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https://gitee.com/dlmu-cone/tronone-h7-scaffold
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129 lines
2.0 KiB
C
129 lines
2.0 KiB
C
#ifndef __DM_IMU_H
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#define __DM_IMU_H
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#include "stm32h7xx_hal.h"
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#define ACCEL_CAN_MAX (235.2f)
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#define ACCEL_CAN_MIN (-235.2f)
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#define GYRO_CAN_MAX (34.88f)
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#define GYRO_CAN_MIN (-34.88f)
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#define PITCH_CAN_MAX (90.0f)
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#define PITCH_CAN_MIN (-90.0f)
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#define ROLL_CAN_MAX (180.0f)
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#define ROLL_CAN_MIN (-180.0f)
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#define YAW_CAN_MAX (180.0f)
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#define YAW_CAN_MIN (-180.0f)
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#define TEMP_MIN (0.0f)
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#define TEMP_MAX (60.0f)
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#define Quaternion_MIN (-1.0f)
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#define Quaternion_MAX (1.0f)
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#define CMD_READ 0
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#define CMD_WRITE 1
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typedef enum
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{
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COM_USB = 0,
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COM_RS485,
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COM_CAN,
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COM_VOFA
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} imu_com_port_e;
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typedef enum
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{
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CAN_BAUD_1M = 0,
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CAN_BAUD_500K,
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CAN_BAUD_400K,
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CAN_BAUD_250K,
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CAN_BAUD_200K,
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CAN_BAUD_100K,
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CAN_BAUD_50K,
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CAN_BAUD_25K
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} imu_baudrate_e;
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typedef enum
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{
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REBOOT_IMU = 0,
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ACCEL_DATA,
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GYRO_DATA,
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EULER_DATA,
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QUAT_DATA,
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SET_ZERO,
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ACCEL_CALI,
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GYRO_CALI,
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MAG_CALI,
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CHANGE_COM,
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SET_DELAY,
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CHANGE_ACTIVE,
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SET_BAUD,
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SET_CAN_ID,
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SET_MST_ID,
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DATA_OUTPUT_SELECTION,
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SAVE_PARAM = 254,
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RESTORE_SETTING = 255
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} reg_id_e;
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typedef struct
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{
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uint8_t can_id;
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uint8_t mst_id;
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FDCAN_HandleTypeDef *can_handle;
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float pitch;
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float roll;
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float yaw;
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float gyro[3];
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float accel[3];
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float q[4];
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float cur_temp;
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} imu_t;
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void imu_init(uint8_t can_id, uint8_t mst_id, FDCAN_HandleTypeDef *hfdcan);
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void imu_write_reg(uint8_t reg_id, uint32_t data);
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void imu_read_reg(uint8_t reg_id);
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void imu_reboot();
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void imu_accel_calibration();
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void imu_gyro_calibration();
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void imu_change_com_port(imu_com_port_e port);
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void imu_set_active_mode_delay(uint32_t delay);
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void imu_change_to_active();
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void imu_change_to_request();
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void imu_set_baud(imu_baudrate_e baud);
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void imu_set_can_id(uint8_t can_id);
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void imu_set_mst_id(uint8_t mst_id);
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void imu_save_parameters();
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void imu_restore_settings();
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void imu_request_accel();
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void imu_request_gyro();
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void imu_request_euler();
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void imu_request_quat();
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#endif
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