c1a0c821c3
modified: MDK-ARM/DevC.uvprojx modified: MDK-ARM/DevC/DevC.axf modified: MDK-ARM/DevC/DevC.hex modified: User/bsp/uart.c modified: User/bsp/uart.h modified: User/module/config.c modified: User/module/gimbal.c modified: User/module/gimbal.h modified: User/module/shoot.c modified: User/task/ai.c modified: User/task/atti_esti.c modified: User/task/ctrl_gimbal.c modified: User/task/rc.c
128 lines
4.7 KiB
C
128 lines
4.7 KiB
C
/*
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atti_esti Task
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带有pwm温控的纯陀螺仪（BMI088）姿态解算任务（无磁力计，赛场环境一般不适用）。
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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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陀螺仪使用前需要校准，校准结果保存在bmi088_cali结构体中，需要自行实现。
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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/mm.h"
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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" /* 新增：引入云台模块以使用 Gimbal_IMU_t 结构体 */
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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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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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/*默认校准参数*/
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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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osDelay(ATTI_ESTI_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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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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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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/* 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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/* =================== 核心修复区域：原始数据重映射 =================== */
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/* 采用 typeof 定义临时变量，拷贝原始数据以保留 z 轴等未修改的数据 */
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/* 注意：typeof 为 GCC 扩展特性，STM32 编译环境（Keil/CubeIDE）默认支持 */
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__typeof__(bmi088.accl) mapped_accl = bmi088.accl;
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__typeof__(bmi088.gyro) mapped_gyro = bmi088.gyro;
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/* 执行90度旋转映射 (假设顺时针90度: X_new = Y_old, Y_new = -X_old) */
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mapped_accl.x = bmi088.accl.x;
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mapped_accl.y = bmi088.accl.y;
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mapped_gyro.x = bmi088.gyro.x;
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mapped_gyro.y = bmi088.gyro.y;
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/* 根据重映射后的加速度与角速度进行姿态解析 */
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AHRS_Update(&gimbal_ahrs, &mapped_accl, &mapped_gyro, &magn);
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/* 根据解析出来的正确四元数计算欧拉角 */
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AHRS_GetEulr(&eulr_to_send, &gimbal_ahrs);
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osKernelUnlock();
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/* ==================================================================== */
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// --- 修改：将IMU数据（正确的角速度与欧拉角）发送至云台控制任务的队列 ---
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Gimbal_IMU_t gimbal_imu_to_send;
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// 直接使用映射好的角速度，确保内环（角速度）与外环（角度）坐标系完全一致
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gimbal_imu_to_send.gyro = mapped_gyro;
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gimbal_imu_to_send.eulr = eulr_to_send;
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// 发送至队列
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osMessageQueuePut(task_runtime.msgq.gimbal.imu, &gimbal_imu_to_send, 0, 0);
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// -----------------------------------------------------------------
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// 将四元数发送至 AI 任务的消息队列
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// &gimbal_ahrs.quat: 四元数结构体地址
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// 0: 消息优先级
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// 0: 不等待，如果队列满了直接跳过（保证实时性）
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osMessageQueuePut(task_runtime.msgq.ai.quat, &gimbal_ahrs.quat, 0, 0);
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// 如果 AI 任务还需要欧拉角，发送欧拉角队列
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osMessageQueuePut(task_runtime.msgq.ai.eulr, &eulr_to_send, 0, 0);
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BSP_PWM_SetComp(BSP_PWM_IMU_HEAT_PWM, PID_Calc(&imu_temp_ctrl_pid, 40.5f,
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bmi088.temp, 0.0f, 0.0f));
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/* USER CODE END */
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}
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} |