new file: .vscode/settings.json
new file: Legs_controller.py modified: README.md new file: __pycache__/Legs_controller.cpython-310.pyc new file: __pycache__/Legs_controller.cpython-313.pyc new file: __pycache__/balance.cpython-310.pyc new file: __pycache__/gradio.cpython-310.pyc new file: __pycache__/gradio.cpython-313.pyc new file: app_ui.py new file: balance.py new file: build/.cmake/api/v1/query/client-vscode/query.json new file: build/.cmake/api/v1/reply/cache-v2-ae4a9db768b4bbb36baa.json new file: build/.cmake/api/v1/reply/cmakeFiles-v1-389eb8769a8295e7571d.json new file: build/.cmake/api/v1/reply/codemodel-v2-5ea8cfc0b9263cbe5ae5.json new file: build/.cmake/api/v1/reply/directory-.-Debug-f5ebdc15457944623624.json new file: build/.cmake/api/v1/reply/index-2025-09-11T04-53-20-0515.json new file: build/.cmake/api/v1/reply/target-imu_py-Debug-3913d741f2156d7faae9.json new file: build/.cmake/api/v1/reply/toolchains-v1-3105704d088db7adbfb5.json new file: build/CMakeCache.txt new file: build/CMakeFiles/3.22.1/CMakeCXXCompiler.cmake new file: build/CMakeFiles/3.22.1/CMakeDetermineCompilerABI_CXX.bin new file: build/CMakeFiles/3.22.1/CMakeSystem.cmake new file: build/CMakeFiles/3.22.1/CompilerIdCXX/CMakeCXXCompilerId.cpp new file: build/CMakeFiles/3.22.1/CompilerIdCXX/a.out new file: build/CMakeFiles/CMakeDirectoryInformation.cmake new file: build/CMakeFiles/CMakeOutput.log new file: build/CMakeFiles/Makefile.cmake new file: build/CMakeFiles/Makefile2 new file: build/CMakeFiles/TargetDirectories.txt new file: build/CMakeFiles/cmake.check_cache new file: build/CMakeFiles/imu_py.dir/DependInfo.cmake new file: build/CMakeFiles/imu_py.dir/build.make new file: build/CMakeFiles/imu_py.dir/cmake_clean.cmake new file: build/CMakeFiles/imu_py.dir/compiler_depend.make new file: build/CMakeFiles/imu_py.dir/compiler_depend.ts new file: build/CMakeFiles/imu_py.dir/depend.make new file: build/CMakeFiles/imu_py.dir/flags.make new file: build/CMakeFiles/imu_py.dir/link.txt new file: build/CMakeFiles/imu_py.dir/progress.make new file: build/CMakeFiles/progress.marks new file: build/Makefile new file: build/cmake_install.cmake new file: build/compile_commands.json new file: dm_imu/bsp_crc.cpp new file: dm_imu/bsp_crc.h new file: dm_imu/imu_data.csv new file: dm_imu/imu_driver.cpp new file: dm_imu/imu_driver.h new file: dm_imu/imu_plot.png new file: dm_imu/plot_imu.py new file: dm_imu/test_imu.cpp new file: imu_data.csv new file: pybind_imu/CMakeLists.txt new file: pybind_imu/README.md new file: pybind_imu/build/CMakeCache.txt new file: pybind_imu/build/CMakeFiles/3.22.1/CMakeCXXCompiler.cmake new file: pybind_imu/build/CMakeFiles/3.22.1/CMakeDetermineCompilerABI_CXX.bin new file: pybind_imu/build/CMakeFiles/3.22.1/CMakeSystem.cmake new file: pybind_imu/build/CMakeFiles/3.22.1/CompilerIdCXX/CMakeCXXCompilerId.cpp new file: pybind_imu/build/CMakeFiles/3.22.1/CompilerIdCXX/a.out new file: pybind_imu/build/CMakeFiles/CMakeDirectoryInformation.cmake new file: pybind_imu/build/CMakeFiles/CMakeOutput.log new file: pybind_imu/build/CMakeFiles/Makefile.cmake new file: pybind_imu/build/CMakeFiles/Makefile2 new file: pybind_imu/build/CMakeFiles/TargetDirectories.txt new file: pybind_imu/build/CMakeFiles/cmake.check_cache new file: pybind_imu/build/CMakeFiles/imu_py.dir/DependInfo.cmake new file: pybind_imu/build/CMakeFiles/imu_py.dir/build.make new file: pybind_imu/build/CMakeFiles/imu_py.dir/cmake_clean.cmake new file: pybind_imu/build/CMakeFiles/imu_py.dir/compiler_depend.make new file: pybind_imu/build/CMakeFiles/imu_py.dir/compiler_depend.ts new file: pybind_imu/build/CMakeFiles/imu_py.dir/depend.make new file: pybind_imu/build/CMakeFiles/imu_py.dir/flags.make new file: pybind_imu/build/CMakeFiles/imu_py.dir/home/allenyuan/balance/dm_imu/bsp_crc.cpp.o new file: pybind_imu/build/CMakeFiles/imu_py.dir/home/allenyuan/balance/dm_imu/bsp_crc.cpp.o.d new file: pybind_imu/build/CMakeFiles/imu_py.dir/home/allenyuan/balance/dm_imu/imu_driver.cpp.o new file: pybind_imu/build/CMakeFiles/imu_py.dir/home/allenyuan/balance/dm_imu/imu_driver.cpp.o.d new file: pybind_imu/build/CMakeFiles/imu_py.dir/link.txt new file: pybind_imu/build/CMakeFiles/imu_py.dir/progress.make new file: pybind_imu/build/CMakeFiles/imu_py.dir/pybind_imu.cpp.o new file: pybind_imu/build/CMakeFiles/imu_py.dir/pybind_imu.cpp.o.d new file: pybind_imu/build/CMakeFiles/progress.marks new file: pybind_imu/build/Makefile new file: pybind_imu/build/cmake_install.cmake new file: pybind_imu/build/imu_py.cpython-310-aarch64-linux-gnu.so new file: pybind_imu/example.py new file: pybind_imu/pybind_imu.cpp new file: src/example.py new file: test_imu new file: u2can/DM_CAN.py new file: u2can/DM_Motor_Test.py new file: u2can/LICENSE new file: u2can/README.md new file: u2can/__pycache__/DM_CAN.cpython-310.pyc new file: u2can/__pycache__/DM_CAN.cpython-312.pyc new file: u2can/__pycache__/DM_CAN.cpython-313.pyc new file: u2can/__pycache__/gradio.cpython-313.pyc new file: u2can/__pycache__/motor_interface.cpython-313.pyc new file: u2can/motor_interface.py new file: u2can/requirements.txt new file: ui.log
This commit is contained in:
73
dm_imu/bsp_crc.cpp
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73
dm_imu/bsp_crc.cpp
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@@ -0,0 +1,73 @@
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#include "bsp_crc.h"
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const uint8_t CRC8_table[256] =
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{
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||||
0x00, 0x5e, 0xbc, 0xe2, 0x61, 0x3f, 0xdd, 0x83, 0xc2, 0x9c, 0x7e, 0x20, 0xa3, 0xfd, 0x1f, 0x41,
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||||
0x9d, 0xc3, 0x21, 0x7f, 0xfc, 0xa2, 0x40, 0x1e, 0x5f, 0x01, 0xe3, 0xbd, 0x3e, 0x60, 0x82, 0xdc,
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0x23, 0x7d, 0x9f, 0xc1, 0x42, 0x1c, 0xfe, 0xa0, 0xe1, 0xbf, 0x5d, 0x03, 0x80, 0xde, 0x3c, 0x62,
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0xbe, 0xe0, 0x02, 0x5c, 0xdf, 0x81, 0x63, 0x3d, 0x7c, 0x22, 0xc0, 0x9e, 0x1d, 0x43, 0xa1, 0xff,
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||||
0x46, 0x18, 0xfa, 0xa4, 0x27, 0x79, 0x9b, 0xc5, 0x84, 0xda, 0x38, 0x66, 0xe5, 0xbb, 0x59, 0x07,
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0xdb, 0x85, 0x67, 0x39, 0xba, 0xe4, 0x06, 0x58, 0x19, 0x47, 0xa5, 0xfb, 0x78, 0x26, 0xc4, 0x9a,
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||||
0x65, 0x3b, 0xd9, 0x87, 0x04, 0x5a, 0xb8, 0xe6, 0xa7, 0xf9, 0x1b, 0x45, 0xc6, 0x98, 0x7a, 0x24,
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||||
0xf8, 0xa6, 0x44, 0x1a, 0x99, 0xc7, 0x25, 0x7b, 0x3a, 0x64, 0x86, 0xd8, 0x5b, 0x05, 0xe7, 0xb9,
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||||
0x8c, 0xd2, 0x30, 0x6e, 0xed, 0xb3, 0x51, 0x0f, 0x4e, 0x10, 0xf2, 0xac, 0x2f, 0x71, 0x93, 0xcd,
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||||
0x11, 0x4f, 0xad, 0xf3, 0x70, 0x2e, 0xcc, 0x92, 0xd3, 0x8d, 0x6f, 0x31, 0xb2, 0xec, 0x0e, 0x50,
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0xaf, 0xf1, 0x13, 0x4d, 0xce, 0x90, 0x72, 0x2c, 0x6d, 0x33, 0xd1, 0x8f, 0x0c, 0x52, 0xb0, 0xee,
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0x32, 0x6c, 0x8e, 0xd0, 0x53, 0x0d, 0xef, 0xb1, 0xf0, 0xae, 0x4c, 0x12, 0x91, 0xcf, 0x2d, 0x73,
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0xca, 0x94, 0x76, 0x28, 0xab, 0xf5, 0x17, 0x49, 0x08, 0x56, 0xb4, 0xea, 0x69, 0x37, 0xd5, 0x8b,
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||||
0x57, 0x09, 0xeb, 0xb5, 0x36, 0x68, 0x8a, 0xd4, 0x95, 0xcb, 0x29, 0x77, 0xf4, 0xaa, 0x48, 0x16,
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0xe9, 0xb7, 0x55, 0x0b, 0x88, 0xd6, 0x34, 0x6a, 0x2b, 0x75, 0x97, 0xc9, 0x4a, 0x14, 0xf6, 0xa8,
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0x74, 0x2a, 0xc8, 0x96, 0x15, 0x4b, 0xa9, 0xf7, 0xb6, 0xe8, 0x0a, 0x54, 0xd7, 0x89, 0x6b, 0x35,
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};
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const uint16_t CRC16_table[256] =
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{
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0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50A5, 0x60C6, 0x70E7, 0x8108, 0x9129, 0xA14A, 0xB16B, 0xC18C, 0xD1AD, 0xE1CE, 0xF1EF,
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0x1231, 0x0210, 0x3273, 0x2252, 0x52B5, 0x4294, 0x72F7, 0x62D6, 0x9339, 0x8318, 0xB37B, 0xA35A, 0xD3BD, 0xC39C, 0xF3FF, 0xE3DE,
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0x2462, 0x3443, 0x0420, 0x1401, 0x64E6, 0x74C7, 0x44A4, 0x5485, 0xA56A, 0xB54B, 0x8528, 0x9509, 0xE5EE, 0xF5CF, 0xC5AC, 0xD58D,
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0x3653, 0x2672, 0x1611, 0x0630, 0x76D7, 0x66F6, 0x5695, 0x46B4, 0xB75B, 0xA77A, 0x9719, 0x8738, 0xF7DF, 0xE7FE, 0xD79D, 0xC7BC,
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0x48C4, 0x58E5, 0x6886, 0x78A7, 0x0840, 0x1861, 0x2802, 0x3823, 0xC9CC, 0xD9ED, 0xE98E, 0xF9AF, 0x8948, 0x9969, 0xA90A, 0xB92B,
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0x5AF5, 0x4AD4, 0x7AB7, 0x6A96, 0x1A71, 0x0A50, 0x3A33, 0x2A12, 0xDBFD, 0xCBDC, 0xFBBF, 0xEB9E, 0x9B79, 0x8B58, 0xBB3B, 0xAB1A,
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0x6CA6, 0x7C87, 0x4CE4, 0x5CC5, 0x2C22, 0x3C03, 0x0C60, 0x1C41, 0xEDAE, 0xFD8F, 0xCDEC, 0xDDCD, 0xAD2A, 0xBD0B, 0x8D68, 0x9D49,
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0x7E97, 0x6EB6, 0x5ED5, 0x4EF4, 0x3E13, 0x2E32, 0x1E51, 0x0E70, 0xFF9F, 0xEFBE, 0xDFDD, 0xCFFC, 0xBF1B, 0xAF3A, 0x9F59, 0x8F78,
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0x9188, 0x81A9, 0xB1CA, 0xA1EB, 0xD10C, 0xC12D, 0xF14E, 0xE16F, 0x1080, 0x00A1, 0x30C2, 0x20E3, 0x5004, 0x4025, 0x7046, 0x6067,
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0x83B9, 0x9398, 0xA3FB, 0xB3DA, 0xC33D, 0xD31C, 0xE37F, 0xF35E, 0x02B1, 0x1290, 0x22F3, 0x32D2, 0x4235, 0x5214, 0x6277, 0x7256,
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0xB5EA, 0xA5CB, 0x95A8, 0x8589, 0xF56E, 0xE54F, 0xD52C, 0xC50D, 0x34E2, 0x24C3, 0x14A0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
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0xA7DB, 0xB7FA, 0x8799, 0x97B8, 0xE75F, 0xF77E, 0xC71D, 0xD73C, 0x26D3, 0x36F2, 0x0691, 0x16B0, 0x6657, 0x7676, 0x4615, 0x5634,
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0xD94C, 0xC96D, 0xF90E, 0xE92F, 0x99C8, 0x89E9, 0xB98A, 0xA9AB, 0x5844, 0x4865, 0x7806, 0x6827, 0x18C0, 0x08E1, 0x3882, 0x28A3,
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0xCB7D, 0xDB5C, 0xEB3F, 0xFB1E, 0x8BF9, 0x9BD8, 0xABBB, 0xBB9A, 0x4A75, 0x5A54, 0x6A37, 0x7A16, 0x0AF1, 0x1AD0, 0x2AB3, 0x3A92,
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0xFD2E, 0xED0F, 0xDD6C, 0xCD4D, 0xBDAA, 0xAD8B, 0x9DE8, 0x8DC9, 0x7C26, 0x6C07, 0x5C64, 0x4C45, 0x3CA2, 0x2C83, 0x1CE0, 0x0CC1,
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0xEF1F, 0xFF3E, 0xCF5D, 0xDF7C, 0xAF9B, 0xBFBA, 0x8FD9, 0x9FF8, 0x6E17, 0x7E36, 0x4E55, 0x5E74, 0x2E93, 0x3EB2, 0x0ED1, 0x1EF0
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};
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/**
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* @brief 计算CRC8
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* @param[in] ess_value: crc初始值
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* @param[in] ptr: 数据指针
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* @param[in] len: 校验长度
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* @retval CRC-8值
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*/
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uint8_t Get_CRC8(uint8_t init_value ,uint8_t *ptr, uint8_t len)
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{
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uint8_t uc_index;
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uint8_t ucCRC8 = init_value;
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while (len--)
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{
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uc_index = ucCRC8^(*ptr++);
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ucCRC8 = CRC8_table[uc_index];
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}
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return(ucCRC8);
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}
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uint16_t Get_CRC16(uint8_t *ptr, uint16_t len)
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{
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// ISO/IEC 13239 的初始值
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uint16_t crc = 0xFFFF;
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for (size_t i = 0; i < len; ++i)
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{
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uint8_t index = (crc >> 8 ^ ptr[i]);
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crc = ((crc << 1) ^ CRC16_table[index]);
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}
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return crc;
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}
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10
dm_imu/bsp_crc.h
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10
dm_imu/bsp_crc.h
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#ifndef __BSP_CRC_H
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#define __BSP_CRC_H
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#include <iostream>
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uint8_t Get_CRC8(uint8_t init_value ,uint8_t *ptr, uint8_t len);
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uint16_t Get_CRC16(uint8_t *ptr, uint16_t len);
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#endif
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1001
dm_imu/imu_data.csv
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1001
dm_imu/imu_data.csv
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File diff suppressed because it is too large
Load Diff
311
dm_imu/imu_driver.cpp
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311
dm_imu/imu_driver.cpp
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#include "imu_driver.h"
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#include <chrono>
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#include <iostream>
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#include <fcntl.h>
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#include <unistd.h>
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#include <termios.h>
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namespace dmbot_serial
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{
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DmImu::DmImu(const std::string& port, int baud)
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: imu_serial_port(port), imu_seial_baud(baud), stop_thread_(false)
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{
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// 初始化串口并完成 IMU 配置
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init_imu_serial();
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// 进入配置模式并初始化 IMU
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enter_setting_mode();
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std::this_thread::sleep_for(std::chrono::milliseconds(10));
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turn_on_accel();
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std::this_thread::sleep_for(std::chrono::milliseconds(10));
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turn_on_gyro();
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std::this_thread::sleep_for(std::chrono::milliseconds(10));
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turn_on_euler();
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std::this_thread::sleep_for(std::chrono::milliseconds(10));
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turn_off_quat();
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std::this_thread::sleep_for(std::chrono::milliseconds(10));
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set_output_1000HZ();
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std::this_thread::sleep_for(std::chrono::milliseconds(10));
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save_imu_para();
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std::this_thread::sleep_for(std::chrono::milliseconds(10));
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exit_setting_mode();
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std::this_thread::sleep_for(std::chrono::milliseconds(100));
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}
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DmImu::~DmImu()
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{
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stop();
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if (serial_fd >= 0)
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{
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close(serial_fd);
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serial_fd = -1;
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}
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}
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// -------------------------------
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// Public API
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// -------------------------------
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bool DmImu::start()
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{
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if (rec_thread.joinable())
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{
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// 已经在运行
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return true;
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}
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// 确保串口已打开
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if (serial_fd < 0)
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{
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init_imu_serial();
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}
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stop_thread_ = false;
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rec_thread = std::thread(&DmImu::get_imu_data_thread, this);
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return true;
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}
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void DmImu::stop()
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{
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stop_thread_ = true;
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if (rec_thread.joinable())
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{
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rec_thread.join();
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}
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if (serial_fd >= 0)
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{
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close(serial_fd);
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serial_fd = -1;
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}
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}
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IMU_Data DmImu::getData() const
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{
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std::lock_guard<std::mutex> lock(data_mutex);
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return data;
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}
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// -------------------------------
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// Private implementation
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// -------------------------------
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void DmImu::init_imu_serial()
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{
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// 打开串口
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serial_fd = open(imu_serial_port.c_str(), O_RDWR | O_NOCTTY | O_SYNC);
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if (serial_fd < 0)
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{
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std::cerr << "Failed to open IMU serial port: " << imu_serial_port << std::endl;
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std::exit(EXIT_FAILURE);
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}
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// 配置波特率和串口属性
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struct termios tty;
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if (tcgetattr(serial_fd, &tty) != 0)
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{
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std::cerr << "Error from tcgetattr" << std::endl;
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std::exit(EXIT_FAILURE);
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}
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// 设置波特率
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speed_t speed;
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switch (imu_seial_baud)
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{
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case 115200: speed = B115200; break;
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case 230400: speed = B230400; break;
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case 460800: speed = B460800; break;
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case 921600: speed = B921600; break;
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default:
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std::cerr << "Unsupported baud rate: " << imu_seial_baud << std::endl;
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std::exit(EXIT_FAILURE);
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}
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cfsetospeed(&tty, speed);
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cfsetispeed(&tty, speed);
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// 8N1, 无硬件流控制
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tty.c_cflag = (tty.c_cflag & ~CSIZE) | CS8; // 8 位字符
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tty.c_iflag &= ~IGNBRK; // 禁用 BREAK 处理
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tty.c_lflag = 0; // 无信号字符、回显、规范模式
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tty.c_oflag = 0; // 原始输出
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tty.c_cc[VMIN] = 0; // 读取不阻塞
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tty.c_cc[VTIME] = 5; // 0.5 秒读取超时
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|
||||
tty.c_cflag |= (CLOCAL | CREAD); // 忽略调制解调器控制线，启用接收
|
||||
tty.c_cflag &= ~(PARENB | PARODD); // 无奇偶校验
|
||||
tty.c_cflag &= ~CSTOPB; // 1 位停止位
|
||||
tty.c_cflag &= ~CRTSCTS; // 无硬件流控制
|
||||
|
||||
if (tcsetattr(serial_fd, TCSANOW, &tty) != 0)
|
||||
{
|
||||
std::cerr << "Error from tcsetattr" << std::endl;
|
||||
std::exit(EXIT_FAILURE);
|
||||
}
|
||||
|
||||
std::cout << "IMU serial port opened successfully." << std::endl;
|
||||
}
|
||||
|
||||
// -------------------------------
|
||||
// 配置指令（与原始 ROS 代码保持一致，仅去掉 ros::Duration）
|
||||
// -------------------------------
|
||||
void DmImu::enter_setting_mode()
|
||||
{
|
||||
uint8_t txbuf[4] = {0xAA, 0x06, 0x01, 0x0D};
|
||||
for (int i = 0; i < 5; ++i)
|
||||
{
|
||||
write(serial_fd, txbuf, sizeof(txbuf));
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(10));
|
||||
}
|
||||
}
|
||||
|
||||
void DmImu::turn_on_accel()
|
||||
{
|
||||
uint8_t txbuf[4] = {0xAA, 0x01, 0x14, 0x0D};
|
||||
for (int i = 0; i < 5; ++i)
|
||||
{
|
||||
write(serial_fd, txbuf, sizeof(txbuf));
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(10));
|
||||
}
|
||||
}
|
||||
|
||||
void DmImu::turn_on_gyro()
|
||||
{
|
||||
uint8_t txbuf[4] = {0xAA, 0x01, 0x15, 0x0D};
|
||||
for (int i = 0; i < 5; ++i)
|
||||
{
|
||||
write(serial_fd, txbuf, sizeof(txbuf));
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(10));
|
||||
}
|
||||
}
|
||||
|
||||
void DmImu::turn_on_euler()
|
||||
{
|
||||
uint8_t txbuf[4] = {0xAA, 0x01, 0x16, 0x0D};
|
||||
for (int i = 0; i < 5; ++i)
|
||||
{
|
||||
write(serial_fd, txbuf, sizeof(txbuf));
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(10));
|
||||
}
|
||||
}
|
||||
|
||||
void DmImu::turn_off_quat()
|
||||
{
|
||||
uint8_t txbuf[4] = {0xAA, 0x01, 0x07, 0x0D};
|
||||
for (int i = 0; i < 5; ++i)
|
||||
{
|
||||
write(serial_fd, txbuf, sizeof(txbuf));
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(10));
|
||||
}
|
||||
}
|
||||
|
||||
void DmImu::set_output_1000HZ()
|
||||
{
|
||||
uint8_t txbuf[5] = {0xAA, 0x02, 0x01, 0x00, 0x0D};
|
||||
for (int i = 0; i < 5; ++i)
|
||||
{
|
||||
write(serial_fd, txbuf, sizeof(txbuf));
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(10));
|
||||
}
|
||||
}
|
||||
|
||||
void DmImu::save_imu_para()
|
||||
{
|
||||
uint8_t txbuf[4] = {0xAA, 0x03, 0x01, 0x0D};
|
||||
for (int i = 0; i < 5; ++i)
|
||||
{
|
||||
write(serial_fd, txbuf, sizeof(txbuf));
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(10));
|
||||
}
|
||||
}
|
||||
|
||||
void DmImu::exit_setting_mode()
|
||||
{
|
||||
uint8_t txbuf[4] = {0xAA, 0x06, 0x00, 0x0D};
|
||||
for (int i = 0; i < 5; ++i)
|
||||
{
|
||||
write(serial_fd, txbuf, sizeof(txbuf));
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(10));
|
||||
}
|
||||
}
|
||||
|
||||
void DmImu::restart_imu()
|
||||
{
|
||||
uint8_t txbuf[4] = {0xAA, 0x00, 0x00, 0x0D};
|
||||
for (int i = 0; i < 5; ++i)
|
||||
{
|
||||
write(serial_fd, txbuf, sizeof(txbuf));
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(10));
|
||||
}
|
||||
}
|
||||
|
||||
// -------------------------------
|
||||
// 数据采集线程
|
||||
// -------------------------------
|
||||
void DmImu::get_imu_data_thread()
|
||||
{
|
||||
int error_num = 0;
|
||||
while (!stop_thread_)
|
||||
{
|
||||
if (serial_fd < 0)
|
||||
{
|
||||
std::cerr << "IMU serial port not open in data thread." << std::endl;
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(10));
|
||||
continue;
|
||||
}
|
||||
|
||||
// 读取完整帧（共 57 字节）
|
||||
ssize_t len = read(serial_fd, &receive_data, sizeof(receive_data));
|
||||
if (len != static_cast<ssize_t>(sizeof(receive_data)))
|
||||
{
|
||||
++error_num;
|
||||
continue;
|
||||
}
|
||||
|
||||
// 验证帧头
|
||||
if (receive_data.FrameHeader1 == 0x55 && receive_data.flag1 == 0xAA &&
|
||||
receive_data.slave_id1 == 0x01 && receive_data.reg_acc == 0x01)
|
||||
{
|
||||
// CRC 校验并提取数据
|
||||
if (Get_CRC16(reinterpret_cast<uint8_t*>(&receive_data.FrameHeader1), 16) == receive_data.crc1)
|
||||
{
|
||||
data.accx = *reinterpret_cast<float*>(&receive_data.accx_u32);
|
||||
data.accy = *reinterpret_cast<float*>(&receive_data.accy_u32);
|
||||
data.accz = *reinterpret_cast<float*>(&receive_data.accz_u32);
|
||||
}
|
||||
if (Get_CRC16(reinterpret_cast<uint8_t*>(&receive_data.FrameHeader2), 16) == receive_data.crc2)
|
||||
{
|
||||
data.gyrox = *reinterpret_cast<float*>(&receive_data.gyrox_u32);
|
||||
data.gyroy = *reinterpret_cast<float*>(&receive_data.gyroy_u32);
|
||||
data.gyroz = *reinterpret_cast<float*>(&receive_data.gyroz_u32);
|
||||
}
|
||||
if (Get_CRC16(reinterpret_cast<uint8_t*>(&receive_data.FrameHeader3), 16) == receive_data.crc3)
|
||||
{
|
||||
data.roll = *reinterpret_cast<float*>(&receive_data.roll_u32);
|
||||
data.pitch = *reinterpret_cast<float*>(&receive_data.pitch_u32);
|
||||
data.yaw = *reinterpret_cast<float*>(&receive_data.yaw_u32);
|
||||
}
|
||||
|
||||
// 线程安全更新共享数据
|
||||
{
|
||||
std::lock_guard<std::mutex> lock(data_mutex);
|
||||
// data 已在上面更新，无需额外操作
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
++error_num;
|
||||
if (error_num > 1200)
|
||||
{
|
||||
std::cerr << "Failed to find correct IMU frame header (0x55)." << std::endl;
|
||||
error_num = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
103
dm_imu/imu_driver.h
Normal file
103
dm_imu/imu_driver.h
Normal file
@@ -0,0 +1,103 @@
|
||||
#ifndef _IMU_DRIVER_H_
|
||||
#define _IMU_DRIVER_H_
|
||||
#include <iostream>
|
||||
#include <thread>
|
||||
#include <initializer_list>
|
||||
#include <fstream>
|
||||
#include <array>
|
||||
#include <mutex>
|
||||
#include <atomic>
|
||||
#include <math.h>
|
||||
#include "bsp_crc.h"
|
||||
|
||||
namespace dmbot_serial
|
||||
{
|
||||
#pragma pack(1)
|
||||
typedef struct
|
||||
{
|
||||
uint8_t FrameHeader1;
|
||||
uint8_t flag1;
|
||||
uint8_t slave_id1;
|
||||
uint8_t reg_acc;
|
||||
uint32_t accx_u32;
|
||||
uint32_t accy_u32;
|
||||
uint32_t accz_u32;
|
||||
uint16_t crc1;
|
||||
uint8_t FrameEnd1;
|
||||
|
||||
uint8_t FrameHeader2;
|
||||
uint8_t flag2;
|
||||
uint8_t slave_id2;
|
||||
uint8_t reg_gyro;
|
||||
uint32_t gyrox_u32;
|
||||
uint32_t gyroy_u32;
|
||||
uint32_t gyroz_u32;
|
||||
uint16_t crc2;
|
||||
uint8_t FrameEnd2;
|
||||
|
||||
uint8_t FrameHeader3;
|
||||
uint8_t flag3;
|
||||
uint8_t slave_id3;
|
||||
uint8_t reg_euler; // r-p-y
|
||||
uint32_t roll_u32;
|
||||
uint32_t pitch_u32;
|
||||
uint32_t yaw_u32;
|
||||
uint16_t crc3;
|
||||
uint8_t FrameEnd3;
|
||||
} IMU_Receive_Frame;
|
||||
#pragma pack()
|
||||
|
||||
typedef struct
|
||||
{
|
||||
float accx;
|
||||
float accy;
|
||||
float accz;
|
||||
float gyrox;
|
||||
float gyroy;
|
||||
float gyroz;
|
||||
float roll;
|
||||
float pitch;
|
||||
float yaw;
|
||||
} IMU_Data;
|
||||
|
||||
class DmImu
|
||||
{
|
||||
public:
|
||||
DmImu(const std::string& port = "/dev/ttyACM1", int baud = 921600);
|
||||
~DmImu();
|
||||
|
||||
// Start data acquisition thread; returns true on success
|
||||
bool start();
|
||||
// Stop acquisition and close serial port
|
||||
void stop();
|
||||
|
||||
// Get latest IMU data (thread‑safe copy)
|
||||
IMU_Data getData() const;
|
||||
|
||||
private:
|
||||
void init_imu_serial();
|
||||
void get_imu_data_thread();
|
||||
|
||||
void enter_setting_mode();
|
||||
void turn_on_accel();
|
||||
void turn_on_gyro();
|
||||
void turn_on_euler();
|
||||
void turn_off_quat();
|
||||
void set_output_1000HZ();
|
||||
void save_imu_para();
|
||||
void exit_setting_mode();
|
||||
void restart_imu();
|
||||
|
||||
int imu_seial_baud;
|
||||
std::string imu_serial_port;
|
||||
int serial_fd = -1;
|
||||
std::thread rec_thread;
|
||||
mutable std::mutex data_mutex;
|
||||
bool stop_thread_ = false;
|
||||
|
||||
IMU_Receive_Frame receive_data{};
|
||||
IMU_Data data{};
|
||||
};
|
||||
|
||||
}
|
||||
#endif
|
||||
BIN
dm_imu/imu_plot.png
Normal file
BIN
dm_imu/imu_plot.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 208 KiB |
119
dm_imu/plot_imu.py
Normal file
119
dm_imu/plot_imu.py
Normal file
@@ -0,0 +1,119 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
绘制 dm_imu/test_imu.cpp 生成的 CSV 数据。
|
||||
|
||||
使用方式：
|
||||
1. 确保已安装 matplotlib（pip install matplotlib）。
|
||||
2. 运行 C++ 程序生成 imu_data.csv。
|
||||
3. 执行本脚本：
|
||||
python3 dm_imu/plot_imu.py
|
||||
4. 脚本会在同目录下生成 `imu_plot.png` 并显示图形窗口（如果有可视化环境）。
|
||||
"""
|
||||
|
||||
import csv
|
||||
import os
|
||||
import sys
|
||||
|
||||
import matplotlib.pyplot as plt
|
||||
|
||||
def read_csv(csv_path):
|
||||
"""读取 CSV，返回每列的数据列表。"""
|
||||
if not os.path.isfile(csv_path):
|
||||
print(f"错误：未找到 CSV 文件 {csv_path}", file=sys.stderr)
|
||||
sys.exit(1)
|
||||
|
||||
indices = []
|
||||
roll = []
|
||||
pitch = []
|
||||
yaw = []
|
||||
accx = []
|
||||
accy = []
|
||||
accz = []
|
||||
gyrox = []
|
||||
gyroy = []
|
||||
gyroz = []
|
||||
|
||||
with open(csv_path, newline='') as f:
|
||||
reader = csv.DictReader(f)
|
||||
for row in reader:
|
||||
indices.append(int(row['index']))
|
||||
roll.append(float(row['roll']))
|
||||
pitch.append(float(row['pitch']))
|
||||
yaw.append(float(row['yaw']))
|
||||
accx.append(float(row['accx']))
|
||||
accy.append(float(row['accy']))
|
||||
accz.append(float(row['accz']))
|
||||
gyrox.append(float(row['gyrox']))
|
||||
gyroy.append(float(row['gyroy']))
|
||||
gyroz.append(float(row['gyroz']))
|
||||
|
||||
return {
|
||||
'index': indices,
|
||||
'roll': roll,
|
||||
'pitch': pitch,
|
||||
'yaw': yaw,
|
||||
'accx': accx,
|
||||
'accy': accy,
|
||||
'accz': accz,
|
||||
'gyrox': gyrox,
|
||||
'gyroy': gyroy,
|
||||
'gyroz': gyroz,
|
||||
}
|
||||
|
||||
def plot_data(data, out_path):
|
||||
"""绘制三组曲线（姿态、加速度、陀螺仪）并保存为 PNG。"""
|
||||
idx = data['index']
|
||||
|
||||
plt.figure(figsize=(12, 9))
|
||||
|
||||
# 1. 姿态（Roll, Pitch, Yaw）
|
||||
ax1 = plt.subplot(3, 1, 1)
|
||||
ax1.plot(idx, data['roll'], label='Roll')
|
||||
ax1.plot(idx, data['pitch'], label='Pitch')
|
||||
ax1.plot(idx, data['yaw'], label='Yaw')
|
||||
ax1.set_ylabel('Angle (°)')
|
||||
ax1.set_title('IMU 姿态')
|
||||
ax1.legend()
|
||||
ax1.grid(True)
|
||||
|
||||
# 2. 加速度（X, Y, Z）
|
||||
ax2 = plt.subplot(3, 1, 2)
|
||||
ax2.plot(idx, data['accx'], label='Acc X')
|
||||
ax2.plot(idx, data['accy'], label='Acc Y')
|
||||
ax2.plot(idx, data['accz'], label='Acc Z')
|
||||
ax2.set_ylabel('Acceleration (g)')
|
||||
ax2.set_title('加速度')
|
||||
ax2.legend()
|
||||
ax2.grid(True)
|
||||
|
||||
# 3. 陀螺仪（X, Y, Z）
|
||||
ax3 = plt.subplot(3, 1, 3)
|
||||
ax3.plot(idx, data['gyrox'], label='Gyro X')
|
||||
ax3.plot(idx, data['gyroy'], label='Gyro Y')
|
||||
ax3.plot(idx, data['gyroz'], label='Gyro Z')
|
||||
ax3.set_xlabel('Sample Index')
|
||||
ax3.set_ylabel('Angular Velocity (°/s)')
|
||||
ax3.set_title('陀螺仪')
|
||||
ax3.legend()
|
||||
ax3.grid(True)
|
||||
|
||||
plt.tight_layout()
|
||||
plt.savefig(out_path)
|
||||
print(f"绘图已保存至 {out_path}")
|
||||
|
||||
# 如果当前环境支持图形界面，显示窗口
|
||||
try:
|
||||
plt.show()
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
def main():
|
||||
script_dir = os.path.dirname(os.path.abspath(__file__))
|
||||
csv_path = os.path.join(script_dir, 'imu_data.csv')
|
||||
out_path = os.path.join(script_dir, 'imu_plot.png')
|
||||
|
||||
data = read_csv(csv_path)
|
||||
plot_data(data, out_path)
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
52
dm_imu/test_imu.cpp
Normal file
52
dm_imu/test_imu.cpp
Normal file
@@ -0,0 +1,52 @@
|
||||
#include "imu_driver.h"
|
||||
#include <iostream>
|
||||
#include <thread>
|
||||
#include <chrono>
|
||||
#include <fstream>
|
||||
|
||||
int main()
|
||||
{
|
||||
// 根据实际设备路径与波特率创建 IMU 对象
|
||||
dmbot_serial::DmImu imu("/dev/ttyACM0", 921600);
|
||||
|
||||
// 启动采集线程
|
||||
if (!imu.start())
|
||||
{
|
||||
std::cerr << "Failed to start IMU driver." << std::endl;
|
||||
return 1;
|
||||
}
|
||||
|
||||
// 打开 CSV 文件用于保存数据
|
||||
std::ofstream csvFile("dm_imu/imu_data.csv");
|
||||
csvFile << "index,roll,pitch,yaw,accx,accy,accz,gyrox,gyroy,gyroz\n";
|
||||
|
||||
// 示例：读取 1000 次数据（约 10 秒，100 Hz）
|
||||
for (int i = 0; i < 1000; ++i)
|
||||
{
|
||||
dmbot_serial::IMU_Data data = imu.getData();
|
||||
|
||||
std::cout << "Roll: " << data.roll << " Pitch: " << data.pitch
|
||||
<< " Yaw: " << data.yaw << std::endl;
|
||||
std::cout << "Acc : [" << data.accx << ", " << data.accy << ", " << data.accz << "]"
|
||||
<< std::endl;
|
||||
std::cout << "Gyro : [" << data.gyrox << ", " << data.gyroy << ", " << data.gyroz << "]"
|
||||
<< std::endl;
|
||||
std::cout << "----------------------------------------" << std::endl;
|
||||
|
||||
// 写入 CSV
|
||||
csvFile << i << ',' << data.roll << ',' << data.pitch << ',' << data.yaw << ','
|
||||
<< data.accx << ',' << data.accy << ',' << data.accz << ','
|
||||
<< data.gyrox << ',' << data.gyroy << ',' << data.gyroz << '\n';
|
||||
|
||||
// 10 ms 间隔（约 100 Hz）
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(10));
|
||||
}
|
||||
|
||||
csvFile.close();
|
||||
|
||||
// 停止采集并关闭串口
|
||||
imu.stop();
|
||||
std::system("python3 dm_imu/plot_imu.py");
|
||||
|
||||
return 0;
|
||||
}
|
||||
Reference in New Issue
Block a user