改imu
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31147537b5
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@ -81,6 +81,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
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# User/task sources
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User/task/ai.c
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User/task/atti_esti.c
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User/task/init.c
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User/task/rc.c
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User/task/user_task.c
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@ -68,7 +68,7 @@
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#define configTICK_RATE_HZ ((TickType_t)1000)
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#define configMAX_PRIORITIES ( 56 )
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#define configMINIMAL_STACK_SIZE ((uint16_t)128)
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#define configTOTAL_HEAP_SIZE ((size_t)15360)
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#define configTOTAL_HEAP_SIZE ((size_t)0x10000)
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#define configMAX_TASK_NAME_LEN ( 16 )
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#define configUSE_TRACE_FACILITY 1
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#define configUSE_16_BIT_TICKS 0
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@ -66,8 +66,8 @@ FLASH (rx) : ORIGIN = 0x8000000, LENGTH = 1024K
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/* Highest address of the user mode stack */
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_estack = ORIGIN(DTCMRAM) + LENGTH(DTCMRAM); /* end of RAM */
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/* Generate a link error if heap and stack don't fit into RAM */
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_Min_Heap_Size = 0x200; /* required amount of heap */
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_Min_Stack_Size = 0x800; /* required amount of stack */
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_Min_Heap_Size = 0x1000; /* required amount of heap */
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_Min_Stack_Size = 0x2000; /* required amount of stack */
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/* Define output sections */
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SECTIONS
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96
User/task/atti_esti.c
Normal file
96
User/task/atti_esti.c
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@ -0,0 +1,96 @@
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/*
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atti_esti Task
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*/
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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 "task/user_task.h"
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/* USER INCLUDE END */
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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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/* USER STRUCT BEGIN */
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static BMI088_t bmi088 __attribute__((section(".dma_buffer"))) __attribute__((aligned(32)));
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AHRS_t gimbal_ahrs;
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AHRS_Magn_t magn;
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AHRS_Eulr_t eulr_to_send;
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KPID_t imu_temp_ctrl_pid;
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BMI088_Cali_t cali_bmi088= {
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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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/* USER STRUCT END */
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/* Private function --------------------------------------------------------- */
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/* Exported functions ------------------------------------------------------- */
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void Task_atti_esti(void *argument) {
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(void)argument; /* 未使用argument，消除警告 */
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/* 计算任务运行到指定频率需要等待的tick数 */
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const uint32_t delay_tick = osKernelGetTickFreq() / ATTI_ESTI_FREQ;
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osDelay(ATTI_ESTI_INIT_DELAY); /* 延时一段时间再开启任务 */
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uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
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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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/* USER CODE INIT END */
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while (1) {
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tick += delay_tick; /* 计算下一个唤醒时刻 */
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/* USER CODE BEGIN */
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BMI088_WaitNew();
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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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/* 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, &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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/* 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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@ -12,3 +12,10 @@
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function: Task_rc
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name: rc
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stack: 256
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- delay: 0
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description: ''
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freq_control: true
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frequency: 500.0
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function: Task_atti_esti
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name: atti_esti
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stack: 256
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@ -32,6 +32,7 @@ void Task_Init(void *argument) {
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/* 创建任务线程 */
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task_runtime.thread.ai = osThreadNew(Task_ai, NULL, &attr_ai);
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task_runtime.thread.rc = osThreadNew(Task_rc, NULL, &attr_rc);
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task_runtime.thread.atti_esti = osThreadNew(Task_atti_esti, NULL, &attr_atti_esti);
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// 创建消息队列
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/* USER MESSAGE BEGIN */
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@ -1,6 +1,6 @@
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/*
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rc Task
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遥控器接收任务 - 处理DR16遥控器数据接收
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*/
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/* Includes ----------------------------------------------------------------- */
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@ -18,4 +18,9 @@ const osThreadAttr_t attr_rc = {
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.name = "rc",
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.priority = osPriorityNormal,
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.stack_size = 256 * 4,
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};
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const osThreadAttr_t attr_atti_esti = {
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.name = "atti_esti",
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.priority = osPriorityNormal,
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.stack_size = 256 * 4,
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};
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@ -15,11 +15,13 @@ extern "C" {
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/* 任务运行频率 */
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#define AI_FREQ (500.0)
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#define RC_FREQ (500.0)
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#define ATTI_ESTI_FREQ (500.0)
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/* 任务初始化延时ms */
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#define TASK_INIT_DELAY (100u)
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#define AI_INIT_DELAY (0)
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#define RC_INIT_DELAY (0)
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#define ATTI_ESTI_INIT_DELAY (0)
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/* Exported defines --------------------------------------------------------- */
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/* Exported macro ----------------------------------------------------------- */
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@ -31,6 +33,7 @@ typedef struct {
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struct {
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osThreadId_t ai;
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osThreadId_t rc;
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osThreadId_t atti_esti;
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} thread;
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/* USER MESSAGE BEGIN */
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@ -54,18 +57,21 @@ typedef struct {
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struct {
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UBaseType_t ai;
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UBaseType_t rc;
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UBaseType_t atti_esti;
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} stack_water_mark;
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/* 各任务运行频率 */
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struct {
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float ai;
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float rc;
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float atti_esti;
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} freq;
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/* 任务最近运行时间 */
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struct {
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float ai;
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float rc;
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float atti_esti;
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} last_up_time;
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} Task_Runtime_t;
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@ -77,11 +83,13 @@ extern Task_Runtime_t task_runtime;
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extern const osThreadAttr_t attr_init;
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extern const osThreadAttr_t attr_ai;
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extern const osThreadAttr_t attr_rc;
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extern const osThreadAttr_t attr_atti_esti;
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/* 任务函数声明 */
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void Task_Init(void *argument);
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void Task_ai(void *argument);
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void Task_rc(void *argument);
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void Task_atti_esti(void *argument);
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#ifdef __cplusplus
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}
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@ -391,8 +391,9 @@ FDCAN3.StdFiltersNbr=1
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FDCAN3.TxBuffersNbr=0
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FDCAN3.TxElmtSize=FDCAN_DATA_BYTES_64
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FDCAN3.TxFifoQueueElmtsNbr=23
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FREERTOS.IPParameters=Tasks01
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FREERTOS.IPParameters=Tasks01,configTOTAL_HEAP_SIZE
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FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
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FREERTOS.configTOTAL_HEAP_SIZE=0x10000
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File.Version=6
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GPIO.groupedBy=Group By Peripherals
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KeepUserPlacement=false
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@ -698,7 +699,7 @@ ProjectManager.DeviceId=STM32H723VGTx
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ProjectManager.FirmwarePackage=STM32Cube FW_H7 V1.12.1
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ProjectManager.FreePins=false
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ProjectManager.HalAssertFull=false
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ProjectManager.HeapSize=0x200
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ProjectManager.HeapSize=0x1000
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ProjectManager.KeepUserCode=true
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ProjectManager.LastFirmware=true
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ProjectManager.LibraryCopy=0
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@ -710,7 +711,7 @@ ProjectManager.ProjectFileName=balance_infantry.ioc
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ProjectManager.ProjectName=balance_infantry
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ProjectManager.ProjectStructure=
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ProjectManager.RegisterCallBack=
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ProjectManager.StackSize=0x800
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ProjectManager.StackSize=0x2000
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ProjectManager.TargetToolchain=CMake
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ProjectManager.ToolChainLocation=
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ProjectManager.UAScriptAfterPath=
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