Определены и реализованы основные функции кватернионов

Source/INS/geometry/quaternion.c

@@ -0,0 +1,64 @@
+#include "quaternion.h"
+
+Quaternion QuatConjugate(const Quaternion* q)
+{
+  Quaternion res = {.x = -q->x, .y = -q->y, .z = -q->z, .w = q->w};
+  return res;
+}
+
+Quaternion QuatInvert(const Quaternion* q)
+{
+	Quaternion res;
+	float nsq = q->x * q->x + q->y * q->y + q->z * q->z + q->w * q->w;
+	
+	if (nsq > 1e-6f)
+	{
+		nsq = 1.0f / nsq;
+		
+		res.x = q->x * nsq;
+		res.y = q->y * nsq;
+		res.z = q->z * nsq;
+		res.w = q->w * nsq;
+		
+		return res;
+	}
+	
+	return *q;
+}
+
+Quaternion QuatNegate(const Quaternion* q)
+{
+	Quaternion res = {.x = -q->x, .y = -q->y, .z = -q->z, .w = -q->w};
+	return res;
+}
+
+Quaternion QuatSum(const Quaternion* q1, const Quaternion* q2)
+{
+	Quaternion res = {.x = q1->x + q2->x, .y = q1->y + q2->y, .z = q1->z + q2->z, .w = q1->w + q2->w};
+	return res;
+}
+
+Quaternion QuatDiff(const Quaternion* q1, const Quaternion* q2)
+{
+	Quaternion res = {.x = q1->x - q2->x, .y = q1->y - q2->y, .z = q1->z - q2->z, .w = q1->w - q2->w};
+	return res;
+}
+
+Quaternion QuatConstProd(const Quaternion* q, const float value)
+{
+	Quaternion res = {.x = q->x * value, .y = q->y * value, .z = q->z * value, .w = q->w * value};
+	return res;
+}
+
+Quaternion QuatProd(const Quaternion* q1, const Quaternion* q2)
+{
+	Quaternion res = {
+	.x = q1->w * q2->x + q1->x * q2->w + q1->y * q2->z - q1->z * q2->y,
+	.y = q1->w * q2->y + q1->x * q2->z + q1->y * q2->w - q1->z * q2->x,
+	.z = q1->w * q2->z + q1->x * q2->y + q1->y * q2->x - q1->z * q2->w,
+	.w = q1->w * q2->w + q1->x * q2->x + q1->y * q2->y - q1->z * q2->z
+	};
+	
+	
+	return res;
+}

Source/INS/geometry/quaternion.h

@@ -0,0 +1,30 @@
+#pragma once
+
+#ifndef QUATERNION_H
+#define QUATERNION_H
+
+#include "vector.h"
+#include <stdbool.h>
+
+typedef struct
+{
+	float x, y, z, w;
+} Quaternion;
+
+Quaternion QuatNormalize(const Quaternion* q, const float gain);
+Quaternion QuatConjugate(const Quaternion* q);
+Quaternion QuatInvert(const Quaternion* q);
+Quaternion QuatNegate(const Quaternion* q);
+
+Quaternion QuatSum(const Quaternion* q1, const Quaternion* q2);
+Quaternion QuatDiff(const Quaternion* q1, const Quaternion* q2);
+Quaternion QuatConstProd(const Quaternion* q, const float value);
+Quaternion QuatProd(const Quaternion* q1, const Quaternion* q2);
+
+Vector3 QuatRotateAroundZ(const Vector3* vec, bool CCW);
+Quaternion QuatCreateRollPitchYaw(const Vector3* RollPitchYawRad);
+Quaternion QuatGetError(const Quaternion* current, const Quaternion* target, bool fastWay);
+
+
+#endif
+

Source/INS/geometry/vector.c

@@ -0,0 +1,138 @@
+#include "vector.h"
+#include <math.h>
+
+Vector2 normalizeV2(const Vector2* v, float gain)
+{
+	float len = lengthV2(v);
+	Vector2 res = {.x = v->x / len, .y = v->y / len};
+	return res;
+}
+
+Vector3 normalizeV3(const Vector3* v, float gain)
+{
+	float len = lengthV3(v);
+	Vector3 res = {.x = v->x / len, .y = v->y / len, .z = v->z};
+	return res;
+}
+
+Vector2 absV2(const Vector2* v)
+{
+	Vector2 res = {.x = fabsf(v->x), .y = fabsf(v->y)};
+	return res;
+}
+
+Vector3 absV3(const Vector3* v)
+{
+	Vector3 res = {.x = fabsf(v->x), .y = fabsf(v->y), .z = fabsf(v->z)};
+	return res;
+}
+
+float lengthV2(const Vector2* v)
+{
+	return sqrtf(v->x * v->x + v->y * v->y);
+}
+
+float lengthV3(const Vector3* v)
+{
+	return sqrtf(v->x * v->x + v->y * v->y + v->z * v->z);
+}
+
+float lengthSquaredV2(const Vector2* v)
+{
+	return v->x * v->x + v->y * v->y;
+}
+
+float lengthSquaredV3(const Vector3* v)
+{
+	return v->x * v->x + v->y * v->y + v->z * v->z;
+}
+
+Vector2 limitV2(const Vector2* v, float min, float max)
+{
+	Vector2 lim;
+	
+	if (v->x < min) lim.x = min; else if (v->x > max) lim.x = max; else lim.x = v->x;
+	if (v->y < min) lim.y = min; else if (v->y > max) lim.y = max; else lim.y = v->y;
+	
+	return lim;
+}
+
+Vector3 limitV3(const Vector3* v, float min, float max)
+{
+	Vector3 lim;
+	
+	if (v->x < min) lim.x = min; else if (v->x > max) lim.x = max; else lim.x = v->x;
+	if (v->y < min) lim.y = min; else if (v->y > max) lim.y = max; else lim.y = v->y;
+	if (v->z < min) lim.z = min; else if (v->z > max) lim.z = max; else lim.z = v->z;
+	
+	return lim;
+}
+
+Vector2 powerV2(const Vector2* v, float pow)
+{
+	Vector2 res = {.x = powf(v->x, pow), .y = powf(v->y, pow)};
+	return res;
+}
+
+Vector3 powerV3(const Vector3* v, float pow)
+{
+	Vector3 res = {.x = powf(v->x, pow), .y = powf(v->y, pow), .z = powf(v->z, pow)};
+	return res;
+}
+
+Vector2 sumV2(const Vector2* v1, const Vector2* v2)
+{
+	Vector2 res = {.x = v1->x + v2->x, .y = v1->y + v2->y};
+	return res;
+}
+
+Vector3 sumV3(const Vector3* v1, const Vector3* v2)
+{
+	Vector3 res = {.x = v1->x + v2->x, .y = v1->y + v2->y, .z = v1->z + v2->z};
+	return res;
+}
+
+Vector2 diffV2(const Vector2* v1, const Vector2* v2)
+{
+	Vector2 res = {.x = v1->x - v2->x, .y = v1->y - v2->y};
+	return res;
+}
+
+Vector3 diffV3(const Vector3* v1, const Vector3* v2)
+{
+	Vector3 res = {.x = v1->x - v2->x, .y = v1->y - v2->y, .z = v1->z - v2->z};
+	return res;
+}
+
+Vector2 constProdV2(const Vector2* v, float value)
+{
+	Vector2 res = {.x = v->x * value, .y = v->y * value};
+	return res;
+}
+
+Vector3 constProdV3(const Vector3* v, float value)
+{
+	Vector3 res = {.x = v->x * value, .y = v->y * value, .z = v->z * value};
+	return res;
+}
+
+float scalarProdV2(const Vector2* v1, const Vector2* v2)
+{
+	float res = v1->x * v2->x + v1->y * v2->y;
+	return res;
+}
+
+float scalarProdV3(const Vector3* v1, const Vector3* v2)
+{
+	float res = v1->x * v2->x + v1->y * v2->y + v1->z * v2->z;
+	return res;
+}
+
+
+
+
+
+
+
+
+

Source/INS/geometry/vector.h

@@ -0,0 +1,50 @@
+#pragma once
+
+#ifndef VECTOR_H
+#define VECTOR_H
+
+
+typedef struct
+{
+	float x, y;
+} Vector2;
+
+typedef struct
+{
+	float x, y, z;
+} Vector3;
+
+Vector2 normalizeV2(const Vector2* v, float gain);
+Vector3 normalizeV3(const Vector3* v, float gain);
+
+Vector2 absV2(const Vector2* v);
+Vector3 absV3(const Vector3* v);
+
+float lengthV2(const Vector2* v);
+float lengthV3(const Vector3* v);
+
+float lengthSquaredV2(const Vector2* v);
+float lengthSquaredV3(const Vector3* v);
+
+Vector2 limitV2(const Vector2* v, float min, float max);
+Vector3 limitV3(const Vector3* v, float min, float max);
+
+Vector2 powerV2(const Vector2* v, float pow);
+Vector3 powerV3(const Vector3* v, float pow);
+
+Vector2 sumV2(const Vector2* v1, const Vector2* v2);
+Vector3 sumV3(const Vector3* v1, const Vector3* v2);
+
+Vector2 diffV2(const Vector2* v1, const Vector2* v2);
+Vector3 diffV3(const Vector3* v1, const Vector3* v2);
+
+Vector2 constProdV2(const Vector2* v, float value);
+Vector3 constProdV3(const Vector3* v, float value);
+
+float scalarProdV2(const Vector2* v1, const Vector2* v2);
+float scalarProdV3(const Vector3* v1, const Vector3* v2);
+
+Vector2 vectorProdV2(const Vector2* v1, const Vector2* v2);
+Vector3 vectorProdV3(const Vector3* v1, const Vector3* v2);
+
+#endif

Source/main.c

@@ -19,7 +19,7 @@ void delay_ms(uint32_t ms);
 
 int main(void)
 {
-	/*__enable_irq();
+	__enable_irq();
 	
 	NVIC_SetPriority(TIM6_DAC_IRQn, 2);
 	NVIC_SetPriority(USART3_IRQn, 1);
@@ -36,17 +36,9 @@ int main(void)
 	
 	receiver_init();
 	
-	motors_init();*/
+	motors_init();
-	
-	lidar_init();
-	// lidar_tim7_init();
 	
 	while (1)
-	{
-		lidar_update(&lidar);
-	}
-	
-	/*while (1)
 	{
 		attitude_update(&attitude, &imu);
 		
@@ -65,7 +57,7 @@ int main(void)
 		{
 			motors_turn_off();
 		}
-	}*/
+	}
 }
 
 void delay_ms(uint32_t ms)

drone.ewp

@@ -362,6 +362,7 @@
                     <state>$PROJ_DIR$\Source\Core\Inc</state>
                     <state>$PROJ_DIR$\Source\BSP\Inc</state>
                     <state>$PROJ_DIR$\Source\Control\Inc</state>
+                    <state>$PROJ_DIR$\Source\INS\geometry</state>
                 </option>
                 <option>
                     <name>CCStdIncCheck</name>
@@ -2367,6 +2368,24 @@
                 </group>
             </group>
         </group>
+        <group>
+            <name>INS</name>
+            <group>
+                <name>geometry</name>
+                <file>
+                    <name>$PROJ_DIR$\Source\INS\geometry\quaternion.c</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\Source\INS\geometry\quaternion.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\Source\INS\geometry\vector.c</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\Source\INS\geometry\vector.h</name>
+                </file>
+            </group>
+        </group>
         <file>
             <name>$PROJ_DIR$\Source\main.c</name>
         </file>

drone.ewt

@@ -3552,6 +3552,24 @@
                 </group>
             </group>
         </group>
+        <group>
+            <name>INS</name>
+            <group>
+                <name>geometry</name>
+                <file>
+                    <name>$PROJ_DIR$\Source\INS\geometry\quaternion.c</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\Source\INS\geometry\quaternion.h</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\Source\INS\geometry\vector.c</name>
+                </file>
+                <file>
+                    <name>$PROJ_DIR$\Source\INS\geometry\vector.h</name>
+                </file>
+            </group>
+        </group>
         <file>
             <name>$PROJ_DIR$\Source\main.c</name>
         </file>