103 lines
3.1 KiB
C
103 lines
3.1 KiB
C
/*
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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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/* USER INCLUDE BEGIN */
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#include "bsp/pwm.h"
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#include "component/ahrs.h"
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#include "component/pid.h"
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#include "device/bmi088.h"
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#include "module/gimbal.h"
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#include "ist8310.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 gimbal_ahrs;
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AHRS_Magn_t magn;
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AHRS_Eulr_t eulr_to_send;
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KPID_t imu_temp_ctrl_pid;
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Gimbal_IMU_t gimbal_to_send;
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BMI088_Cali_t cali_bmi088= {
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.gyro_offset = {0.0f,0.0f,0.0f},
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};
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static const KPID_Params_t imu_temp_ctrl_pid_param = {
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.k = 0.15f,
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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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/* 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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BMI088_Init(&bmi088,&cali_bmi088);
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AHRS_Init(&gimbal_ahrs, &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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/* IMU温度控制PWM输出 */
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BSP_PWM_Start(BSP_PWM_IMU_HEAT);
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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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/* 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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/* 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, &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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BSP_PWM_SetComp(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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gimbal_to_send.eulr = eulr_to_send;
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gimbal_to_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_to_send, 0, 0);
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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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} |