euler.pit * 57.2958f * 100.0f); // 弧度转角度*100
int16_t rol_int = (int16_t)(dm_imu.data.euler.rol * 57.2958f * 100.0f); // 弧度转角度*100
// 打包数据：yaw(2字节) + pitch(2字节) + roll(2字节) + 2字节保留
memcpy(&euler_frame.data[0], &yaw_int, 2);
memcpy(&euler_frame.data[2], &pit_int, 2);
memcpy(&euler_frame.data[4], &rol_int, 2);
BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &euler_frame);
// // 发送四元数数据 (ID: 0x69) - 前8字节 (q0, q1)
// BSP_CAN_StdDataFrame_t quat_frame = {
// .id = 0x69,
// .dlc = 8,
// .data = {0}
// };
// memcpy(quat_frame.data, &dm_imu.data.quat, 8);
// BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &quat_frame);
// 发送四元数数据 (ID: 0x69) - 四分量压缩到一帧，每分量2字节，精度0.0001
BSP_CAN_StdDataFrame_t quat_frame = {
.id = 0x69,
.dlc = 8,
.data = {0}
};
// 转换为16位整数发送 (精度0.0001，范围±3.2767)
int16_t q0_int = (int16_t)(dm_imu.data.quat.q0 * 10000.0f);
int16_t q1_int = (int16_t)(dm_imu.data.quat.q1 * 10000.0f);
int16_t q2_int = (int16_t)(dm_imu.data.quat.q2 * 10000.0f);
int16_t q3_int = (int16_t)(dm_imu.data.quat.q3 * 10000.0f);
// 打包数据：q0(2字节) + q1(2字节) + q2(2字节) + q3(2字节)
memcpy(&quat_frame.data[0], &q0_int, 2);
memcpy(&quat_frame.data[2], &q1_int, 2);
memcpy(&quat_frame.data[4], &q2_int, 2);
memcpy(&quat_frame.data[6], &q3_int, 2);
BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &quat_frame);
}
/* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */