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Наведён порядок в коде

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This commit is contained in:
Radzhab Bisultanov
2026-02-18 14:23:01 +03:00
parent eecf8f2cc2
commit f9b7277a33
20 changed files with 647 additions and 928 deletions
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120
Source/BSP/Src/imu_processing.c
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@@ -20,72 +20,72 @@ static biquad_t gyro_z_lpf;
void imu_processing_init()
{
biquad_init_lpf(&accel_x_lpf, 30.0f, 500.0f);
biquad_init_lpf(&accel_y_lpf, 30.0f, 500.0f);
biquad_init_lpf(&accel_z_lpf, 30.0f, 500.0f);
biquad_init_lpf(&gyro_x_lpf, 120.0f, 500.0f);
biquad_init_lpf(&gyro_y_lpf, 120.0f, 500.0f);
biquad_init_lpf(&gyro_z_lpf, 120.0f, 500.0f);
biquad_init_lpf(&accel_x_lpf, 30.0f, 500.0f);
biquad_init_lpf(&accel_y_lpf, 30.0f, 500.0f);
biquad_init_lpf(&accel_z_lpf, 30.0f, 500.0f);
biquad_init_lpf(&gyro_x_lpf, 120.0f, 500.0f);
biquad_init_lpf(&gyro_y_lpf, 120.0f, 500.0f);
biquad_init_lpf(&gyro_z_lpf, 120.0f, 500.0f);
}
void imu_read_scaled(imu_scaled_t* out)
{
static imu_raw_t raw;
icm_read_raw(&raw);
out->ax = raw.ax / ACCEL_SENS_SCALE_FACTOR - accel_bias_x;
out->ay = raw.ay / ACCEL_SENS_SCALE_FACTOR - accel_bias_y;
out->az = raw.az / ACCEL_SENS_SCALE_FACTOR - accel_bias_z;
out->ax = biquad_apply(&accel_x_lpf, out->ax);
out->ay = biquad_apply(&accel_y_lpf, out->ay);
out->az = biquad_apply(&accel_z_lpf, out->az);
out->gx = raw.gx / GYRO_SENS_SCALE_FACTOR - gyro_bias_x;
out->gy = raw.gy / GYRO_SENS_SCALE_FACTOR - gyro_bias_y;
out->gz = raw.gz / GYRO_SENS_SCALE_FACTOR - gyro_bias_z;
out->gx = biquad_apply(&gyro_x_lpf, out->gx);
out->gy = biquad_apply(&gyro_y_lpf, out->gy);
out->gz = biquad_apply(&gyro_z_lpf, out->gz);
static imu_raw_t raw;
imu_read_raw(&raw);
out->ax = raw.ax / ACCEL_SENS_SCALE_FACTOR - accel_bias_x;
out->ay = raw.ay / ACCEL_SENS_SCALE_FACTOR - accel_bias_y;
out->az = raw.az / ACCEL_SENS_SCALE_FACTOR - accel_bias_z;
out->ax = biquad_apply(&accel_x_lpf, out->ax);
out->ay = biquad_apply(&accel_y_lpf, out->ay);
out->az = biquad_apply(&accel_z_lpf, out->az);
out->gx = raw.gx / GYRO_SENS_SCALE_FACTOR - gyro_bias_x;
out->gy = raw.gy / GYRO_SENS_SCALE_FACTOR - gyro_bias_y;
out->gz = raw.gz / GYRO_SENS_SCALE_FACTOR - gyro_bias_z;
out->gx = biquad_apply(&gyro_x_lpf, out->gx);
out->gy = biquad_apply(&gyro_y_lpf, out->gy);
out->gz = biquad_apply(&gyro_z_lpf, out->gz);
}
void imu_calibrate()
{
const int samples = 1000;
float sum_ax = 0;
float sum_ay = 0;
float sum_az = 0;
float sum_gx = 0;
float sum_gy = 0;
float sum_gz = 0;
imu_raw_t imu;
for (uint16_t i = 0; i < samples; ++i)
{
icm_read_raw(&imu);
sum_ax += imu.ax / ACCEL_SENS_SCALE_FACTOR;
sum_ay += imu.ay / ACCEL_SENS_SCALE_FACTOR;
sum_az += imu.az / ACCEL_SENS_SCALE_FACTOR;
sum_gx += imu.gx / GYRO_SENS_SCALE_FACTOR;
sum_gy += imu.gy / GYRO_SENS_SCALE_FACTOR;
sum_gz += imu.gz / GYRO_SENS_SCALE_FACTOR;
for (volatile uint16_t d = 0; d < 5000; ++d);
}
accel_bias_x = sum_ax / samples;
accel_bias_y = sum_ay / samples;
accel_bias_z = (sum_az / samples) + 1.0f;
gyro_bias_x = sum_gx / samples;
gyro_bias_y = sum_gy / samples;
gyro_bias_z = sum_gz / samples;
const int samples = 1000;
float sum_ax = 0;
float sum_ay = 0;
float sum_az = 0;
float sum_gx = 0;
float sum_gy = 0;
float sum_gz = 0;
imu_raw_t imu;
for (uint16_t i = 0; i < samples; ++i)
{
imu_read_raw(&imu);
sum_ax += imu.ax / ACCEL_SENS_SCALE_FACTOR;
sum_ay += imu.ay / ACCEL_SENS_SCALE_FACTOR;
sum_az += imu.az / ACCEL_SENS_SCALE_FACTOR;
sum_gx += imu.gx / GYRO_SENS_SCALE_FACTOR;
sum_gy += imu.gy / GYRO_SENS_SCALE_FACTOR;
sum_gz += imu.gz / GYRO_SENS_SCALE_FACTOR;
for (volatile uint16_t d = 0; d < 5000; ++d);
}
accel_bias_x = sum_ax / samples;
accel_bias_y = sum_ay / samples;
accel_bias_z = (sum_az / samples) + 1.0f;
gyro_bias_x = sum_gx / samples;
gyro_bias_y = sum_gy / samples;
gyro_bias_z = sum_gz / samples;
}