改轮腿
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@ -253,6 +253,7 @@ Config_RobotParam_t robot_config = {
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.hip_length = 0.0f // 髋宽 (L5) (m)
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}
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},
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.lqr_gains = {
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.k11_coeff = { -1.498109852818409e+02f, 1.918923604951453e+02f, -1.080984818173493e+02f, -1.540703437137126e+00f }, // theta
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.k12_coeff = { 8.413682810667103e+00f, -6.603584762798329e+00f, -6.421063158996702e+00f, -5.450666844349098e-02f }, // d_theta
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@ -6,11 +6,14 @@
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/* Includes ----------------------------------------------------------------- */
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#include "task/user_task.h"
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/* USER INCLUDE BEGIN */
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#include "bsp/mm.h"
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#include "bsp/pwm.h"
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#include "bsp/gpio.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 "module/gimbal.h"
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#include "device/bmi088.h"
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#include "task/user_task.h"
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/* USER INCLUDE END */
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/* Private typedef ---------------------------------------------------------- */
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@ -29,9 +32,42 @@ KPID_t imu_temp_ctrl_pid;
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Gimbal_IMU_t gimbal_to_send;
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BMI088_Cali_t cali_bmi088= {
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.gyro_offset = {0.0f,0.0f,0.0f},
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.gyro_offset = {-0.00149519544f,-0.00268901442f,0.00169837975f},
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};
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static const KPID_Params_t imu_temp_ctrl_pid_param = {
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.k = 0.3f,
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.p = 1.0f,
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.i = 0.01f,
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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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/* 校准相关变量 */
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typedef enum {
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CALIB_IDLE, // 空闲状态
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CALIB_RUNNING, // 正在校准
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CALIB_DONE // 校准完成
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} CalibState_t;
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static CalibState_t calib_state = CALIB_IDLE;
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static uint16_t calib_count = 0;
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static struct {
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float x_sum;
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float y_sum;
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float z_sum;
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} gyro_sum= {0.0f,0.0f,0.0f};
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static void start_gyro_calibration(void) {
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if (calib_state == CALIB_IDLE) {
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calib_state = CALIB_RUNNING;
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calib_count = 0;
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gyro_sum.x_sum = 0.0f;
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gyro_sum.y_sum = 0.0f;
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gyro_sum.z_sum = 0.0f;
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}
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}
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#define CALIB_SAMPLES 5000 // 校准采样数量
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/* USER STRUCT END */
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@ -50,7 +86,13 @@ void Task_atti_esti(void *argument) {
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/* USER CODE INIT BEGIN */
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BMI088_Init(&bmi088,&cali_bmi088);
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AHRS_Init(&gimbal_ahrs, &magn, BMI088_GetUpdateFreq(&bmi088));
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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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BSP_PWM_Start(BSP_PWM_IMU_HEAT_PWM);
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/* 注册按钮回调函数并启用中断 */
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BSP_GPIO_RegisterCallback(BSP_GPIO_USER_KEY, start_gyro_calibration);
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BSP_GPIO_EnableIRQ(BSP_GPIO_USER_KEY);
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/* USER CODE INIT END */
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while (1) {
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@ -70,21 +112,54 @@ void Task_atti_esti(void *argument) {
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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, &magn);
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/* 陀螺仪校准处理 */
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if (calib_state == CALIB_RUNNING) {
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/* 累加陀螺仪数据用于计算零偏 */
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gyro_sum.x_sum += bmi088.gyro.x;
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gyro_sum.y_sum += bmi088.gyro.y;
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gyro_sum.z_sum += bmi088.gyro.z;
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calib_count++;
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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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/* 达到采样数量后计算平均值并更新零偏 */
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if (calib_count >= CALIB_SAMPLES) {
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/* 计算平均值作为零偏 */
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cali_bmi088.gyro_offset.x = gyro_sum.x_sum / CALIB_SAMPLES;
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cali_bmi088.gyro_offset.y = gyro_sum.y_sum / CALIB_SAMPLES;
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cali_bmi088.gyro_offset.z = gyro_sum.z_sum / CALIB_SAMPLES;
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/* 校准完成，重置为空闲状态以便下次校准 */
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calib_state = CALIB_IDLE;
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/* 重新初始化BMI088以应用新的校准数据 */
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BMI088_Init(&bmi088, &cali_bmi088);
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AHRS_Init(&gimbal_ahrs, &magn, BMI088_GetUpdateFreq(&bmi088));
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}
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}
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/* 只有在非校准状态下才进行正常的姿态解析 */
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if (calib_state != CALIB_RUNNING) {
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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, &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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}
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osKernelUnlock();
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/* 创建修改后的数据副本用于发送到消息队列 */
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gimbal_to_send.eulr = eulr_to_send;
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gimbal_to_send.gyro = bmi088.gyro;
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osMessageQueueReset(task_runtime.msgq.gimbal.imu);
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osMessageQueuePut(task_runtime.msgq.gimbal.imu, &gimbal_to_send, 0, 0);
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BSP_PWM_SetComp(BSP_PWM_IMU_HEAT_PWM, PID_Calc(&imu_temp_ctrl_pid, 40.0f, bmi088.temp, 0.0f, 0.0f));
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/* USER CODE END */
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osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
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}
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}
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}
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@ -61,12 +61,12 @@ void Task_rc(void *argument) {
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cmd_for_chassis.mode = CHASSIS_MODE_RELAX;
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break;
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case DR16_SW_MID:
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// cmd_for_chassis.mode = CHASSIS_MODE_RECOVER;
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cmd_for_chassis.mode = CHASSIS_MODE_WHELL_LEG_BALANCE;
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cmd_for_chassis.mode = CHASSIS_MODE_RECOVER;
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// cmd_for_chassis.mode = CHASSIS_MODE_WHELL_LEG_BALANCE;
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break;
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case DR16_SW_DOWN:
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// cmd_for_chassis.mode = CHASSIS_MODE_WHELL_LEG_BALANCE;
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cmd_for_chassis.mode = CHASSIS_MODE_JUMP;
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cmd_for_chassis.mode = CHASSIS_MODE_WHELL_LEG_BALANCE;
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// cmd_for_chassis.mode = CHASSIS_MODE_JUMP;
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break;
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default:
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cmd_for_chassis.mode = CHASSIS_MODE_RELAX;
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