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base: robofish:16d455869364a93c551c7e05c5024cc4c9d1899d
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robofish:main
robofish:神秘小轮腿
robofish:ai
robofish:单独底层纯转发
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compare: robofish:6035580f27b77bb4c1cd6127b623b9e22c79ecf3
Branches Tags
robofish:神秘小轮腿
robofish:ai
robofish:单独底层纯转发
robofish:main

3 Commits
16d4558693 ... 6035580f27

Author SHA1 Message Date
Robofish
6035580f27 接受延时 2025-10-05 16:05:47 +08:00
Robofish
555317ea3b 修lk 2025-10-05 14:43:31 +08:00
Robofish
5f33aac541 修改imu发送 2025-10-05 13:41:10 +08:00
2 changed files with 106 additions and 51 deletions
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27
User/module/balance_chassis.c
View File

@ -5,7 +5,9 @@
/* Includes ----------------------------------------------------------------- */
#include "module/balance_chassis.h"
#include "bsp/can.h"
#include "bsp/time.h"
#include "component/user_math.h"
#include "device/motor_lk.h"
#include "module/config.h"
#include <string.h>
#include <math.h>
@ -14,8 +16,8 @@
/* Private define ----------------------------------------------------------- */
#define CAN_CMD_ENABLE_ID 121 // 使能命令ID
#define CAN_CMD_JOINT_ID 122 // 关节控制命令ID
#define CAN_CMD_WHEEL_LEFT_ID 128 // 左轮控制命令ID
#define CAN_CMD_WHEEL_RIGHT_ID 129 // 右轮控制命令ID
#define CAN_CMD_WHEEL_LEFT_ID 0x128 // 左轮控制命令ID
#define CAN_CMD_WHEEL_RIGHT_ID 0x129 // 右轮控制命令ID
#define CAN_FEEDBACK_JOINT_BASE_ID 124 // 关节反馈基础ID (124-127)
#define CAN_FEEDBACK_WHEEL_LEFT_ID 130 // 左轮反馈ID
@ -71,27 +73,18 @@ static int8_t Chassis_ProcessCANCommands(Chassis_t *chassis) {
// 检查ID 128 - 左轮控制命令 (与电机发送格式一致)
if (BSP_CAN_GetMessage(BSP_CAN_1, CAN_CMD_WHEEL_LEFT_ID, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
wheel_command_received[0] = true;
// 直接转发CAN数据到左轮电机
BSP_CAN_StdDataFrame_t wheel_frame = {
.id = chassis->param.wheel_param[0].id,
.dlc = rx_msg.dlc,
};
memcpy(wheel_frame.data, rx_msg.data, rx_msg.dlc);
BSP_CAN_TransmitStdDataFrame(chassis->param.wheel_param[0].can, &wheel_frame);
float left_out = (float)((int16_t)(rx_msg.data[4] | (rx_msg.data[5] << 8))) / 2048.0f;
MOTOR_LK_SetOutput(&chassis->param.wheel_param[0], left_out);
}
// 检查ID 129 - 右轮控制命令 (与电机发送格式一致)
if (BSP_CAN_GetMessage(BSP_CAN_1, CAN_CMD_WHEEL_RIGHT_ID, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
wheel_command_received[1] = true;
// 直接转发CAN数据到右轮电机
BSP_CAN_StdDataFrame_t wheel_frame = {
.id = chassis->param.wheel_param[1].id,
.dlc = rx_msg.dlc,
};
memcpy(wheel_frame.data, rx_msg.data, rx_msg.dlc);
BSP_CAN_TransmitStdDataFrame(chassis->param.wheel_param[1].can, &wheel_frame);
float right_out = (float)((int16_t)(rx_msg.data[4] | (rx_msg.data[5] << 8))) / 2048.0f;
MOTOR_LK_SetOutput(&chassis->param.wheel_param[1], right_out);
}
BSP_TIME_Delay_us(400); // 确保CAN总线有足够时间处理消息
return DEVICE_OK;
}

130
User/task/imu.c
View File

@ -48,71 +48,133 @@ 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 - 压缩为16位整数 */
/* 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 */
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 = 6; /* 3个int16_t，每个2字节，共6字节 */
accl_frame.dlc = 8; /* 充分利用8字节数据帧 */
/* 将float转换为int16_t (乘以100，加速度一般在±20g范围内) */
int16_t x_int = (int16_t)(accl.x * 100);
int16_t y_int = (int16_t)(accl.y * 100);
int16_t z_int = (int16_t)(accl.z * 100);
/* 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
*/
memcpy(&accl_frame.data[0], &x_int, sizeof(int16_t));
memcpy(&accl_frame.data[2], &y_int, sizeof(int16_t));
memcpy(&accl_frame.data[4], &z_int, sizeof(int16_t));
// 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;
// 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));
BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &accl_frame);
}
/* 获取陀螺仪数据并通过CAN发送 - 压缩为16位整数 */
/* 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 */
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 = 6; /* 3个int16_t，每个2字节，共6字节 */
gyro_frame.dlc = 8; /* 充分利用8字节数据帧 */
/* 将float转换为int16_t (乘以10，陀螺仪一般在±2000°/s范围内) */
int16_t x_int = (int16_t)(gyro.x * 10);
int16_t y_int = (int16_t)(gyro.y * 10);
int16_t z_int = (int16_t)(gyro.z * 10);
/* 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
*/
memcpy(&gyro_frame.data[0], &x_int, sizeof(int16_t));
memcpy(&gyro_frame.data[2], &y_int, sizeof(int16_t));
memcpy(&gyro_frame.data[4], &z_int, sizeof(int16_t));
// 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;
// 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));
BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &gyro_frame);
}
/* 获取欧拉角数据并通过CAN发送 - 压缩为16位整数 */
/* 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 */
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 = 6; /* 3个int16_t，每个2字节，共6字节 */
eulr_frame.dlc = 8; /* 充分利用8字节数据帧 */
/* 将角度转换为int16_t (乘以100，角度范围-180~180°，精度0.01°) */
int16_t yaw_int = (int16_t)(eulr.yaw * 100);
int16_t pit_int = (int16_t)(eulr.pit * 100);
int16_t rol_int = (int16_t)(eulr.rol * 100);
/* 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
*/
memcpy(&eulr_frame.data[0], &yaw_int, sizeof(int16_t));
memcpy(&eulr_frame.data[2], &pit_int, sizeof(int16_t));
memcpy(&eulr_frame.data[4], &rol_int, sizeof(int16_t));
// 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;
// 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));
BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &eulr_frame);
}
/* 获取四元数数据并通过CAN发送 - 压缩为16位整数 */
/* 获取四元数数据并通过CAN发送 - 优化精度分配 */
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; /* 4个int16_t，每个2字节，共8字节 */
quat_frame.dlc = 8; /* 充分利用8字节数据帧 */
/* 将四元数转换为int16_t (乘以32000，四元数范围-1~1，充分利用int16_t范围) */
int16_t q0_int = (int16_t)(quat.q0 * 32000);
int16_t q1_int = (int16_t)(quat.q1 * 32000);
int16_t q2_int = (int16_t)(quat.q2 * 32000);
int16_t q3_int = (int16_t)(quat.q3 * 32000);
/* 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
*/
// 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);
memcpy(&quat_frame.data[0], &q0_int, sizeof(int16_t));
memcpy(&quat_frame.data[2], &q1_int, sizeof(int16_t));