136 lines
4.3 KiB
C
136 lines
4.3 KiB
C
/*
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Task_atti_esti Task
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "task\user_task.h"
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#include "device\bmi088.h"
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#include "component\ahrs.h"
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#include "device\ist8310.h"
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#include "component/pid.h"
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#include "bsp/pwm.h"
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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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BMI088_t bmi088;
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IST8310_t ist8310;
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AHRS_t gimbal_ahrs;
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AHRS_Eulr_t eulr_to_send;
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KPID_t imu_temp_ctrl_pid;
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uint16_t N=0;
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float sum_x = 0, sum_y = 0, sum_z = 0;
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static const KPID_Params_t imu_temp_ctrl_pid_param = {
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.k = 0.5f,
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.p = 1.0f,
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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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};
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BMI088_Cali_t bmi_cali={0.00176034111f,0.000634364958f,0.000980574405f};//////暂时使用,学习flash后更改添加初始化代码
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IST8310_Cali_t ist_cali = {
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.magn_offset = {0,0,0}, // 零偏，初始设为0
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.magn_scale = {0,0,0} // 比例因子，初始设为1
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};
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/* Private function --------------------------------------------------------- */
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/* Exported functions ------------------------------------------------------- */
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/**
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* \brief Task_atti_esti Task
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*
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* \param argument 未使用
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*/
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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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BMI088_Init(&bmi088, &bmi_cali/*(task_runtime.cfg.cali.bmi088)*/);//校准数据，学习flash或直接传入
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// IST8310_Init(&ist8310, &ist_cali/*(task_runtime.cfg.cali.ist8310)*/);
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AHRS_Init(&gimbal_ahrs, &ist8310.magn, BMI088_GetUpdateFreq(&bmi088));
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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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/* 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() / TASK_FREQ_ATTI_ESTI;
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osDelay(TASK_INIT_DELAY_ATTI_ESTI); /* 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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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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/* 记录任务所使用的的栈空间 */
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task_runtime.stack_water_mark.atti_esti =
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osThreadGetStackSpace(osThreadGetId());
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/* 等待IMU新数据 */
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BMI088_WaitNew();
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/* 开始数据接收DMA，加速度计和陀螺仪共用同一个SPI接口，
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* 一次只能开启一个DMA
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*/
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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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// IST8310_WaitNew(999);
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// IST8310_StartDmaRecv();
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// IST8310_WaitDmaCplt();
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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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// if(N<1000){
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//
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// sum_x += bmi088.gyro.x;
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// sum_y += bmi088.gyro.y;
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// sum_z += bmi088.gyro.z;
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//
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// N++;
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// }else{
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// bmi_cali.gyro_offset.x = sum_x / 1000;
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// bmi_cali.gyro_offset.y = sum_y / 1000;
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// bmi_cali.gyro_offset.z = sum_z / 1000;
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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(&gimbal_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(&eulr_to_send, &gimbal_ahrs);
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osKernelUnlock();
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osMessageQueueReset(task_runtime.msgq.accl);
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osMessageQueuePut(task_runtime.msgq.accl, &bmi088.accl, 0, 0);
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osMessageQueuePut(task_runtime.msgq.accl, &bmi088.accl, 0, 0);
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osMessageQueueReset(task_runtime.msgq.gyro);
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osMessageQueuePut(task_runtime.msgq.gyro, &bmi088.gyro, 0, 0);
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osMessageQueuePut(task_runtime.msgq.gyro, &bmi088.gyro, 0, 0);
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osMessageQueueReset(task_runtime.msgq.eulr_imu);
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osMessageQueuePut(task_runtime.msgq.eulr_imu, &eulr_to_send, 0, 0);
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BSP_PWM_Set(BSP_PWM_IMU_HEAT,
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PID_Calc(&imu_temp_ctrl_pid, 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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}
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