187 lines
5.7 KiB
C
187 lines
5.7 KiB
C
/*
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atti_esti Task
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任务一用来进行c板自带的陀螺仪bmi088的数据采集和姿态解算，同时对陀螺仪进行温控
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控制IMU加热到指定温度防止温漂，收集IMU数据给AHRS算法。
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收集BMI088的数据，解算后得到四元数，转换为欧拉角之后放到消息队列中，
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等待其他任务取用。
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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 "device/bmi088.h"
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#include "component/ahrs.h"
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#include "component/pid.h"
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#include "bsp/pwm.h"
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#include "bsp/gpio.h"
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#include "bsp/time.h"
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#include "module/gimbal.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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IST8310_t ist8310;
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AHRS_t ahrs;
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AHRS_Eulr_t imu_eulr;
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KPID_t imu_temp;
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Gimbal_IMU_t gimbal_imu_send;
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KPID_Params_t imu_temp_pid_param = {
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.k = 1.0f,
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.p = 1.5f,
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.i =0.0f,
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.d =0.0f,
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.i_limit = 1.0f,
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.out_limit =1.0f,
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.d_cutoff_freq =0.0f,
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.range =0.0f
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};
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BMI088_Cali_t cali_bmi088= {
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.gyro_offset = {-0.003f,-0.00423098542f,-0.00603712862f},
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};
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/* 校准相关变量 */
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typedef enum {
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CALIB_IDLE, // 空闲状态
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CALIB_RUNNING, // 正在校准
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CALIB_DONE // 校准完成
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} CalibState_t;
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static CalibState_t calib_state = CALIB_IDLE;
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static uint16_t calib_count = 0;
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static struct {
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float x_sum;
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float y_sum;
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float z_sum;
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} gyro_sum= {0.0f,0.0f,0.0f};
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static void start_gyro_calibration(void) {
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if (calib_state == CALIB_IDLE) {
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BSP_TIME_Delay(1000);
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calib_state = CALIB_RUNNING;
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calib_count = 0;
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gyro_sum.x_sum = 0.0f;
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gyro_sum.y_sum = 0.0f;
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gyro_sum.z_sum = 0.0f;
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}
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}
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#define CALIB_SAMPLES 5000 // 校准采样数量
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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_atti_esti(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() / ATTI_ESTI_FREQ;
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osDelay(ATTI_ESTI_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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/*陀螺仪初始化*/
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BMI088_Init(&bmi088,&cali_bmi088);
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/* AHRS初始化*/
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AHRS_Init(&ahrs,&ist8310.magn,BMI088_GetUpdateFreq(&bmi088));
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/* 初始化IMU温度控制PID，防止温漂 */
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PID_Init(&imu_temp,KPID_MODE_NO_D,ATTI_ESTI_FREQ,&imu_temp_pid_param);
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/* IMU温度控制PWM输出 */
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BSP_PWM_Start(BSP_PWM_IMU_HEAT_PWM);
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/* 注册按钮回调函数并启用中断 */
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BSP_GPIO_RegisterCallback(BSP_GPIO_KEY, start_gyro_calibration);
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BSP_GPIO_EnableIRQ(BSP_GPIO_KEY);
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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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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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BMI088_ParseAccl(&bmi088);
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BMI088_ParseGyro(&bmi088);
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/* 陀螺仪校准处理 */
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if (calib_state == CALIB_RUNNING) {
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/* 累加陀螺仪数据用于计算零偏 */
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gyro_sum.x_sum += bmi088.gyro.x;
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gyro_sum.y_sum += bmi088.gyro.y;
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gyro_sum.z_sum += bmi088.gyro.z;
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calib_count++;
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/* 达到采样数量后计算平均值并更新零偏 */
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if (calib_count >= CALIB_SAMPLES) {
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/* 计算平均值作为零偏 */
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cali_bmi088.gyro_offset.x = gyro_sum.x_sum / CALIB_SAMPLES;
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cali_bmi088.gyro_offset.y = gyro_sum.y_sum / CALIB_SAMPLES;
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cali_bmi088.gyro_offset.z = gyro_sum.z_sum / CALIB_SAMPLES;
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/* 校准完成，重置为空闲状态以便下次校准 */
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calib_state = CALIB_IDLE;
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/* 重新初始化BMI088以应用新的校准数据 */
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BMI088_Init(&bmi088, &cali_bmi088);
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AHRS_Init(&ahrs, &ist8310.magn, BMI088_GetUpdateFreq(&bmi088));
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}
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}
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/* 只有在非校准状态下才进行正常的姿态解析 */
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if (calib_state != CALIB_RUNNING) {
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/* 根据设备接收到的数据进行姿态解析 */
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AHRS_Update(&ahrs, &bmi088.accl, &bmi088.gyro, &ist8310.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(&imu_eulr, & ahrs);
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}
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// /* 根据设备接收到的数据进行姿态解析 */
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// AHRS_Update(&ahrs, &bmi088.accl, &bmi088.gyro, &ist8310.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(&imu_eulr, &ahrs);
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osKernelUnlock();
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gimbal_imu_send.eulr = imu_eulr;
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gimbal_imu_send.gyro = bmi088.gyro;
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osMessageQueueReset(task_runtime.msgq.gimbal.imu);
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osMessageQueuePut(task_runtime.msgq.gimbal.imu, &gimbal_imu_send, 0, 0);
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osMessageQueueReset(task_runtime.msgq.imu.gyro);
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osMessageQueuePut(task_runtime.msgq.imu.gyro, &bmi088.gyro, 0, 0);
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osMessageQueueReset(task_runtime.msgq.imu.eulr);
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osMessageQueuePut(task_runtime.msgq.imu.eulr, &imu_eulr, 0, 0);
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/* PID控制IMU温度，PWM输出 */
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BSP_PWM_SetComp(BSP_PWM_IMU_HEAT_PWM,
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PID_Calc(&imu_temp, 40.0f, bmi088.temp, 0.0f, 0.0f));
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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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} |