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HFUT_Firmament_EC:SPEED_FEEDFORWARD__LTS

2 Commits
18988c5770 ... ba3879f815

Author SHA1 Message Date
shmily744 ba3879f815 修改下位机发送的云台陀螺仪信息，角度制改为弧度制 2024-01-19 17:58:40 +08:00
shmily744 3beffa3dea 修改了CRC校验码未初始化问题 2024-01-19 15:38:20 +08:00
4 changed files with 88 additions and 103 deletions
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2
bsp/usb/bsp_usb.c
View File

@ -27,5 +27,5 @@ uint8_t *USBInit(USB_Init_Config_s usb_conf)
void USBTransmit(uint8_t *buffer, uint16_t len) void USBTransmit(uint8_t *buffer, uint16_t len)
{ {
//CDC_Transmit_FS(buffer, len); // 发送 CDC_Transmit_FS(buffer, len); // 发送
} }

111
modules/algorithm/crc16.c
View File

@ -2,28 +2,29 @@
static uint8_t crc_tab16_init = 0; static uint8_t crc_tab16_init = 0;
static uint16_t crc_tab16[256] = { static uint16_t crc_tab16[256] = {
0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf, 0x8c48, 0x9dc1, 0xaf5a, 0xbed3, 0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf, 0x8c48, 0x9dc1, 0xaf5a, 0xbed3,
0xca6c, 0xdbe5, 0xe97e, 0xf8f7, 0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7, 0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e,
0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876, 0x2102, 0x308b, 0x0210, 0x1399, 0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876, 0x2102, 0x308b, 0x0210, 0x1399,
0x6726, 0x76af, 0x4434, 0x55bd, 0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5, 0x6726, 0x76af, 0x4434, 0x55bd, 0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5,
0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c, 0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c, 0xbdcb, 0xac42, 0x9ed9, 0x8f50,
0xfbef, 0xea66, 0xd8fd, 0xc974, 0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb, 0xfbef, 0xea66, 0xd8fd, 0xc974, 0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb,
0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3, 0x5285, 0x430c, 0x7197, 0x601e, 0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3, 0x5285, 0x430c, 0x7197, 0x601e,
0x14a1, 0x0528, 0x37b3, 0x263a, 0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72, 0x14a1, 0x0528, 0x37b3, 0x263a, 0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72,
0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9, 0xef4e, 0xfec7, 0xcc5c, 0xddd5, 0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9, 0xef4e, 0xfec7, 0xcc5c, 0xddd5,
0xa96a, 0xb8e3, 0x8a78, 0x9bf1, 0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738, 0xa96a, 0xb8e3, 0x8a78, 0x9bf1, 0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738,
0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70, 0x8408, 0x9581, 0xa71a, 0xb693, 0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70, 0x8408, 0x9581, 0xa71a, 0xb693,
0xc22c, 0xd3a5, 0xe13e, 0xf0b7, 0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff, 0xc22c, 0xd3a5, 0xe13e, 0xf0b7, 0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff,
0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036, 0x18c1, 0x0948, 0x3bd3, 0x2a5a, 0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036, 0x18c1, 0x0948, 0x3bd3, 0x2a5a,
0x5ee5, 0x4f6c, 0x7df7, 0x6c7e, 0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e, 0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5,
0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd, 0xb58b, 0xa402, 0x9699, 0x8710, 0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd, 0xb58b, 0xa402, 0x9699, 0x8710,
0xf3af, 0xe226, 0xd0bd, 0xc134, 0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c, 0xf3af, 0xe226, 0xd0bd, 0xc134, 0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c,
0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3, 0x4a44, 0x5bcd, 0x6956, 0x78df, 0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3, 0x4a44, 0x5bcd, 0x6956, 0x78df,
0x0c60, 0x1de9, 0x2f72, 0x3efb, 0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232, 0x0c60, 0x1de9, 0x2f72, 0x3efb, 0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232,
0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a, 0xe70e, 0xf687, 0xc41c, 0xd595, 0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a, 0xe70e, 0xf687, 0xc41c, 0xd595,
0xa12a, 0xb0a3, 0x8238, 0x93b1, 0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9, 0xa12a, 0xb0a3, 0x8238, 0x93b1, 0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9,
0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330, 0x7bc7, 0x6a4e, 0x58d5, 0x495c, 0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330, 0x7bc7, 0x6a4e, 0x58d5, 0x495c,
0x3de3, 0x2c6a, 0x1ef1, 0x0f78}; 0x3de3, 0x2c6a, 0x1ef1, 0x0f78};
/* /*
* uint16_t crc_16( const unsigned char *input_str, size_t num_bytes ); * uint16_t crc_16( const unsigned char *input_str, size_t num_bytes );
* *
@ -32,21 +33,29 @@ static uint16_t crc_tab16[256] = {
*要检查的字节也是一个参数。字符串中的字节数为 *要检查的字节也是一个参数。字符串中的字节数为
*受恒定大小最大值的限制。 *受恒定大小最大值的限制。
*/ */
uint16_t crc_16(const uint8_t *input_str, uint16_t num_bytes) uint16_t crc_16(const uint8_t *input_str, uint16_t num_bytes) {
{ // uint16_t crc;
uint16_t crc; // const uint8_t *ptr;
const uint8_t *ptr; // uint16_t a;
uint16_t a; //// if (!crc_tab16_init)
// if (!crc_tab16_init) //// init_crc16_tab();
// init_crc16_tab(); // crc = CRC_START_16;
crc = CRC_START_16; // ptr = input_str;
ptr = input_str; // if (ptr != NULL)
if (ptr != NULL) // for (a = 0; a < num_bytes; a++) {
for (a = 0; a < num_bytes; a++) // crc = (crc >> 8) ^ crc_tab16[(crc ^ (uint16_t) *ptr++) & 0x00FF];
{ // }
crc = (crc >> 8) ^ crc_tab16[(crc ^ (uint16_t)*ptr++) & 0x00FF]; // return crc;
} uint8_t ch_data;
return crc; uint16_t wCRC = 0xFFFF;
if (input_str == NULL) return 0xFFFF;
while (num_bytes--) {
ch_data = *input_str++;
(wCRC) =
((uint16_t)(wCRC) >> 8) ^ crc_tab16[((uint16_t)(wCRC) ^ (uint16_t)(ch_data)) & 0x00ff];
}
return wCRC;
} }
/* /*
@ -57,8 +66,7 @@ uint16_t crc_16(const uint8_t *input_str, uint16_t num_bytes)
*要检查的字节数也是一个参数。 *要检查的字节数也是一个参数。
*/ */
uint16_t crc_modbus(const uint8_t *input_str, uint16_t num_bytes) uint16_t crc_modbus(const uint8_t *input_str, uint16_t num_bytes) {
{
uint16_t crc; uint16_t crc;
const uint8_t *ptr; const uint8_t *ptr;
uint16_t a; uint16_t a;
@ -69,10 +77,9 @@ uint16_t crc_modbus(const uint8_t *input_str, uint16_t num_bytes)
crc = CRC_START_MODBUS; crc = CRC_START_MODBUS;
ptr = input_str; ptr = input_str;
if (ptr != NULL) if (ptr != NULL)
for (a = 0; a < num_bytes; a++) for (a = 0; a < num_bytes; a++) {
{
crc = (crc >> 8) ^ crc_tab16[(crc ^ (uint16_t)*ptr++) & 0x00FF]; crc = (crc >> 8) ^ crc_tab16[(crc ^ (uint16_t) *ptr++) & 0x00FF];
} }
return crc; return crc;
} }
@ -83,11 +90,10 @@ uint16_t crc_modbus(const uint8_t *input_str, uint16_t num_bytes)
*函数update_crc_16()根据 *函数update_crc_16()根据
*前一个循环冗余校验值和下一个要检查的数据字节。 *前一个循环冗余校验值和下一个要检查的数据字节。
*/ */
uint16_t update_crc_16(uint16_t crc, uint8_t c) uint16_t update_crc_16(uint16_t crc, uint8_t c) {
{
if (!crc_tab16_init) if (!crc_tab16_init)
init_crc16_tab(); init_crc16_tab();
return (crc >> 8) ^ crc_tab16[(crc ^ (uint16_t)c) & 0x00FF]; return (crc >> 8) ^ crc_tab16[(crc ^ (uint16_t) c) & 0x00FF];
} }
/* /*
@ -98,18 +104,15 @@ uint16_t update_crc_16(uint16_t crc, uint8_t c)
*查找表首次由init_crc16_tab()例程计算 *查找表首次由init_crc16_tab()例程计算
*调用循环冗余校验函数。 *调用循环冗余校验函数。
*/ */
void init_crc16_tab(void) void init_crc16_tab(void) {
{
uint16_t i; uint16_t i;
uint16_t j; uint16_t j;
uint16_t crc; uint16_t crc;
uint16_t c; uint16_t c;
for (i = 0; i < 256; i++) for (i = 0; i < 256; i++) {
{
crc = 0; crc = 0;
c = i; c = i;
for (j = 0; j < 8; j++) for (j = 0; j < 8; j++) {
{
if ((crc ^ c) & 0x0001) if ((crc ^ c) & 0x0001)
crc = (crc >> 1) ^ CRC_POLY_16; crc = (crc >> 1) ^ CRC_POLY_16;
else else
@ -121,11 +124,9 @@ void init_crc16_tab(void)
crc_tab16_init = 1; crc_tab16_init = 1;
} }
uint32_t VerifyCRC16CheckSum(uint8_t *pchMessage, uint32_t dwLength) uint32_t VerifyCRC16CheckSum(uint8_t *pchMessage, uint32_t dwLength) {
{
uint16_t wExpected = 0; uint16_t wExpected = 0;
if ((pchMessage == NULL) || (dwLength <= 2)) if ((pchMessage == NULL) || (dwLength <= 2)) {
{
return 0; return 0;
} }
wExpected = crc_16(pchMessage, dwLength - 2); wExpected = crc_16(pchMessage, dwLength - 2);

74
modules/imu/ins_task.c
View File

@ -36,30 +36,26 @@ static float RefTemp = 40; // 恒温设定温度
static void IMU_Param_Correction(IMU_Param_t *param, float gyro[3], float accel[3]); static void IMU_Param_Correction(IMU_Param_t *param, float gyro[3], float accel[3]);
static void IMUPWMSet(uint16_t pwm) static void IMUPWMSet(uint16_t pwm) {
{ __HAL_TIM_SetCompare(&htim10, TIM_CHANNEL_1, pwm);
__HAL_TIM_SetCompare(&htim10, TIM_CHANNEL_1, pwm);
} }
/** /**
* @brief 温度控制 * @brief 温度控制
* *
*/ */
static void IMU_Temperature_Ctrl(void) static void IMU_Temperature_Ctrl(void) {
{
PIDCalculate(&TempCtrl, BMI088.Temperature, RefTemp); PIDCalculate(&TempCtrl, BMI088.Temperature, RefTemp);
IMUPWMSet(float_constrain(float_rounding(TempCtrl.Output), 0, UINT32_MAX)); IMUPWMSet(float_constrain(float_rounding(TempCtrl.Output), 0, UINT32_MAX));
} }
// 使用加速度计的数据初始化Roll和Pitch,而Yaw置0,这样可以避免在初始时候的姿态估计误差 // 使用加速度计的数据初始化Roll和Pitch,而Yaw置0,这样可以避免在初始时候的姿态估计误差
static void InitQuaternion(float *init_q4) static void InitQuaternion(float *init_q4) {
{
float acc_init[3] = {0}; float acc_init[3] = {0};
float gravity_norm[3] = {0, 0, 1}; // 导航系重力加速度矢量,归一化后为(0,0,1) float gravity_norm[3] = {0, 0, 1}; // 导航系重力加速度矢量,归一化后为(0,0,1)
float axis_rot[3] = {0}; // 旋转轴 float axis_rot[3] = {0}; // 旋转轴
// 读取100次加速度计数据,取平均值作为初始值 // 读取100次加速度计数据,取平均值作为初始值
for (uint8_t i = 0; i < 100; ++i) for (uint8_t i = 0; i < 100; ++i) {
{
BMI088_Read(&BMI088); BMI088_Read(&BMI088);
acc_init[X] += BMI088.Accel[X]; acc_init[X] += BMI088.Accel[X];
acc_init[Y] += BMI088.Accel[Y]; acc_init[Y] += BMI088.Accel[Y];
@ -78,17 +74,15 @@ static void InitQuaternion(float *init_q4)
init_q4[i + 1] = axis_rot[i] * sinf(angle / 2.0f); // 轴角公式,第三轴为0(没有z轴分量) init_q4[i + 1] = axis_rot[i] * sinf(angle / 2.0f); // 轴角公式,第三轴为0(没有z轴分量)
} }
attitude_t *INS_Init(void) attitude_t *INS_Init(void) {
{
if (!INS.init) if (!INS.init)
INS.init = 1; INS.init = 1;
else else
return (attitude_t *)&INS.Gyro; return (attitude_t *) &INS.Gyro;
HAL_TIM_PWM_Start(&htim10, TIM_CHANNEL_1); HAL_TIM_PWM_Start(&htim10, TIM_CHANNEL_1);
while (BMI088Init(&hspi1, 1) != BMI088_NO_ERROR) while (BMI088Init(&hspi1, 1) != BMI088_NO_ERROR);
;
IMU_Param.scale[X] = 1; IMU_Param.scale[X] = 1;
IMU_Param.scale[Y] = 1; IMU_Param.scale[Y] = 1;
IMU_Param.scale[Z] = 1; IMU_Param.scale[Z] = 1;
@ -102,23 +96,22 @@ attitude_t *INS_Init(void)
IMU_QuaternionEKF_Init(init_quaternion, 10, 0.001, 1000000, 1, 0); IMU_QuaternionEKF_Init(init_quaternion, 10, 0.001, 1000000, 1, 0);
// imu heat init // imu heat init
PID_Init_Config_s config = {.MaxOut = 2000, PID_Init_Config_s config = {.MaxOut = 2000,
.IntegralLimit = 300, .IntegralLimit = 300,
.DeadBand = 0, .DeadBand = 0,
.Kp = 1000, .Kp = 1000,
.Ki = 20, .Ki = 20,
.Kd = 0, .Kd = 0,
.Improve = 0x01}; // enable integratiaon limit .Improve = 0x01}; // enable integratiaon limit
PIDInit(&TempCtrl, &config); PIDInit(&TempCtrl, &config);
// noise of accel is relatively big and of high freq,thus lpf is used // noise of accel is relatively big and of high freq,thus lpf is used
INS.AccelLPF = 0.0085; INS.AccelLPF = 0.0085;
DWT_GetDeltaT(&INS_DWT_Count); DWT_GetDeltaT(&INS_DWT_Count);
return (attitude_t *)&INS.Gyro; // @todo: 这里偷懒了,不要这样做! 修改INT_t结构体可能会导致异常,待修复. return (attitude_t *) &INS.Gyro; // @todo: 这里偷懒了,不要这样做! 修改INT_t结构体可能会导致异常,待修复.
} }
/* 注意以1kHz的频率运行此任务 */ /* 注意以1kHz的频率运行此任务 */
void INS_Task(void) void INS_Task(void) {
{
static uint32_t count = 0; static uint32_t count = 0;
const float gravity[3] = {0, 0, 9.81f}; const float gravity[3] = {0, 0, 9.81f};
@ -126,8 +119,7 @@ void INS_Task(void)
t += dt; t += dt;
// ins update // ins update
if ((count % 1) == 0) if ((count % 1) == 0) {
{
BMI088_Read(&BMI088); BMI088_Read(&BMI088);
INS.Accel[X] = BMI088.Accel[X]; INS.Accel[X] = BMI088.Accel[X];
@ -159,7 +151,8 @@ void INS_Task(void)
EarthFrameToBodyFrame(gravity, gravity_b, INS.q); EarthFrameToBodyFrame(gravity, gravity_b, INS.q);
for (uint8_t i = 0; i < 3; ++i) // 同样过一个低通滤波 for (uint8_t i = 0; i < 3; ++i) // 同样过一个低通滤波
{ {
INS.MotionAccel_b[i] = (INS.Accel[i] - gravity_b[i]) * dt / (INS.AccelLPF + dt) + INS.MotionAccel_b[i] * INS.AccelLPF / (INS.AccelLPF + dt); INS.MotionAccel_b[i] = (INS.Accel[i] - gravity_b[i]) * dt / (INS.AccelLPF + dt) +
INS.MotionAccel_b[i] * INS.AccelLPF / (INS.AccelLPF + dt);
} }
BodyFrameToEarthFrame(INS.MotionAccel_b, INS.MotionAccel_n, INS.q); // 转换回导航系n BodyFrameToEarthFrame(INS.MotionAccel_b, INS.MotionAccel_n, INS.q); // 转换回导航系n
@ -169,18 +162,16 @@ void INS_Task(void)
INS.YawTotalAngle = QEKF_INS.YawTotalAngle; INS.YawTotalAngle = QEKF_INS.YawTotalAngle;
//VisionSetAltitude(INS.Yaw, INS.Pitch, INS.Roll); //VisionSetAltitude(INS.Yaw, INS.Pitch, INS.Roll);
VisionSetAltitude(INS.Yaw, INS.Pitch); VisionSetAltitude(INS.Yaw * PI / 180, INS.Pitch * PI / 180);
} }
// temperature control // temperature control
if ((count % 2) == 0) if ((count % 2) == 0) {
{
// 500hz // 500hz
IMU_Temperature_Ctrl(); IMU_Temperature_Ctrl();
} }
if ((count++ % 1000) == 0) if ((count++ % 1000) == 0) {
{
// 1Hz 可以加入monitor函数,检查IMU是否正常运行/离线 // 1Hz 可以加入monitor函数,检查IMU是否正常运行/离线
} }
} }
@ -191,8 +182,7 @@ void INS_Task(void)
* @param[2] vector in EarthFrame * @param[2] vector in EarthFrame
* @param[3] quaternion * @param[3] quaternion
*/ */
void BodyFrameToEarthFrame(const float *vecBF, float *vecEF, float *q) void BodyFrameToEarthFrame(const float *vecBF, float *vecEF, float *q) {
{
vecEF[0] = 2.0f * ((0.5f - q[2] * q[2] - q[3] * q[3]) * vecBF[0] + vecEF[0] = 2.0f * ((0.5f - q[2] * q[2] - q[3] * q[3]) * vecBF[0] +
(q[1] * q[2] - q[0] * q[3]) * vecBF[1] + (q[1] * q[2] - q[0] * q[3]) * vecBF[1] +
(q[1] * q[3] + q[0] * q[2]) * vecBF[2]); (q[1] * q[3] + q[0] * q[2]) * vecBF[2]);
@ -212,8 +202,7 @@ void BodyFrameToEarthFrame(const float *vecBF, float *vecEF, float *q)
* @param[2] vector in BodyFrame * @param[2] vector in BodyFrame
* @param[3] quaternion * @param[3] quaternion
*/ */
void EarthFrameToBodyFrame(const float *vecEF, float *vecBF, float *q) void EarthFrameToBodyFrame(const float *vecEF, float *vecBF, float *q) {
{
vecBF[0] = 2.0f * ((0.5f - q[2] * q[2] - q[3] * q[3]) * vecEF[0] + vecBF[0] = 2.0f * ((0.5f - q[2] * q[2] - q[3] * q[3]) * vecEF[0] +
(q[1] * q[2] + q[0] * q[3]) * vecEF[1] + (q[1] * q[2] + q[0] * q[3]) * vecEF[1] +
(q[1] * q[3] - q[0] * q[2]) * vecEF[2]); (q[1] * q[3] - q[0] * q[2]) * vecEF[2]);
@ -235,16 +224,14 @@ void EarthFrameToBodyFrame(const float *vecEF, float *vecBF, float *q)
* @param gyro 角速度 * @param gyro 角速度
* @param accel 加速度 * @param accel 加速度
*/ */
static void IMU_Param_Correction(IMU_Param_t *param, float gyro[3], float accel[3]) static void IMU_Param_Correction(IMU_Param_t *param, float gyro[3], float accel[3]) {
{
static float lastYawOffset, lastPitchOffset, lastRollOffset; static float lastYawOffset, lastPitchOffset, lastRollOffset;
static float c_11, c_12, c_13, c_21, c_22, c_23, c_31, c_32, c_33; static float c_11, c_12, c_13, c_21, c_22, c_23, c_31, c_32, c_33;
float cosPitch, cosYaw, cosRoll, sinPitch, sinYaw, sinRoll; float cosPitch, cosYaw, cosRoll, sinPitch, sinYaw, sinRoll;
if (fabsf(param->Yaw - lastYawOffset) > 0.001f || if (fabsf(param->Yaw - lastYawOffset) > 0.001f ||
fabsf(param->Pitch - lastPitchOffset) > 0.001f || fabsf(param->Pitch - lastPitchOffset) > 0.001f ||
fabsf(param->Roll - lastRollOffset) > 0.001f || param->flag) fabsf(param->Roll - lastRollOffset) > 0.001f || param->flag) {
{
cosYaw = arm_cos_f32(param->Yaw / 57.295779513f); cosYaw = arm_cos_f32(param->Yaw / 57.295779513f);
cosPitch = arm_cos_f32(param->Pitch / 57.295779513f); cosPitch = arm_cos_f32(param->Pitch / 57.295779513f);
cosRoll = arm_cos_f32(param->Roll / 57.295779513f); cosRoll = arm_cos_f32(param->Roll / 57.295779513f);
@ -304,8 +291,7 @@ static void IMU_Param_Correction(IMU_Param_t *param, float gyro[3], float accel[
/** /**
* @brief Update quaternion * @brief Update quaternion
*/ */
void QuaternionUpdate(float *q, float gx, float gy, float gz, float dt) void QuaternionUpdate(float *q, float gx, float gy, float gz, float dt) {
{
float qa, qb, qc; float qa, qb, qc;
gx *= 0.5f * dt; gx *= 0.5f * dt;
@ -323,8 +309,7 @@ void QuaternionUpdate(float *q, float gx, float gy, float gz, float dt)
/** /**
* @brief Convert quaternion to eular angle * @brief Convert quaternion to eular angle
*/ */
void QuaternionToEularAngle(float *q, float *Yaw, float *Pitch, float *Roll) void QuaternionToEularAngle(float *q, float *Yaw, float *Pitch, float *Roll) {
{
*Yaw = atan2f(2.0f * (q[0] * q[3] + q[1] * q[2]), 2.0f * (q[0] * q[0] + q[1] * q[1]) - 1.0f) * 57.295779513f; *Yaw = atan2f(2.0f * (q[0] * q[3] + q[1] * q[2]), 2.0f * (q[0] * q[0] + q[1] * q[1]) - 1.0f) * 57.295779513f;
*Pitch = atan2f(2.0f * (q[0] * q[1] + q[2] * q[3]), 2.0f * (q[0] * q[0] + q[3] * q[3]) - 1.0f) * 57.295779513f; *Pitch = atan2f(2.0f * (q[0] * q[1] + q[2] * q[3]), 2.0f * (q[0] * q[0] + q[3] * q[3]) - 1.0f) * 57.295779513f;
*Roll = asinf(2.0f * (q[0] * q[2] - q[1] * q[3])) * 57.295779513f; *Roll = asinf(2.0f * (q[0] * q[2] - q[1] * q[3])) * 57.295779513f;
@ -333,8 +318,7 @@ void QuaternionToEularAngle(float *q, float *Yaw, float *Pitch, float *Roll)
/** /**
* @brief Convert eular angle to quaternion * @brief Convert eular angle to quaternion
*/ */
void EularAngleToQuaternion(float Yaw, float Pitch, float Roll, float *q) void EularAngleToQuaternion(float Yaw, float Pitch, float Roll, float *q) {
{
float cosPitch, cosYaw, cosRoll, sinPitch, sinYaw, sinRoll; float cosPitch, cosYaw, cosRoll, sinPitch, sinYaw, sinRoll;
Yaw /= 57.295779513f; Yaw /= 57.295779513f;
Pitch /= 57.295779513f; Pitch /= 57.295779513f;

4
modules/vofa/vofa.c
View File

@ -30,6 +30,6 @@ void vofa_justfloat_output(float *data, uint8_t num , UART_HandleTypeDef *huart
send_data[4 * num + 2] = 0x80; send_data[4 * num + 2] = 0x80;
send_data[4 * num + 3] = 0x7f; //加上协议要求的4个尾巴 send_data[4 * num + 3] = 0x7f; //加上协议要求的4个尾巴
//HAL_UART_Transmit(huart, (uint8_t *)send_data, 4 * num + 4, 100); HAL_UART_Transmit(huart, (uint8_t *)send_data, 4 * num + 4, 100);
CDC_Transmit_FS((uint8_t *)send_data,4 * num + 4); //CDC_Transmit_FS((uint8_t *)send_data,4 * num + 4);
} }