89 lines
2.4 KiB
C
89 lines
2.4 KiB
C
/*
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* Gimbal IMU Device - 接收来自云台的CAN IMU数据
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*/
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#pragma once
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#include <math.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Includes ----------------------------------------------------------------- */
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#include <stdbool.h>
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#include <stdint.h>
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#include "bsp/can.h"
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#include "component/ahrs.h"
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#include "device/device.h"
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/* Exported constants ------------------------------------------------------- */
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/* 数据范围定义（与发送端保持一致） */
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#define GIMBAL_IMU_ACCEL_MAX (58.8f)
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#define GIMBAL_IMU_ACCEL_MIN (-58.8f)
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#define GIMBAL_IMU_GYRO_MAX (34.88f)
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#define GIMBAL_IMU_GYRO_MIN (-34.88f)
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#define GIMBAL_IMU_PITCH_MAX (90.0f)
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#define GIMBAL_IMU_PITCH_MIN (-90.0f)
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#define GIMBAL_IMU_ROLL_MAX (180.0f)
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#define GIMBAL_IMU_ROLL_MIN (-180.0f)
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#define GIMBAL_IMU_YAW_MAX (180.0f)
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#define GIMBAL_IMU_YAW_MIN (-180.0f)
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#define GIMBAL_IMU_QUAT_MIN (-1.0f)
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#define GIMBAL_IMU_QUAT_MAX (1.0f)
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/* Exported macro ----------------------------------------------------------- */
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/* Exported types ----------------------------------------------------------- */
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/* Gimbal IMU参数配置 */
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typedef struct {
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BSP_CAN_t can; /* 使用的CAN总线 */
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uint16_t accl_id;
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uint16_t gyro_id;
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uint16_t eulr_id;
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uint16_t quat_id;
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} GIMBAL_IMU_Param_t;
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typedef struct {
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AHRS_Accl_t accl; /* 加速度计数据 */
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AHRS_Gyro_t gyro; /* 陀螺仪数据 */
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AHRS_Eulr_t eulr; /* 欧拉角数据 */
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AHRS_Quaternion_t quat; /* 四元数数据 */
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float temp; /* 温度数据 (摄氏度) */
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} GIMBAL_IMU_Data_t;
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/* Gimbal IMU完整数据结构 */
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typedef struct {
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DEVICE_Header_t header;
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GIMBAL_IMU_Param_t param; /* 参数配置 */
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GIMBAL_IMU_Data_t data; /* IMU数据 */
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} GIMBAL_IMU_t;
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/* Exported functions prototypes -------------------------------------------- */
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/**
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* @brief 初始化Gimbal IMU设备
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* @param gimbal_imu Gimbal IMU结构体指针
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* @param param 参数配置
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* @return 初始化结果
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* - DEVICE_OK: 成功
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* - DEVICE_ERR_NULL: 参数为空
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*/
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int8_t GIMBAL_IMU_Init(GIMBAL_IMU_t *gimbal_imu, const GIMBAL_IMU_Param_t *param);
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/**
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* @brief 更新Gimbal IMU设备状态
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* @param gimbal_imu Gimbal IMU结构体指针
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* @return 更新结果
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* - DEVICE_OK: 成功
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* - DEVICE_ERR_NULL: 参数为空
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*/
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int8_t GIMBAL_IMU_Update(GIMBAL_IMU_t *gimbal_imu);
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#ifdef __cplusplus
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}
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#endif
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