/*
*********************************************************************************************************
* 函 数 名: bsp_StartAutoTimer
* 功能说明: 启动一个自动定时器，并设置定时周期。
* 形 参: _id : 定时器ID，值域【0,TMR_COUNT-1】。用户必须自行维护定时器ID，以避免定时器ID冲突。
* _period : 定时周期，单位10ms
* 返 回 值: 无
*********************************************************************************************************
*/
void timerStartAuto ( uint8_t _id, uint32_t _period )
{
if ( _id >= TMR_COUNT )
{
/* 打印出错的源代码文件名、函数名称 */
uartPrintf ( "Error: file %s, function %s()\r\n", __FILE__, __FUNCTION__ );
while ( 1 ); /* 参数异常，死机等待看门狗复位 */
}
DISABLE_INT(); /* 关中断 */
s_tTmr[_id].Count = _period; /* 实时计数器初值 */
s_tTmr[_id].PreLoad = _period; /* 计数器自动重装值，仅自动模式起作用 */
s_tTmr[_id].Flag = 0; /* 定时时间到标志 */
s_tTmr[_id].Mode = TMR_AUTO_MODE; /* 自动工作模式 */
ENABLE_INT(); /* 开中断 */
}
static void stabilizerTask(void* param)
{
uint32_t attitudeCounter = 0;
uint32_t lastWakeTime;
vTaskSetApplicationTaskTag(0, (void*)TASK_STABILIZER_ID_NBR);
//Wait for the system to be fully started to start stabilization loop
systemWaitStart();
lastWakeTime = xTaskGetTickCount ();
while(1)
{
vTaskDelayUntil(&lastWakeTime, F2T(IMU_UPDATE_FREQ));
imu6Read(&gyro, &acc);
hmc5883lGetHeading(&magHeadingX, &magHeadingY, &magHeadingZ);
if(altMode == ALTIMETER_MODE_PRESSURE) {
altimeterTmp = ms5611GetPressure(MS5611_OSR_4096);
if(altimeterTmp > 0.0f) {
pressure = altimeterTmp;
altMode = ALTIMETER_MODE_TEMPERATURE;
}
}
if(altMode == ALTIMETER_MODE_TEMPERATURE) {
altimeterTmp = ms5611GetTemperature(MS5611_OSR_4096);
if(altimeterTmp > 0.0f) {
temperature = altimeterTmp;
altMode = ALTIMETER_MODE_PRESSURE;
}
}
if (imu6IsCalibrated())
{
commanderGetRPY(&eulerRollDesired, &eulerPitchDesired, &eulerYawDesired);
commanderGetRPYType(&rollType, &pitchType, &yawType);
if (++attitudeCounter >= ATTITUDE_UPDATE_RATE_DIVIDER)
{
//sensfusion6UpdateQ(gyro.x, gyro.y, gyro.z, acc.x, acc.y, acc.z, FUSION_UPDATE_DT);
//sensfusion6GetEulerRPY(&eulerRollActual, &eulerPitchActual, &eulerYawActual);
//controllerCorrectAttitudePID(eulerRollActual, eulerPitchActual, eulerYawActual,
// eulerRollDesired, eulerPitchDesired, -eulerYawDesired,
// &rollRateDesired, &pitchRateDesired, &yawRateDesired);
//controllerCorrectAttitudePID(0, 0, 0, 0, 0, 0, &rollRateDesired, &pitchRateDesired, &yawRateDesired);
attitudeCounter = 0;
}
if (rollType == RATE)
{
rollRateDesired = eulerRollDesired;
}
if (pitchType == RATE)
{
pitchRateDesired = eulerPitchDesired;
}
if (yawType == RATE)
{
yawRateDesired = -eulerYawDesired;
}
/*
// TODO: Investigate possibility to subtract gyro drift.
controllerCorrectRatePID(gyro.x, -gyro.y, gyro.z,
rollRateDesired, pitchRateDesired, yawRateDesired);
controllerGetActuatorOutput(&actuatorRoll, &actuatorPitch, &actuatorYaw);
*/
commanderGetTrust(&actuatorThrust);
distributePower(actuatorThrust, 0, 0, 0);
if (actuatorThrust > 0)
{
#if defined(TUNE_ROLL)
distributePower(actuatorThrust, actuatorRoll, 0, 0);
#elif defined(TUNE_PITCH)
distributePower(actuatorThrust, 0, actuatorPitch, 0);
#elif defined(TUNE_YAW)
distributePower(actuatorThrust, 0, 0, -actuatorYaw);
#else
distributePower(actuatorThrust, actuatorRoll, actuatorPitch, -actuatorYaw);
#endif
}
else
{
distributePower(0, 0, 0, 0);
controllerResetAllPID();
}
#if 0
static int i = 0;
if (++i > 19)
{
uartPrintf("%i, %i, %i\n",
(int32_t)(eulerRollActual*100),
(int32_t)(eulerPitchActual*100),
(int32_t)(eulerYawActual*100));
i = 0;
}
#endif
}
}
}
void imu6Read(Axis3f* gyroOut, Axis3f* accOut)
{
mpu6050GetMotion6(&accelMpu.x, &accelMpu.y, &accelMpu.z, &gyroMpu.x, &gyroMpu.y, &gyroMpu.z);
imuAddBiasValue(&gyroBias, &gyroMpu);
if (!accelBias.isBiasValueFound)
{
imuAddBiasValue(&accelBias, &accelMpu);
}
if (!gyroBias.isBiasValueFound)
{
imuFindBiasValue(&gyroBias);
if (gyroBias.isBiasValueFound)
{
ledseqRun(LED_RED, seq_calibrated);
// uartPrintf("Gyro bias: %i, %i, %i\n",
// gyroBias.bias.x, gyroBias.bias.y, gyroBias.bias.z);
}
}
#ifdef IMU_TAKE_ACCEL_BIAS
if (gyroBias.isBiasValueFound &&
!accelBias.isBiasValueFound)
{
Axis3i32 mean;
imuCalculateBiasMean(&accelBias, &mean);
accelBias.bias.x = mean.x;
accelBias.bias.y = mean.y;
accelBias.bias.z = mean.z - IMU_1G_RAW;
accelBias.isBiasValueFound = TRUE;
//uartPrintf("Accel bias: %i, %i, %i\n",
// accelBias.bias.x, accelBias.bias.y, accelBias.bias.z);
}
#endif
imuAccIIRLPFilter(&accelMpu, &accelLPF, &accelStoredFilterValues,
(int32_t)imuAccLpfAttFactor);
imuAccAlignToGravity(&accelLPF, &accelLPFAligned);
// Re-map outputs
#if 1
gyroOut->y = -((gyroMpu.x - gyroBias.bias.x) * IMU_DEG_PER_LSB_CFG);
gyroOut->x = (gyroMpu.y - gyroBias.bias.y) * IMU_DEG_PER_LSB_CFG;
gyroOut->z = (gyroMpu.z - gyroBias.bias.z) * IMU_DEG_PER_LSB_CFG;
accOut->y = -((accelLPFAligned.x - accelBias.bias.x) * IMU_G_PER_LSB_CFG);
accOut->x = (accelLPFAligned.y - accelBias.bias.y) * IMU_G_PER_LSB_CFG;
accOut->z = (accelLPFAligned.z - accelBias.bias.z) * IMU_G_PER_LSB_CFG;
#else
gyroOut->x = (gyroMpu.x - gyroBias.bias.x) * IMU_DEG_PER_LSB_CFG;
gyroOut->y = (gyroMpu.y - gyroBias.bias.y) * IMU_DEG_PER_LSB_CFG;
gyroOut->z = (gyroMpu.z - gyroBias.bias.z) * IMU_DEG_PER_LSB_CFG;
accOut->x = (accelLPFAligned.x - accelBias.bias.x) * IMU_G_PER_LSB_CFG;
accOut->y = (accelLPFAligned.y - accelBias.bias.y) * IMU_G_PER_LSB_CFG;
accOut->z = (accelLPFAligned.z - accelBias.bias.z) * IMU_G_PER_LSB_CFG;
#endif
// uartSendData(sizeof(Axis3f), (uint8_t*)gyroOut);
// uartSendData(sizeof(Axis3f), (uint8_t*)accOut);
#if 0
static uint32_t count = 0;
if (++count >= 19)
{
count = 0;
uartPrintf("%d, %d, %d, %d, %d, %d, %d, %d, %d\n",
(int32_t)(gyroOut->x * 10),
(int32_t)(gyroOut->y * 10),
(int32_t)(gyroOut->z * 10),
(int32_t)(accOut->x * 1000),
(int32_t)(accOut->y * 1000),
(int32_t)(accOut->z * 1000),
mag.x,
mag.y,
mag.z);
}
#endif
}
