fuxiaoer/IMU_DUAL
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关闭TDK IMU的解算

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This commit is contained in:
Winston Qu 2023-10-19 14:46:53 +08:00
parent e78a282522
commit ca0b0e5c9a
3 changed files with 5 additions and 40 deletions
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4
.settings/language.settings.xml
View File

@ -5,7 +5,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="652618004242900453" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1232746581911447161" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>
@ -16,7 +16,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="652618004242900453" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1232746581911447161" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>

9
Core/Src/main.c
View File

@ -109,7 +109,7 @@ int main(void)
memcpy(IMU_mng_ST.name, "STM\0", 4);
/* enable IMU */
IMU_mng_ST.enable = 1;
IMU_mng_TDK.enable = 1;
IMU_mng_TDK.enable = 0;
/* USER CODE END 2 */
/* Infinite loop */
@ -130,10 +130,6 @@ int main(void)
IMU_mng_ST.IMU_acc[2] = asm330.z_acc;
IMU_mng_ST.lock = 1;
};
// printf("{ GPS_week: %d week_sec: %.3lf \r\n", GPS_week, GPS_sec + time_ms * 0.001);
// printf("x_a=%.3fm/s2 y_a=%.3fm/s2 z_a=%.3fm/s2\r\n", iam20680.x_acc, iam20680.y_acc, iam20680.z_acc);
// printf("x_g=%.3fdeg/s y_g=%.3fdeg/s z_g=%.3fdeg/s }\r\n\r\n\r\n", iam20680.x_gyro, iam20680.y_gyro,
// iam20680.z_gyro);
}
if (1 == TDK_IMU_INT && 1 == IMU_mng_TDK.enable)
{
@ -201,13 +197,12 @@ void SystemClock_Config(void)
uint8_t IMUdate_to_uart(UART_HandleTypeDef *huart, IMU_mng_t *imu_msg)
{
if (1 == imu_msg->lock && 1 == imu_msg->ready && 0 == U1_DMA_BUSY)
{
memset(U1_TX_buf, 0, UART_BF_SIZE);
if (imu_msg->gpstime.time == 0)
{
sprintf((char*) U1_TX_buf, "$GYOACC,%s,,%.2lf,%.2lf,%.2lf,%.2lf,%.2lf,%.2lf\r\n", imu_msg->name,
sprintf((char*) U1_TX_buf, "$GYOACC,%s,,%.4lf,%.4lf,%.4lf,%.4lf,%.4lf,%.4lf\r\n", imu_msg->name,
imu_msg->IMU_acc[0], imu_msg->IMU_acc[1], imu_msg->IMU_acc[2], imu_msg->IMU_gyro[0],
imu_msg->IMU_gyro[1], imu_msg->IMU_gyro[2]);
}

32
nmea/rtkcmn.c
View File

@ -24,37 +24,7 @@ static double leaps[MAXLEAPS + 1][7] = {/* leap seconds (y,m,d,h,m,s,utc-gpst) *
{1982, 7, 1, 0, 0, 0, -2},
{1981, 7, 1, 0, 0, 0, -1},
{0}};
/* time to calendar day/time ---------------------------------------------------
* convert gtime_t struct to calendar day/time
* args : gtime_t t I gtime_t struct
* double *ep O day/time {year,month,day,hour,min,sec}
* return : none
* notes : proper in 1970-2037 or 1970-2099 (64bit time_t)
*-----------------------------------------------------------------------------*/
//extern void time2epoch(gtime_t t, double *ep)
//{
// const int mday[] = {/* # of days in a month */
// 31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31, 31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31,
// 31, 29, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31, 31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31};
// int days, sec, mon, day;
//
// /* leap year if year%4==0 in 1901-2099 */
// days = (int)(t.time / 86400);
// sec = (int)(t.time - (time_t)days * 86400);
// for (day = days % 1461, mon = 0; mon < 48; mon++)
// {
// if (day >= mday[mon])
// day -= mday[mon];
// else
// break;
// }
// ep[0] = 1970 + days / 1461 * 4 + mon / 12;
// ep[1] = mon % 12 + 1;
// ep[2] = day + 1;
// ep[3] = sec / 3600;
// ep[4] = sec % 3600 / 60;
// ep[5] = sec % 60 + t.sec;
//}
/* time to gps time ------------------------------------------------------------
* convert gtime_t struct to week and tow in gps time
* args : gtime_t t I gtime_t struct