95 lines
2.8 KiB
C
95 lines
2.8 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 "bsp/pwm.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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/* 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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BMI088_t bmi088;
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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 = {0.0f,0.0f,0.0f},
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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_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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BMI088_Init(&bmi088,&cali_bmi088);
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AHRS_Init(&gimbal_ahrs, &magn, BMI088_GetUpdateFreq(&bmi088));
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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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/* 扩大加速度数据10倍，并交换x和y */
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float temp_x = bmi088.accl.x * 10.0f;
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float temp_y = bmi088.accl.y * 10.0f;
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bmi088.accl.x = temp_y;
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bmi088.accl.y = -temp_x;
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bmi088.accl.z *= 10.0f;
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BMI088_ParseGyro(&bmi088);
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/* 交换陀螺仪x和y */
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float temp_gyro_x = bmi088.gyro.x;
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bmi088.gyro.x = bmi088.gyro.y;
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bmi088.gyro.y = -temp_gyro_x;
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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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/* 交换pit和rol */
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float temp_rol = eulr_to_send.rol;
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eulr_to_send.rol = eulr_to_send.pit;
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eulr_to_send.pit = temp_rol;
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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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} |