From bac96f42e61d6bee0b178e78f76bbbfcd713ae27 Mon Sep 17 00:00:00 2001 From: Robofish <1683502971@qq.com> Date: Mon, 6 Oct 2025 20:30:04 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E5=8F=91=E9=80=81=E8=A7=84?= =?UTF-8?q?=E5=88=99?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- User/task/imu.c | 161 +++++++++++++++++++++--------------------------- 1 file changed, 69 insertions(+), 92 deletions(-) diff --git a/User/task/imu.c b/User/task/imu.c index c41c254..4321e98 100644 --- a/User/task/imu.c +++ b/User/task/imu.c @@ -20,7 +20,29 @@ #define CAN_ID_AHRS_GYRO 0x302 /* 陀螺仪数据 */ #define CAN_ID_AHRS_EULR 0x303 /* 欧拉角数据 */ #define CAN_ID_AHRS_QUAT 0x304 /* 四元数数据 */ + +/* 数据范围定义 */ +#define ACCEL_CAN_MAX (58.8f) +#define ACCEL_CAN_MIN (-58.8f) +#define GYRO_CAN_MAX (34.88f) +#define GYRO_CAN_MIN (-34.88f) +#define PITCH_CAN_MAX (90.0f) +#define PITCH_CAN_MIN (-90.0f) +#define ROLL_CAN_MAX (180.0f) +#define ROLL_CAN_MIN (-180.0f) +#define YAW_CAN_MAX (180.0f) +#define YAW_CAN_MIN (-180.0f) +#define QUATERNION_MIN (-1.0f) +#define QUATERNION_MAX (1.0f) + /* Private macro ------------------------------------------------------------ */ +/* 数据映射宏：将浮点值映射到16位整数范围 */ +#define MAP_TO_INT16(val, min, max) \ + ((int16_t)(((val) - (min)) / ((max) - (min)) * 65535.0f - 32768.0f)) + +/* 限制值在指定范围内 */ +#define CLAMP(val, min, max) \ + (((val) < (min)) ? (min) : (((val) > (max)) ? (max) : (val))) /* Private variables -------------------------------------------------------- */ /* USER STRUCT BEGIN */ AHRS_Accl_t accl; @@ -48,133 +70,88 @@ void Task_imu(void *argument) { while (1) { tick += delay_tick; /* 计算下一个唤醒时刻 */ /* USER CODE BEGIN */ - /* 获取加速度计数据并通过CAN发送 - 使用24位精度，充分利用8字节 */ + /* 获取加速度计数据并通过CAN发送 - 每轴使用16位编码 */ if (osMessageQueueGet(task_runtime.msgq.imu.accl, &accl, NULL, 0) == osOK) { BSP_CAN_StdDataFrame_t accl_frame; accl_frame.id = CAN_ID_AHRS_ACCL; - accl_frame.dlc = 8; /* 充分利用8字节数据帧 */ + accl_frame.dlc = 6; /* 3轴 × 2字节 = 6字节 */ - /* 使用24位精度存储x/y轴，16位存储z轴 + 2字节预留 - * x: 24位 (精度1/1000000，范围±8.388g) - * y: 24位 (精度1/1000000，范围±8.388g) - * z: 16位 (精度1/10000，范围±3.276g) - * 预留: 2字节用于扩展或校验 - */ + /* 限制并映射加速度数据到16位整数 */ + float ax = CLAMP(accl.x, ACCEL_CAN_MIN, ACCEL_CAN_MAX); + float ay = CLAMP(accl.y, ACCEL_CAN_MIN, ACCEL_CAN_MAX); + float az = CLAMP(accl.z, ACCEL_CAN_MIN, ACCEL_CAN_MAX); - // X轴 - 24位有符号整数 (字节0-2) - int32_t x_int = (int32_t)(accl.x * 1000000.0f); - x_int = (x_int > 8388607) ? 8388607 : ((x_int < -8388608) ? -8388608 : x_int); - accl_frame.data[0] = (x_int >> 16) & 0xFF; - accl_frame.data[1] = (x_int >> 8) & 0xFF; - accl_frame.data[2] = x_int & 0xFF; + int16_t ax_int = MAP_TO_INT16(ax, ACCEL_CAN_MIN, ACCEL_CAN_MAX); + int16_t ay_int = MAP_TO_INT16(ay, ACCEL_CAN_MIN, ACCEL_CAN_MAX); + int16_t az_int = MAP_TO_INT16(az, ACCEL_CAN_MIN, ACCEL_CAN_MAX); - // Y轴 - 24位有符号整数 (字节3-5) - int32_t y_int = (int32_t)(accl.y * 1000000.0f); - y_int = (y_int > 8388607) ? 8388607 : ((y_int < -8388608) ? -8388608 : y_int); - accl_frame.data[3] = (y_int >> 16) & 0xFF; - accl_frame.data[4] = (y_int >> 8) & 0xFF; - accl_frame.data[5] = y_int & 0xFF; - - // Z轴 - 16位有符号整数 (字节6-7) - int16_t z_int = (int16_t)(accl.z * 10000.0f); - memcpy(&accl_frame.data[6], &z_int, sizeof(int16_t)); + memcpy(&accl_frame.data[0], &ax_int, sizeof(int16_t)); + memcpy(&accl_frame.data[2], &ay_int, sizeof(int16_t)); + memcpy(&accl_frame.data[4], &az_int, sizeof(int16_t)); BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &accl_frame); } - /* 获取陀螺仪数据并通过CAN发送 - 使用24位精度，充分利用8字节 */ + /* 获取陀螺仪数据并通过CAN发送 - 每轴使用16位编码 */ if (osMessageQueueGet(task_runtime.msgq.imu.gyro, &gyro, NULL, 0) == osOK) { BSP_CAN_StdDataFrame_t gyro_frame; gyro_frame.id = CAN_ID_AHRS_GYRO; - gyro_frame.dlc = 8; /* 充分利用8字节数据帧 */ + gyro_frame.dlc = 6; /* 3轴 × 2字节 = 6字节 */ - /* 使用24位精度存储x/y轴，16位存储z轴 + 2字节预留 - * x: 24位 (精度1/1000，范围±8388°/s) - * y: 24位 (精度1/1000，范围±8388°/s) - * z: 16位 (精度1/100，范围±327°/s) - * 预留: 2字节用于扩展或校验 - */ + /* 限制并映射陀螺仪数据到16位整数 */ + float gx = CLAMP(gyro.x, GYRO_CAN_MIN, GYRO_CAN_MAX); + float gy = CLAMP(gyro.y, GYRO_CAN_MIN, GYRO_CAN_MAX); + float gz = CLAMP(gyro.z, GYRO_CAN_MIN, GYRO_CAN_MAX); - // X轴 - 24位有符号整数 (字节0-2) - 精度0.001°/s - int32_t x_int = (int32_t)(gyro.x * 1000.0f); - x_int = (x_int > 8388607) ? 8388607 : ((x_int < -8388608) ? -8388608 : x_int); - gyro_frame.data[0] = (x_int >> 16) & 0xFF; - gyro_frame.data[1] = (x_int >> 8) & 0xFF; - gyro_frame.data[2] = x_int & 0xFF; + int16_t gx_int = MAP_TO_INT16(gx, GYRO_CAN_MIN, GYRO_CAN_MAX); + int16_t gy_int = MAP_TO_INT16(gy, GYRO_CAN_MIN, GYRO_CAN_MAX); + int16_t gz_int = MAP_TO_INT16(gz, GYRO_CAN_MIN, GYRO_CAN_MAX); - // Y轴 - 24位有符号整数 (字节3-5) - 精度0.001°/s - int32_t y_int = (int32_t)(gyro.y * 1000.0f); - y_int = (y_int > 8388607) ? 8388607 : ((y_int < -8388608) ? -8388608 : y_int); - gyro_frame.data[3] = (y_int >> 16) & 0xFF; - gyro_frame.data[4] = (y_int >> 8) & 0xFF; - gyro_frame.data[5] = y_int & 0xFF; - - // Z轴 - 16位有符号整数 (字节6-7) - 精度0.01°/s - int16_t z_int = (int16_t)(gyro.z * 100.0f); - memcpy(&gyro_frame.data[6], &z_int, sizeof(int16_t)); + memcpy(&gyro_frame.data[0], &gx_int, sizeof(int16_t)); + memcpy(&gyro_frame.data[2], &gy_int, sizeof(int16_t)); + memcpy(&gyro_frame.data[4], &gz_int, sizeof(int16_t)); BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &gyro_frame); } - /* 获取欧拉角数据并通过CAN发送 - 使用24位精度，充分利用8字节 */ + /* 获取欧拉角数据并通过CAN发送 - 每角使用16位编码 */ if (osMessageQueueGet(task_runtime.msgq.imu.eulr, &eulr, NULL, 0) == osOK) { BSP_CAN_StdDataFrame_t eulr_frame; eulr_frame.id = CAN_ID_AHRS_EULR; - eulr_frame.dlc = 8; /* 充分利用8字节数据帧 */ + eulr_frame.dlc = 6; /* 3个角度 × 2字节 = 6字节 */ - /* 使用更高精度存储欧拉角 - * yaw: 24位 (精度1/10000，范围±838.8°) - * pitch: 24位 (精度1/10000，范围±838.8°) - * roll: 16位 (精度1/1000，范围±32.767°) - * 预留: 2字节用于扩展或校验 - */ + /* 限制并映射欧拉角数据到16位整数 */ + float yaw = CLAMP(eulr.yaw, YAW_CAN_MIN, YAW_CAN_MAX); + float pitch = CLAMP(eulr.pit, PITCH_CAN_MIN, PITCH_CAN_MAX); + float roll = CLAMP(eulr.rol, ROLL_CAN_MIN, ROLL_CAN_MAX); - // Yaw - 24位有符号整数 (字节0-2) - 精度0.0001° - int32_t yaw_int = (int32_t)(eulr.yaw * 10000.0f); - yaw_int = (yaw_int > 8388607) ? 8388607 : ((yaw_int < -8388608) ? -8388608 : yaw_int); - eulr_frame.data[0] = (yaw_int >> 16) & 0xFF; - eulr_frame.data[1] = (yaw_int >> 8) & 0xFF; - eulr_frame.data[2] = yaw_int & 0xFF; + int16_t yaw_int = MAP_TO_INT16(yaw, YAW_CAN_MIN, YAW_CAN_MAX); + int16_t pitch_int = MAP_TO_INT16(pitch, PITCH_CAN_MIN, PITCH_CAN_MAX); + int16_t roll_int = MAP_TO_INT16(roll, ROLL_CAN_MIN, ROLL_CAN_MAX); - // Pitch - 24位有符号整数 (字节3-5) - 精度0.0001° - int32_t pit_int = (int32_t)(eulr.pit * 10000.0f); - pit_int = (pit_int > 8388607) ? 8388607 : ((pit_int < -8388608) ? -8388608 : pit_int); - eulr_frame.data[3] = (pit_int >> 16) & 0xFF; - eulr_frame.data[4] = (pit_int >> 8) & 0xFF; - eulr_frame.data[5] = pit_int & 0xFF; - - // Roll - 16位有符号整数 (字节6-7) - 精度0.001° - int16_t rol_int = (int16_t)(eulr.rol * 1000.0f); - memcpy(&eulr_frame.data[6], &rol_int, sizeof(int16_t)); + memcpy(&eulr_frame.data[0], &yaw_int, sizeof(int16_t)); + memcpy(&eulr_frame.data[2], &pitch_int, sizeof(int16_t)); + memcpy(&eulr_frame.data[4], &roll_int, sizeof(int16_t)); BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &eulr_frame); } - /* 获取四元数数据并通过CAN发送 - 优化精度分配 */ + /* 获取四元数数据并通过CAN发送 - 每个分量使用16位编码 */ if (osMessageQueueGet(task_runtime.msgq.imu.quat, &quat, NULL, 0) == osOK) { BSP_CAN_StdDataFrame_t quat_frame; quat_frame.id = CAN_ID_AHRS_QUAT; - quat_frame.dlc = 8; /* 充分利用8字节数据帧 */ + quat_frame.dlc = 8; /* 4个四元数分量 × 2字节 = 8字节 */ - /* 优化四元数精度分配，四元数范围-1~1 - * q0: 16位 (精度1/32767，最高精度) - * q1: 16位 (精度1/32767，最高精度) - * q2: 16位 (精度1/32767，最高精度) - * q3: 16位 (精度1/32767，最高精度) - * 使用int16_t的全部范围，精度提升至1/32767 - */ + /* 限制并映射四元数到16位整数 */ + float q0 = CLAMP(quat.q0, QUATERNION_MIN, QUATERNION_MAX); + float q1 = CLAMP(quat.q1, QUATERNION_MIN, QUATERNION_MAX); + float q2 = CLAMP(quat.q2, QUATERNION_MIN, QUATERNION_MAX); + float q3 = CLAMP(quat.q3, QUATERNION_MIN, QUATERNION_MAX); - // 将四元数归一化并转换为int16_t，使用int16_t全部范围 - int16_t q0_int = (int16_t)(quat.q0 * 32767.0f); - int16_t q1_int = (int16_t)(quat.q1 * 32767.0f); - int16_t q2_int = (int16_t)(quat.q2 * 32767.0f); - int16_t q3_int = (int16_t)(quat.q3 * 32767.0f); - - // 限制范围防止溢出 - q0_int = (q0_int > 32767) ? 32767 : ((q0_int < -32767) ? -32767 : q0_int); - q1_int = (q1_int > 32767) ? 32767 : ((q1_int < -32767) ? -32767 : q1_int); - q2_int = (q2_int > 32767) ? 32767 : ((q2_int < -32767) ? -32767 : q2_int); - q3_int = (q3_int > 32767) ? 32767 : ((q3_int < -32767) ? -32767 : q3_int); + int16_t q0_int = MAP_TO_INT16(q0, QUATERNION_MIN, QUATERNION_MAX); + int16_t q1_int = MAP_TO_INT16(q1, QUATERNION_MIN, QUATERNION_MAX); + int16_t q2_int = MAP_TO_INT16(q2, QUATERNION_MIN, QUATERNION_MAX); + int16_t q3_int = MAP_TO_INT16(q3, QUATERNION_MIN, QUATERNION_MAX); memcpy(&quat_frame.data[0], &q0_int, sizeof(int16_t)); memcpy(&quat_frame.data[2], &q1_int, sizeof(int16_t));