126 lines
4.9 KiB
C
126 lines
4.9 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/can.h"
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#include "device/dm_imu.h"
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#include "module/config.h"
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#include <string.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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DM_IMU_t dm_imu;
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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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DM_IMU_Init(&dm_imu, &Config_GetRobotParam()->imu_param);
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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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if (DM_IMU_AutoUpdateAll(&dm_imu) == DEVICE_OK) {
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// 发送加速度计数据 (ID: 0x66) - 三轴压缩到一帧，每轴2字节，精度0.01g
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BSP_CAN_StdDataFrame_t accl_frame = {
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.id = 0x66,
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.dlc = 8,
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.data = {0}
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};
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// 转换为16位整数发送 (精度0.01g，范围±327.67g)
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int16_t accl_x_int = (int16_t)(dm_imu.data.accl.x * 100.0f);
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int16_t accl_y_int = (int16_t)(dm_imu.data.accl.y * 100.0f);
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int16_t accl_z_int = (int16_t)(dm_imu.data.accl.z * 100.0f);
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// 打包数据：x(2字节) + y(2字节) + z(2字节) + 2字节保留
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memcpy(&accl_frame.data[0], &accl_x_int, 2);
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memcpy(&accl_frame.data[2], &accl_y_int, 2);
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memcpy(&accl_frame.data[4], &accl_z_int, 2);
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BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &accl_frame);
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// 发送陀螺仪数据 (ID: 0x67) - 三轴压缩到一帧，每轴2字节，精度0.01°/s
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BSP_CAN_StdDataFrame_t gyro_frame = {
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.id = 0x67,
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.dlc = 8,
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.data = {0}
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};
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// 转换为16位整数发送 (精度0.01°/s，范围±327.67°/s)
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int16_t gyro_x_int = (int16_t)(dm_imu.data.gyro.x * 57.2958f * 100.0f); // 弧度/s转角度/s*100
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int16_t gyro_y_int = (int16_t)(dm_imu.data.gyro.y * 57.2958f * 100.0f);
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int16_t gyro_z_int = (int16_t)(dm_imu.data.gyro.z * 57.2958f * 100.0f);
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// 打包数据：x(2字节) + y(2字节) + z(2字节) + 2字节保留
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memcpy(&gyro_frame.data[0], &gyro_x_int, 2);
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memcpy(&gyro_frame.data[2], &gyro_y_int, 2);
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memcpy(&gyro_frame.data[4], &gyro_z_int, 2);
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BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &gyro_frame);
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// 发送欧拉角数据 (ID: 0x68) - 三轴压缩到一帧，每轴2字节，精度0.01度
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BSP_CAN_StdDataFrame_t euler_frame = {
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.id = 0x68,
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.dlc = 8,
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.data = {0}
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};
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// 转换为16位整数发送 (精度0.01度，范围±327.67度)
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int16_t yaw_int = (int16_t)(dm_imu.data.euler.yaw * 57.2958f * 100.0f); // 弧度转角度*100
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int16_t pit_int = (int16_t)(dm_imu.data.euler.pit * 57.2958f * 100.0f); // 弧度转角度*100
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int16_t rol_int = (int16_t)(dm_imu.data.euler.rol * 57.2958f * 100.0f); // 弧度转角度*100
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// 打包数据：yaw(2字节) + pitch(2字节) + roll(2字节) + 2字节保留
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memcpy(&euler_frame.data[0], &yaw_int, 2);
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memcpy(&euler_frame.data[2], &pit_int, 2);
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memcpy(&euler_frame.data[4], &rol_int, 2);
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BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &euler_frame);
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// 发送四元数数据 (ID: 0x69) - 四分量压缩到一帧，每分量2字节，精度0.0001
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BSP_CAN_StdDataFrame_t quat_frame = {
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.id = 0x69,
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.dlc = 8,
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.data = {0}
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};
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// 转换为16位整数发送 (精度0.0001，范围±3.2767)
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int16_t q0_int = (int16_t)(dm_imu.data.quat.q0 * 10000.0f);
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int16_t q1_int = (int16_t)(dm_imu.data.quat.q1 * 10000.0f);
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int16_t q2_int = (int16_t)(dm_imu.data.quat.q2 * 10000.0f);
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int16_t q3_int = (int16_t)(dm_imu.data.quat.q3 * 10000.0f);
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// 打包数据：q0(2字节) + q1(2字节) + q2(2字节) + q3(2字节)
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memcpy(&quat_frame.data[0], &q0_int, 2);
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memcpy(&quat_frame.data[2], &q1_int, 2);
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memcpy(&quat_frame.data[4], &q2_int, 2);
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memcpy(&quat_frame.data[6], &q3_int, 2);
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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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} |