Radzhab Bisultanov
d59cf7cd55
Очередная попытка реализовать чтение IMU как в рабочей прошивке оказалась провальной. Поэтому было принято решение перенести проект на C++ и писать его подобно рабочей прошивке. Реализован драйвер для I2C. Добавлены файлы интерфейса IMU и конкретного ICM20948.
137 lines
2.4 KiB
C
137 lines
2.4 KiB
C
#include "stm32g431xx.h"
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#include "imu.h"
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#include "imu_processing.h"
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#include "IRS.h"
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#include "attitude.h"
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#include "radio_receiver.h"
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#include "motors.h"
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#include "pid.h"
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#include "lidar.h"
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void TIM6_DAC_IRQHandler();
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//static uint8_t irs_update_flag = 0;
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static uint8_t control_update_flag = 0;
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static uint8_t allowed_calib = 0;
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imu_raw_t imu_raw;
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imu_scaled_t imu;
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IRS irs;
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attitude_t attitude;
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rc_channels rx_chs_raw;
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rc_channels rx_chs_normalized;
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control_channels_t ctrl_chs;
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//lidar_data lidar;
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Vector3 euler;
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void imu_callback(uint8_t* buf, uint8_t size);
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void delay_ms(uint32_t ms);
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int main(void)
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{
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SystemClock_Config(); // 170 MHz
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__enable_irq();
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NVIC_SetPriority(TIM6_DAC_IRQn, 2);
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NVIC_SetPriority(USART3_IRQn, 1);
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NVIC_SetPriority(LPUART1_IRQn, 0);
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imu_pow_init();
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i2c_gpio_init();
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i2c1_init();
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imu_init();
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imu_processing_init();
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//imu_accel_calibrate();
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imu_tim6_init(500);
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IRS_init(&irs);
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attitude_init(&attitude);
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receiver_init();
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motors_init();
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while (1)
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{
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receiver_update(&rx_chs_raw);
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rx_chs_normalized = normalize_channels(rx_chs_raw);
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if (control_update_flag)
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{
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control_update_flag = 0;
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attitude_controller_update(
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&ctrl_chs,
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&rx_chs_normalized,
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&irs.q,
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&irs.gyro
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);
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}
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if (rx_chs_normalized.rc_armed)
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{
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allowed_calib = 0;
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motors_set_throttle_mix(
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rx_chs_normalized.rc_throttle,
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&ctrl_chs,
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rx_chs_normalized.rc_armed
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);
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}
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else
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{
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motors_turn_off();
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allowed_calib = 1;
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}
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}
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}
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void imu_callback(uint8_t* buf, uint8_t size)
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{
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imu_raw.ax = Rev16((buf[0] << 8) | buf[1]);
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imu_raw.ay = Rev16((buf[2] << 8) | buf[3]);
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imu_raw.az = Rev16((buf[4] << 8) | buf[5]);
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imu_raw.gx = Rev16((buf[6] << 8) | buf[7]);
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imu_raw.gy = Rev16((buf[8] << 8) | buf[9]);
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imu_raw.gz = Rev16((buf[10] << 8) | buf[11]);
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imu_process_raw(&imu, &imu_raw, &allowed_calib);
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irs.gyro.x = imu.gx;
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irs.gyro.y = imu.gy;
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irs.gyro.z = imu.gz;
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irs.accel.x = imu.ax;
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irs.accel.y = imu.ay;
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irs.accel.z = imu.az;
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IRS_update(&irs, IMU_DT);
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euler = QuatToEuler(&irs.q);
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}
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void TIM6_DAC_IRQHandler()
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{
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if (TIM6->SR & TIM_SR_UIF)
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{
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TIM6->SR &= ~TIM_SR_UIF;
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imu_get_async(imu_callback);
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control_update_flag = 1;
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}
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}
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void delay_ms(uint32_t ms)
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{
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for (uint32_t i = 0; i < ms * 4000; i++);
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}
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