133 lines
3.5 KiB
C
133 lines
3.5 KiB
C
/*
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Task1 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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/* 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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#ifdef DEBUG
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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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#else
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static BMI088_t bmi088;
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static IST8310_t ist8310;
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static AHRS_t gimbal_ahrs;
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static AHRS_Eulr_t imu_eulr;
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pid_type_def imu_temp;
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uint8_t exit_flag =0;
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#endif
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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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// int a=0;
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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_Task1(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() / TASK1_FREQ;
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osDelay(TASK1_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,&task_runtime.config.cali_088);
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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,TASK1_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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/* 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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/*等待陀螺仪更新数据*/
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// a +=1;
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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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/* 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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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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osKernelUnlock();
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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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} |