184 lines
6.5 KiB
C
184 lines
6.5 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 "module/balance_chassis.h"
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#include "task/user_task.h"
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#include <stdlib.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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#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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/* 用于 MRobot 显示的 IMU 数据结构 */
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typedef struct {
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BMI088_t *bmi088;
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AHRS_Eulr_t *euler;
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} IMU_Display_Data_t;
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static IMU_Display_Data_t imu_display_data = {
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.bmi088 = &bmi088,
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.euler = &eulr_to_send,
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};
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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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/* BMI088 设备信息打印回调 */
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static void bmi088_print_callback(void *device_data, char *buffer, uint16_t buffer_size) {
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IMU_Display_Data_t *data = (IMU_Display_Data_t *)device_data;
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/* 将浮点数转换为整数和小数部分，避免 printf 浮点数支持问题 */
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int accl_x_int = (int)(data->bmi088->accl.x);
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int accl_x_frac = (int)((data->bmi088->accl.x - accl_x_int) * 1000);
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int accl_y_int = (int)(data->bmi088->accl.y);
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int accl_y_frac = (int)((data->bmi088->accl.y - accl_y_int) * 1000);
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int accl_z_int = (int)(data->bmi088->accl.z);
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int accl_z_frac = (int)((data->bmi088->accl.z - accl_z_int) * 1000);
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int gyro_x_int = (int)(data->bmi088->gyro.x);
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int gyro_x_frac = (int)((data->bmi088->gyro.x - gyro_x_int) * 1000);
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int gyro_y_int = (int)(data->bmi088->gyro.y);
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int gyro_y_frac = (int)((data->bmi088->gyro.y - gyro_y_int) * 1000);
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int gyro_z_int = (int)(data->bmi088->gyro.z);
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int gyro_z_frac = (int)((data->bmi088->gyro.z - gyro_z_int) * 1000);
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int temp_int = (int)(data->bmi088->temp);
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int temp_frac = (int)((data->bmi088->temp - temp_int) * 100);
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float roll_deg = data->euler->rol * 57.2958f;
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float pitch_deg = data->euler->pit * 57.2958f;
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float yaw_deg = data->euler->yaw * 57.2958f;
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int roll_int = (int)roll_deg;
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int roll_frac = (int)((roll_deg - roll_int) * 100);
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int pitch_int = (int)pitch_deg;
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int pitch_frac = (int)((pitch_deg - pitch_int) * 100);
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int yaw_int = (int)yaw_deg;
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int yaw_frac = (int)((yaw_deg - yaw_int) * 100);
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snprintf(buffer, buffer_size,
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"加速度计: X=%d.%03d Y=%d.%03d Z=%d.%03d m/s²\r\n"
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"陀螺仪: X=%d.%03d Y=%d.%03d Z=%d.%03d rad/s\r\n"
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"温度: %d.%02d °C\r\n"
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"欧拉角: Roll=%d.%02d Pitch=%d.%02d Yaw=%d.%02d °\r\n",
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accl_x_int, abs(accl_x_frac), accl_y_int, abs(accl_y_frac), accl_z_int, abs(accl_z_frac),
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gyro_x_int, abs(gyro_x_frac), gyro_y_int, abs(gyro_y_frac), gyro_z_int, abs(gyro_z_frac),
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temp_int, abs(temp_frac),
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roll_int, abs(roll_frac), pitch_int, abs(pitch_frac), yaw_int, abs(yaw_frac));
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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 BMI088 设备到 MRobot */
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MRobot_RegisterDevice("bmi088", MROBOT_DEVICE_TYPE_IMU, &imu_display_data, bmi088_print_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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osKernelUnlock();
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/* USER CODE END */
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}
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} |