84 lines
2.7 KiB
C
84 lines
2.7 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) - 前8字节 (x, y)
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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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memcpy(accl_frame.data, &dm_imu.data.accl, 8);
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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) - 前8字节 (x, y)
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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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memcpy(gyro_frame.data, &dm_imu.data.gyro, 8);
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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) - 前8字节 (yaw, pit)
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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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memcpy(euler_frame.data, &dm_imu.data.euler, 8);
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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) - 前8字节 (q0, q1)
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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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// memcpy(quat_frame.data, &dm_imu.data.quat, 8);
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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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} |