From 81a53069627a9ab67fdac64e6dbd2c96e63241ed Mon Sep 17 00:00:00 2001 From: Robofish <1683502971@qq.com> Date: Sat, 4 Oct 2025 21:05:11 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9imu?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- User/task/imu.c | 70 +++++++++++++++++++++++++++++++++++++++---------- 1 file changed, 56 insertions(+), 14 deletions(-) diff --git a/User/task/imu.c b/User/task/imu.c index e696a71..61a1007 100644 --- a/User/task/imu.c +++ b/User/task/imu.c @@ -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 */