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