/* atti_esit Task */ /* Includes ----------------------------------------------------------------- */ #include "task/user_task.h" /* USER INCLUDE BEGIN */ #include "bsp/gpio.h" #include "bsp/mm.h" #include "bsp/pwm.h" #include "component/ahrs.h" #include "component/QuaternionEKF.h" #include "component/pid.h" #include "device/bmi088.h" #include "device/mrobot.h" #include "device/device.h" #include "module/balance_chassis.h" #include "task/user_task.h" #include /* USER INCLUDE END */ /* Private typedef ---------------------------------------------------------- */ /* 自定义 IMU 数据结构 */ typedef struct { DEVICE_Header_t header; AHRS_Accl_t accl; /* 加速度 m/s² */ AHRS_Gyro_t gyro; /* 角速度 rad/s */ AHRS_Eulr_t euler; /* 欧拉角 rad */ AHRS_Quaternion_t quat; /* 四元数 */ float temp; /* 温度 °C */ } MyIMU_Data_t; /* Private define ----------------------------------------------------------- */ /* Private macro ------------------------------------------------------------ */ /* Private variables -------------------------------------------------------- */ /* USER STRUCT BEGIN */ BMI088_t bmi088; MyIMU_Data_t imu_device; /* 使用自定义结构 */ #ifndef USE_QEKF AHRS_t gimbal_ahrs; AHRS_Magn_t magn; #endif AHRS_Eulr_t eulr_to_send; Chassis_IMU_t imu_for_chassis; KPID_t imu_temp_ctrl_pid; /*默认校准参数*/ BMI088_Cali_t cali_bmi088 = { .gyro_offset = {-0.00147764047f, -0.00273479894f, 0.00154074503f}, }; static const KPID_Params_t imu_temp_ctrl_pid_param = { .k = 0.1f, .p = 0.15f, .i = 0.01f, .d = 0.02f, .i_limit = 1.0f, .out_limit = 1.0f, }; /* USER STRUCT END */ /* Private function --------------------------------------------------------- */ /** * @brief IMU 设备打印回调函数（用户自定义格式） */ static int print_imu_callback(const void *data, char *buffer, size_t size) { const MyIMU_Data_t *imu = (const MyIMU_Data_t *)data; /* 弧度转角度 */ #define RAD2DEG 57.2957795131f /* 使用 MRobot 提供的工具函数格式化浮点数 */ char ax[16], ay[16], az[16]; char gx[16], gy[16], gz[16]; char roll[16], pitch[16], yaw[16]; char q0[16], q1[16], q2[16], q3[16]; char temp[16]; MRobot_FormatFloat(ax, sizeof(ax), imu->accl.x, 3); MRobot_FormatFloat(ay, sizeof(ay), imu->accl.y, 3); MRobot_FormatFloat(az, sizeof(az), imu->accl.z, 3); MRobot_FormatFloat(gx, sizeof(gx), imu->gyro.x, 3); MRobot_FormatFloat(gy, sizeof(gy), imu->gyro.y, 3); MRobot_FormatFloat(gz, sizeof(gz), imu->gyro.z, 3); MRobot_FormatFloat(roll, sizeof(roll), imu->euler.rol * RAD2DEG, 2); MRobot_FormatFloat(pitch, sizeof(pitch), imu->euler.pit * RAD2DEG, 2); MRobot_FormatFloat(yaw, sizeof(yaw), imu->euler.yaw * RAD2DEG, 2); MRobot_FormatFloat(q0, sizeof(q0), imu->quat.q0, 4); MRobot_FormatFloat(q1, sizeof(q1), imu->quat.q1, 4); MRobot_FormatFloat(q2, sizeof(q2), imu->quat.q2, 4); MRobot_FormatFloat(q3, sizeof(q3), imu->quat.q3, 4); MRobot_FormatFloat(temp, sizeof(temp), imu->temp, 1); return snprintf(buffer, size, " Status : %s\r\n" " Accel : X=%s Y=%s Z=%s (m/s^2)\r\n" " Gyro : X=%s Y=%s Z=%s (rad/s)\r\n" " Euler : R=%s P=%s Y=%s (deg)\r\n" " Quat : q0=%s q1=%s q2=%s q3=%s\r\n" " Temp : %s C\r\n", imu->header.online ? "Online" : "Offline", ax, ay, az, gx, gy, gz, roll, pitch, yaw, q0, q1, q2, q3, temp); } /* Exported functions ------------------------------------------------------- */ void Task_atti_esit(void *argument) { (void)argument; /* 未使用argument，消除警告 */ osDelay(ATTI_ESIT_INIT_DELAY); /* 延时一段时间再开启任务 */ /* USER CODE INIT BEGIN */ BMI088_Init(&bmi088, &cali_bmi088); #ifdef USE_QEKF QEKF_Init(10.0f, 0.001f, 1000000.0f, 0.9996f, 0.0f); #else AHRS_Init(&gimbal_ahrs, &magn, BMI088_GetUpdateFreq(&bmi088)); #endif PID_Init(&imu_temp_ctrl_pid, KPID_MODE_NO_D, 1.0f / BMI088_GetUpdateFreq(&bmi088), &imu_temp_ctrl_pid_param); BSP_PWM_Start(BSP_PWM_IMU_HEAT); /* 注册 IMU 设备到 MRobot（只需名称、数据、打印回调） */ MRobot_RegisterDevice("bmi088", &imu_device, print_imu_callback); /* USER CODE INIT END */ while (1) { /* USER CODE BEGIN */ BMI088_WaitNew(); BMI088_AcclStartDmaRecv(); BMI088_AcclWaitDmaCplt(); BMI088_GyroStartDmaRecv(); BMI088_GyroWaitDmaCplt(); /* 锁住RTOS内核防止数据解析过程中断，造成错误 */ osKernelLock(); /* 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 */ BMI088_ParseAccl(&bmi088); BMI088_ParseGyro(&bmi088); // IST8310_Parse(&ist8310); /* 根据设备接收到的数据进行姿态解析 */ #ifdef USE_QEKF QEKF_Update(bmi088.gyro.x, bmi088.gyro.y, bmi088.gyro.z, bmi088.accl.x, bmi088.accl.y, bmi088.accl.z, 1.0f / BMI088_GetUpdateFreq(&bmi088)); /* 从EKF获取欧拉角 */ eulr_to_send.rol = QEKF_INS.roll; eulr_to_send.pit = QEKF_INS.pitch; eulr_to_send.yaw = QEKF_INS.yaw; #else AHRS_Update(&gimbal_ahrs, &bmi088.accl, &bmi088.gyro, &magn); /* 根据解析出来的四元数计算欧拉角 */ AHRS_GetEulr(&eulr_to_send, &gimbal_ahrs); #endif /* 加速度计数据绕z轴旋转270度: (x,y,z) -> (y,-x,z) */ imu_for_chassis.accl.x = bmi088.accl.y; imu_for_chassis.accl.y = -bmi088.accl.x; imu_for_chassis.accl.z = bmi088.accl.z; /* 陀螺仪数据绕z轴旋转270度: (x,y,z) -> (y,-x,z) */ imu_for_chassis.gyro.x = bmi088.gyro.y; imu_for_chassis.gyro.y = -bmi088.gyro.x; imu_for_chassis.gyro.z = bmi088.gyro.z; /* 欧拉角绕z轴旋转270度 */ imu_for_chassis.euler.rol = eulr_to_send.pit; imu_for_chassis.euler.pit = -eulr_to_send.rol; imu_for_chassis.euler.yaw = eulr_to_send.yaw - 1.57079632679f; // -90度 osMessageQueueReset( task_runtime.msgq.chassis.imu); // 重置消息队列，防止阻塞 osMessageQueuePut(task_runtime.msgq.chassis.imu, &imu_for_chassis, 0, 0); // 非阻塞发送底盘IMU数据 BSP_PWM_SetComp(BSP_PWM_IMU_HEAT, PID_Calc(&imu_temp_ctrl_pid, 40.5f, bmi088.temp, 0.0f, 0.0f)); /* 直接赋值 AHRS 结构体 - 完美兼容 */ imu_device.accl = bmi088.accl; imu_device.gyro = bmi088.gyro; imu_device.euler = eulr_to_send; #ifdef USE_QEKF imu_device.quat.q0 = QEKF_INS.q[0]; imu_device.quat.q1 = QEKF_INS.q[1]; imu_device.quat.q2 = QEKF_INS.q[2]; imu_device.quat.q3 = QEKF_INS.q[3]; #else imu_device.quat = gimbal_ahrs.quat; #endif imu_device.temp = bmi088.temp; imu_device.header = bmi088.header; osKernelUnlock(); /* USER CODE END */ } }