220 lines
9.5 KiB
C
220 lines
9.5 KiB
C
/*
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imu 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 "component/user_math.h"
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#include "bsp/can.h"
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#include "bsp/time.h"
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#include "component/ahrs.h"
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#include "component/filter.h"
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#include <string.h>
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#include <stdint.h>
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/* USER INCLUDE END */
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/* Private typedef ---------------------------------------------------------- */
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/* Private define ----------------------------------------------------------- */
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/* AHRS数据CAN ID定义 */
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#define CAN_ID_AHRS_ACCL 0x301 /* 加速度计数据 */
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#define CAN_ID_AHRS_GYRO 0x302 /* 陀螺仪数据 */
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#define CAN_ID_AHRS_EULR 0x303 /* 欧拉角数据 */
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#define CAN_ID_AHRS_QUAT 0x304 /* 四元数数据 */
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/* 数据范围定义 */
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#define ACCEL_CAN_MAX (58.8f)
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#define ACCEL_CAN_MIN (-58.8f)
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#define GYRO_CAN_MAX (34.88f)
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#define GYRO_CAN_MIN (-34.88f)
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#define PITCH_CAN_MAX (M_PI_2) /* π/2 弧度 ≈ 90° */
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#define PITCH_CAN_MIN (-M_PI_2) /* -π/2 弧度 ≈ -90° */
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#define ROLL_CAN_MAX (M_PI) /* π 弧度 ≈ 180° */
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#define ROLL_CAN_MIN (-M_PI) /* -π 弧度 ≈ -180° */
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#define YAW_CAN_MAX (M_PI) /* π 弧度 ≈ 180° */
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#define YAW_CAN_MIN (-M_PI) /* -π 弧度 ≈ -180° */
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#define QUATERNION_MIN (-1.0f)
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#define QUATERNION_MAX (1.0f)
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/* Private macro ------------------------------------------------------------ */
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/* 数据映射宏：将浮点值映射到16位整数范围 */
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#define MAP_TO_INT16(val, min, max) \
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((int16_t)(((val) - (min)) / ((max) - (min)) * 65535.0f - 32768.0f))
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/* 限制值在指定范围内 */
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#define CLAMP(val, min, max) \
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(((val) < (min)) ? (min) : (((val) > (max)) ? (max) : (val)))
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/* Private variables -------------------------------------------------------- */
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/* USER STRUCT BEGIN */
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AHRS_Accl_t accl;
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AHRS_Gyro_t gyro;
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AHRS_Eulr_t eulr;
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AHRS_Quaternion_t quat;
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/* 低通滤波器定义 */
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/* 加速度计3轴滤波器 */
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LowPassFilter2p_t accl_filter_x;
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LowPassFilter2p_t accl_filter_y;
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LowPassFilter2p_t accl_filter_z;
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/* 陀螺仪3轴滤波器 */
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LowPassFilter2p_t gyro_filter_x;
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LowPassFilter2p_t gyro_filter_y;
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LowPassFilter2p_t gyro_filter_z;
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/* 欧拉角3轴滤波器 */
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LowPassFilter2p_t eulr_filter_yaw;
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LowPassFilter2p_t eulr_filter_pitch;
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LowPassFilter2p_t eulr_filter_roll;
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/* 滤波器参数定义 */
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#define FILTER_CUTOFF_FREQ (30.0f) /* 截止频率50Hz */
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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_imu(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() / IMU_FREQ;
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osDelay(IMU_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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BSP_CAN_Init();
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/* 初始化低通滤波器 */
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/* 加速度计滤波器初始化 */
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LowPassFilter2p_Init(&accl_filter_x, IMU_FREQ, FILTER_CUTOFF_FREQ);
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LowPassFilter2p_Init(&accl_filter_y, IMU_FREQ, FILTER_CUTOFF_FREQ);
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LowPassFilter2p_Init(&accl_filter_z, IMU_FREQ, FILTER_CUTOFF_FREQ);
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/* 陀螺仪滤波器初始化 */
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LowPassFilter2p_Init(&gyro_filter_x, IMU_FREQ, FILTER_CUTOFF_FREQ);
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LowPassFilter2p_Init(&gyro_filter_y, IMU_FREQ, FILTER_CUTOFF_FREQ);
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LowPassFilter2p_Init(&gyro_filter_z, IMU_FREQ, FILTER_CUTOFF_FREQ);
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/* 欧拉角滤波器初始化 */
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LowPassFilter2p_Init(&eulr_filter_yaw, IMU_FREQ, FILTER_CUTOFF_FREQ);
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LowPassFilter2p_Init(&eulr_filter_pitch, IMU_FREQ, FILTER_CUTOFF_FREQ);
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LowPassFilter2p_Init(&eulr_filter_roll, IMU_FREQ, FILTER_CUTOFF_FREQ);
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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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/* 获取加速度计数据，应用滤波器后通过CAN发送 - 每轴使用16位编码 */
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if (osMessageQueueGet(task_runtime.msgq.imu.accl, &accl, NULL, 0) == osOK) {
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BSP_CAN_StdDataFrame_t accl_frame;
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accl_frame.id = CAN_ID_AHRS_ACCL;
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accl_frame.dlc = 6; /* 3轴 × 2字节 = 6字节 */
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/* 对加速度数据应用低通滤波器 */
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float ax_filtered = LowPassFilter2p_Apply(&accl_filter_x, accl.x);
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float ay_filtered = LowPassFilter2p_Apply(&accl_filter_y, accl.y);
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float az_filtered = LowPassFilter2p_Apply(&accl_filter_z, accl.z);
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/* 限制并映射滤波后的加速度数据到16位整数 */
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float ax = CLAMP(ax_filtered, ACCEL_CAN_MIN, ACCEL_CAN_MAX);
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float ay = CLAMP(ay_filtered, ACCEL_CAN_MIN, ACCEL_CAN_MAX);
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float az = CLAMP(az_filtered, ACCEL_CAN_MIN, ACCEL_CAN_MAX);
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int16_t ax_int = MAP_TO_INT16(ax, ACCEL_CAN_MIN, ACCEL_CAN_MAX);
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int16_t ay_int = MAP_TO_INT16(ay, ACCEL_CAN_MIN, ACCEL_CAN_MAX);
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int16_t az_int = MAP_TO_INT16(az, ACCEL_CAN_MIN, ACCEL_CAN_MAX);
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memcpy(&accl_frame.data[0], &ax_int, sizeof(int16_t));
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memcpy(&accl_frame.data[2], &ay_int, sizeof(int16_t));
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memcpy(&accl_frame.data[4], &az_int, sizeof(int16_t));
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BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &accl_frame);
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}
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/* 获取陀螺仪数据，应用滤波器后通过CAN发送 - 每轴使用16位编码 */
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if (osMessageQueueGet(task_runtime.msgq.imu.gyro, &gyro, NULL, 0) == osOK) {
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BSP_CAN_StdDataFrame_t gyro_frame;
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gyro_frame.id = CAN_ID_AHRS_GYRO;
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gyro_frame.dlc = 6; /* 3轴 × 2字节 = 6字节 */
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/* 对陀螺仪数据应用低通滤波器 */
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float gx_filtered = LowPassFilter2p_Apply(&gyro_filter_x, gyro.x);
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float gy_filtered = LowPassFilter2p_Apply(&gyro_filter_y, gyro.y);
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float gz_filtered = LowPassFilter2p_Apply(&gyro_filter_z, gyro.z);
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/* 限制并映射滤波后的陀螺仪数据到16位整数 */
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float gx = CLAMP(gx_filtered, GYRO_CAN_MIN, GYRO_CAN_MAX);
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float gy = CLAMP(gy_filtered, GYRO_CAN_MIN, GYRO_CAN_MAX);
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float gz = CLAMP(gz_filtered, GYRO_CAN_MIN, GYRO_CAN_MAX);
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int16_t gx_int = MAP_TO_INT16(gx, GYRO_CAN_MIN, GYRO_CAN_MAX);
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int16_t gy_int = MAP_TO_INT16(gy, GYRO_CAN_MIN, GYRO_CAN_MAX);
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int16_t gz_int = MAP_TO_INT16(gz, GYRO_CAN_MIN, GYRO_CAN_MAX);
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memcpy(&gyro_frame.data[0], &gx_int, sizeof(int16_t));
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memcpy(&gyro_frame.data[2], &gy_int, sizeof(int16_t));
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memcpy(&gyro_frame.data[4], &gz_int, sizeof(int16_t));
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BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &gyro_frame);
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}
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/* 获取欧拉角数据，应用滤波器后通过CAN发送 - 每角使用16位编码 */
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if (osMessageQueueGet(task_runtime.msgq.imu.eulr, &eulr, NULL, 0) == osOK) {
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BSP_CAN_StdDataFrame_t eulr_frame;
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eulr_frame.id = CAN_ID_AHRS_EULR;
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eulr_frame.dlc = 6; /* 3个角度 × 2字节 = 6字节 */
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/* 对欧拉角数据应用低通滤波器 */
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float yaw_filtered = LowPassFilter2p_Apply(&eulr_filter_yaw, eulr.yaw);
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float pitch_filtered = LowPassFilter2p_Apply(&eulr_filter_pitch, eulr.pit);
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float roll_filtered = LowPassFilter2p_Apply(&eulr_filter_roll, eulr.rol);
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/* 限制并映射滤波后的欧拉角数据到16位整数 */
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float yaw = CLAMP(yaw_filtered, YAW_CAN_MIN, YAW_CAN_MAX);
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float pitch = CLAMP(pitch_filtered, PITCH_CAN_MIN, PITCH_CAN_MAX);
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float roll = CLAMP(roll_filtered, ROLL_CAN_MIN, ROLL_CAN_MAX);
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int16_t yaw_int = MAP_TO_INT16(yaw, YAW_CAN_MIN, YAW_CAN_MAX);
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int16_t pitch_int = MAP_TO_INT16(pitch, PITCH_CAN_MIN, PITCH_CAN_MAX);
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int16_t roll_int = MAP_TO_INT16(roll, ROLL_CAN_MIN, ROLL_CAN_MAX);
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memcpy(&eulr_frame.data[0], &yaw_int, sizeof(int16_t));
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memcpy(&eulr_frame.data[2], &pitch_int, sizeof(int16_t));
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memcpy(&eulr_frame.data[4], &roll_int, sizeof(int16_t));
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BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &eulr_frame);
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}
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/* 获取四元数数据并通过CAN发送 - 每个分量使用16位编码 */
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if (osMessageQueueGet(task_runtime.msgq.imu.quat, &quat, NULL, 0) == osOK) {
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BSP_CAN_StdDataFrame_t quat_frame;
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quat_frame.id = CAN_ID_AHRS_QUAT;
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quat_frame.dlc = 8; /* 4个四元数分量 × 2字节 = 8字节 */
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/* 限制并映射四元数到16位整数 */
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float q0 = CLAMP(quat.q0, QUATERNION_MIN, QUATERNION_MAX);
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float q1 = CLAMP(quat.q1, QUATERNION_MIN, QUATERNION_MAX);
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float q2 = CLAMP(quat.q2, QUATERNION_MIN, QUATERNION_MAX);
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float q3 = CLAMP(quat.q3, QUATERNION_MIN, QUATERNION_MAX);
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int16_t q0_int = MAP_TO_INT16(q0, QUATERNION_MIN, QUATERNION_MAX);
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int16_t q1_int = MAP_TO_INT16(q1, QUATERNION_MIN, QUATERNION_MAX);
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int16_t q2_int = MAP_TO_INT16(q2, QUATERNION_MIN, QUATERNION_MAX);
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int16_t q3_int = MAP_TO_INT16(q3, QUATERNION_MIN, QUATERNION_MAX);
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memcpy(&quat_frame.data[0], &q0_int, sizeof(int16_t));
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memcpy(&quat_frame.data[2], &q1_int, sizeof(int16_t));
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memcpy(&quat_frame.data[4], &q2_int, sizeof(int16_t));
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memcpy(&quat_frame.data[6], &q3_int, sizeof(int16_t));
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BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &quat_frame);
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}
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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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} |