/* 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 "module/balance_chassis.h" #include "task/user_task.h" #include /* USER INCLUDE END */ /* Private typedef ---------------------------------------------------------- */ /* Private define ----------------------------------------------------------- */ /* Private macro ------------------------------------------------------------ */ /* Private variables -------------------------------------------------------- */ /* USER STRUCT BEGIN */ BMI088_t bmi088; #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; /* 用于 MRobot 显示的 IMU 数据结构 */ typedef struct { BMI088_t *bmi088; AHRS_Eulr_t *euler; } IMU_Display_Data_t; static IMU_Display_Data_t imu_display_data = { .bmi088 = &bmi088, .euler = &eulr_to_send, }; /*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 --------------------------------------------------------- */ /* BMI088 设备信息打印回调 */ static void bmi088_print_callback(void *device_data, char *buffer, uint16_t buffer_size) { IMU_Display_Data_t *data = (IMU_Display_Data_t *)device_data; /* 将浮点数转换为整数和小数部分，避免 printf 浮点数支持问题 */ int accl_x_int = (int)(data->bmi088->accl.x); int accl_x_frac = (int)((data->bmi088->accl.x - accl_x_int) * 1000); int accl_y_int = (int)(data->bmi088->accl.y); int accl_y_frac = (int)((data->bmi088->accl.y - accl_y_int) * 1000); int accl_z_int = (int)(data->bmi088->accl.z); int accl_z_frac = (int)((data->bmi088->accl.z - accl_z_int) * 1000); int gyro_x_int = (int)(data->bmi088->gyro.x); int gyro_x_frac = (int)((data->bmi088->gyro.x - gyro_x_int) * 1000); int gyro_y_int = (int)(data->bmi088->gyro.y); int gyro_y_frac = (int)((data->bmi088->gyro.y - gyro_y_int) * 1000); int gyro_z_int = (int)(data->bmi088->gyro.z); int gyro_z_frac = (int)((data->bmi088->gyro.z - gyro_z_int) * 1000); int temp_int = (int)(data->bmi088->temp); int temp_frac = (int)((data->bmi088->temp - temp_int) * 100); float roll_deg = data->euler->rol * 57.2958f; float pitch_deg = data->euler->pit * 57.2958f; float yaw_deg = data->euler->yaw * 57.2958f; int roll_int = (int)roll_deg; int roll_frac = (int)((roll_deg - roll_int) * 100); int pitch_int = (int)pitch_deg; int pitch_frac = (int)((pitch_deg - pitch_int) * 100); int yaw_int = (int)yaw_deg; int yaw_frac = (int)((yaw_deg - yaw_int) * 100); snprintf(buffer, buffer_size, "加速度计: X=%d.%03d Y=%d.%03d Z=%d.%03d m/s²\r\n" "陀螺仪: X=%d.%03d Y=%d.%03d Z=%d.%03d rad/s\r\n" "温度: %d.%02d °C\r\n" "欧拉角: Roll=%d.%02d Pitch=%d.%02d Yaw=%d.%02d °\r\n", accl_x_int, abs(accl_x_frac), accl_y_int, abs(accl_y_frac), accl_z_int, abs(accl_z_frac), gyro_x_int, abs(gyro_x_frac), gyro_y_int, abs(gyro_y_frac), gyro_z_int, abs(gyro_z_frac), temp_int, abs(temp_frac), roll_int, abs(roll_frac), pitch_int, abs(pitch_frac), yaw_int, abs(yaw_frac)); } /* 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 BMI088 设备到 MRobot */ MRobot_RegisterDevice("bmi088", MROBOT_DEVICE_TYPE_IMU, &imu_display_data, bmi088_print_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)); osKernelUnlock(); /* USER CODE END */ } }