正点原子MiniFly Firmware V1.5开源四轴代码分析二：senfusion6.c,sensor.c.

#include 
#include "stdio.h"
#include "delay.h"
#include "config.h"
#include "config_param.h"
#include "ledseq.h"
#include "mpu6500.h"
#include "sensors.h"
#include "ak8963.h"
#include "bmp280.h"
#include "filter.h"
#include "axis.h"
#include "spl06.h"


/*FreeRTOS相关头文件*/
#include "FreeRTOS.h"
#include "task.h"

/********************************************************************************	 
 * 本程序只供学习使用，未经作者许可，不得用于其它任何用途
 * ALIENTEK MiniFly
 * 传感器控制代码	
 * 正点原子@ALIENTEK
 * 技术论坛:www.openedv.com
 * 创建日期:2017/5/12
 * 版本：V1.3
 * 版权所有，盗版必究。
 * Copyright(C) 广州市星翼电子科技有限公司 2014-2024
 * All rights reserved
 
 *把九轴传感器和气压计采集到的数据（信息）放入对应的队列中，在
 *stabilizerTask任务中，通过sensorsAcquire(&sensorData,tick)函数提取各自队列的信息（数据）集中放入结构体变量sensorData中
********************************************************************************/

#define SENSORS_GYRO_FS_CFG       MPU6500_GYRO_FS_2000
#define SENSORS_DEG_PER_LSB_CFG   MPU6500_DEG_PER_LSB_2000

#define SENSORS_ACCEL_FS_CFG      MPU6500_ACCEL_FS_16	
#define SENSORS_G_PER_LSB_CFG     MPU6500_G_PER_LSB_16

#define SENSORS_NBR_OF_BIAS_SAMPLES		1024	/* 计算方差的采样样本个数 */
#define GYRO_VARIANCE_BASE				4000	/* 陀螺仪零偏方差阈值 */
#define SENSORS_ACC_SCALE_SAMPLES  		200		/* 加速计采样个数 */

// MPU9250主机模式读取数据 缓冲区长度
#define SENSORS_MPU6500_BUFF_LEN    14
#define SENSORS_MAG_BUFF_LEN       	8
#define SENSORS_BARO_STATUS_LEN		1
#define SENSORS_BARO_DATA_LEN		6
#define SENSORS_BARO_BUFF_LEN       (SENSORS_BARO_STATUS_LEN + SENSORS_BARO_DATA_LEN)

typedef struct
{
	Axis3f     bias;
	bool       isBiasValueFound;
	bool       isBufferFilled;
	Axis3i16*  bufHead;
	Axis3i16   buffer[SENSORS_NBR_OF_BIAS_SAMPLES];
}BiasObj;

BiasObj	gyroBiasRunning;
static Axis3f  gyroBias;

static bool gyroBiasFound = false;
static float accScaleSum = 0;
static float accScale = 1;

static bool isInit = false;
static sensorData_t sensors;
static Axis3i16	gyroRaw;
static Axis3i16	accRaw;
static Axis3i16 magRaw;

/*低通滤波参数*/
#define GYRO_LPF_CUTOFF_FREQ  80
#define ACCEL_LPF_CUTOFF_FREQ 30
static lpf2pData accLpf[3];
static lpf2pData gyroLpf[3];

static bool isMPUPresent=false;
static bool isMagPresent=false;
static bool isBaroPresent=false;

enum {IDLE, BMP280, SPL06}baroType = IDLE;

static uint8_t buffer[SENSORS_MPU6500_BUFF_LEN + SENSORS_MAG_BUFF_LEN + SENSORS_BARO_BUFF_LEN] = {0};

static xQueueHandle accelerometerDataQueue;
static xQueueHandle gyroDataQueue;
static xQueueHandle magnetometerDataQueue;
static xQueueHandle barometerDataQueue;
static xSemaphoreHandle sensorsDataReady;

static void applyAxis3fLpf(lpf2pData *data, Axis3f* in);
static void sensorsBiasObjInit(BiasObj* bias);
static void sensorsCalculateVarianceAndMean(BiasObj* bias, Axis3f* varOut, Axis3f* meanOut);
static bool sensorsFindBiasValue(BiasObj* bias);
static void sensorsAddBiasValue(BiasObj* bias, int16_t x, int16_t y, int16_t z);


/*从队列读取陀螺数据*/
bool sensorsReadGyro(Axis3f *gyro)
{
	return (pdTRUE == xQueueReceive(gyroDataQueue, gyro, 0));
}
/*从队列读取加速计数据*/
bool sensorsReadAcc(Axis3f *acc)
{
	return (pdTRUE == xQueueReceive(accelerometerDataQueue, acc, 0));
}
/*从队列读取磁力计数据*/
bool sensorsReadMag(Axis3f *mag)
{
	return (pdTRUE == xQueueReceive(magnetometerDataQueue, mag, 0));
}
/*从队列读取气压数据*/
bool sensorsReadBaro(baro_t *baro)
{
	return (pdTRUE == xQueueReceive(barometerDataQueue, baro, 0));
}
/*传感器中断初始化*/
static void sensorsInterruptInit(void)
{
	GPIO_InitTypeDef GPIO_InitStructure;
	EXTI_InitTypeDef EXTI_InitStructure;

	/*使能MPU6500中断*/
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_DOWN;
	GPIO_Init(GPIOA, &GPIO_InitStructure);

	SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOA, EXTI_PinSource4);

	EXTI_InitStructure.EXTI_Line = EXTI_Line4;
	EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
	EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
	EXTI_InitStructure.EXTI_LineCmd = ENABLE;
	portDISABLE_INTERRUPTS();
	EXTI_Init(&EXTI_InitStructure);
	EXTI_ClearITPendingBit(EXTI_Line4);
	portENABLE_INTERRUPTS();
}

/* 传感器器件初始化 */
void sensorsDeviceInit(void)
{
	i2cdevInit(I2C1_DEV);
	mpu6500Init(I2C1_DEV);	
	
	vTaskDelay(10);
	mpu6500Reset();	// 复位MPU6500
	vTaskDelay(20);	// 延时等待寄存器复位
	
	u8 temp = mpu6500GetDeviceID();
	if (temp == 0x38 || temp == 0x39)
	{
		isMPUPresent=true;
		printf("MPU9250 I2C connection [OK].\n");
	}
	else
	{
		printf("MPU9250 I2C connection [FAIL].\n");
	}
	
	mpu6500SetSleepEnabled(false);	// 唤醒MPU6500
	vTaskDelay(10);		
	mpu6500SetClockSource(MPU6500_CLOCK_PLL_XGYRO);	// 设置X轴陀螺作为时钟	
	vTaskDelay(10);		// 延时等待时钟稳定	
	mpu6500SetTempSensorEnabled(true);	// 使能温度传感器	
	mpu6500SetIntEnabled(false);		// 关闭中断	
	mpu6500SetI2CBypassEnabled(true);	// 旁路模式，磁力计和气压连接到主IIC	
	mpu6500SetFullScaleGyroRange(SENSORS_GYRO_FS_CFG);	// 设置陀螺量程	
	mpu6500SetFullScaleAccelRange(SENSORS_ACCEL_FS_CFG);// 设置加速计量程	
	mpu6500SetAccelDLPF(MPU6500_ACCEL_DLPF_BW_41);		// 设置加速计数字低通滤波

	mpu6500SetRate(0);// 设置采样速率: 1000 / (1 + 0) = 1000Hz
	mpu6500SetDLPFMode(MPU6500_DLPF_BW_98);// 设置陀螺数字低通滤波
	
	for (u8 i = 0; i < 3; i++)// 初始化加速计和陀螺二阶低通滤波
	{
		lpf2pInit(&gyroLpf[i], 1000, GYRO_LPF_CUTOFF_FREQ);
		lpf2pInit(&accLpf[i],  1000, ACCEL_LPF_CUTOFF_FREQ);
	}


#ifdef SENSORS_ENABLE_MAG_AK8963
	ak8963Init(I2C1_DEV);	//ak8963磁力计初始化
	if (ak8963TestConnection() == true)
	{
		isMagPresent = true;
		ak8963SetMode(AK8963_MODE_16BIT | AK8963_MODE_CONT2); // 16bit 100Hz
		printf("AK8963 I2C connection [OK].\n");
	}
	else
	{
		printf("AK8963 I2C connection [FAIL].\n");
	}
#endif

	if (bmp280Init(I2C1_DEV) == true)//BMP280初始化
	{
		isBaroPresent = true;
		baroType = BMP280;
		vTaskDelay(100);
	}
	else if (SPL06Init(I2C1_DEV) == true)//SPL06初始化
	{
		isBaroPresent = true;
		baroType = SPL06;
		vTaskDelay(100);
	}
	else
	{
		isBaroPresent = false;
	}

	/*创建传感器数据队列*/
	accelerometerDataQueue = xQueueCreate(1, sizeof(Axis3f));
	gyroDataQueue = xQueueCreate(1, sizeof(Axis3f));
	magnetometerDataQueue = xQueueCreate(1, sizeof(Axis3f));
	barometerDataQueue = xQueueCreate(1, sizeof(baro_t));
}
/*传感器偏置初始化*/
static void sensorsBiasObjInit(BiasObj* bias)
{
	bias->isBufferFilled = false;
	bias->bufHead = bias->buffer;
}
/*传感器测试*/
bool sensorsTest(void)
{
	bool testStatus = true;

	if (!isInit)
	{
		printf("Uninitialized\n");
		testStatus = false;
	}

	testStatus&=isBaroPresent;
	
	return testStatus;
}

/*计算方差和平均值*/
static void sensorsCalculateVarianceAndMean(BiasObj* bias, Axis3f* varOut, Axis3f* meanOut)
{
	u32 i;
	int64_t sum[3] = {0};
	int64_t sumsq[3] = {0};

	for (i = 0; i < SENSORS_NBR_OF_BIAS_SAMPLES; i++)
	{
		sum[0] += bias->buffer[i].x;
		sum[1] += bias->buffer[i].y;
		sum[2] += bias->buffer[i].z;
		sumsq[0] += bias->buffer[i].x * bias->buffer[i].x;
		sumsq[1] += bias->buffer[i].y * bias->buffer[i].y;
		sumsq[2] += bias->buffer[i].z * bias->buffer[i].z;
	}

	varOut->x = (sumsq[0] - ((int64_t)sum[0] * sum[0]) / SENSORS_NBR_OF_BIAS_SAMPLES);
	varOut->y = (sumsq[1] - ((int64_t)sum[1] * sum[1]) / SENSORS_NBR_OF_BIAS_SAMPLES);
	varOut->z = (sumsq[2] - ((int64_t)sum[2] * sum[2]) / SENSORS_NBR_OF_BIAS_SAMPLES);

	meanOut->x = (float)sum[0] / SENSORS_NBR_OF_BIAS_SAMPLES;
	meanOut->y = (float)sum[1] / SENSORS_NBR_OF_BIAS_SAMPLES;
	meanOut->z = (float)sum[2] / SENSORS_NBR_OF_BIAS_SAMPLES;
}
/*传感器查找偏置值*/
static bool sensorsFindBiasValue(BiasObj* bias)
{
	bool foundbias = false;

	if (bias->isBufferFilled)
	{
		
		Axis3f mean;
		Axis3f variance;
		sensorsCalculateVarianceAndMean(bias, &variance, &mean);

		if (variance.x < GYRO_VARIANCE_BASE && variance.y < GYRO_VARIANCE_BASE && variance.z < GYRO_VARIANCE_BASE)
		{
			bias->bias.x = mean.x;
			bias->bias.y = mean.y;
			bias->bias.z = mean.z;
			foundbias = true;
			bias->isBiasValueFound= true;
		}else
			bias->isBufferFilled=false;
	}
	return foundbias;
}

/* 传感器初始化 */
void sensorsInit(void)
{
	if(isInit) return;

	sensorsDataReady = xSemaphoreCreateBinary();/*创建传感器数据就绪二值信号量*/
	sensorsBiasObjInit(&gyroBiasRunning);
	sensorsDeviceInit();	/*传感器器件初始化*/
	sensorsInterruptInit();	/*传感器中断初始化*/
	
	isInit = true;
}
/*设置传感器从模式读取*/
static void sensorsSetupSlaveRead(void)
{
	mpu6500SetSlave4MasterDelay(19); 	// 从机读取速率: 100Hz = (1000Hz / (1 + 9))

	mpu6500SetI2CBypassEnabled(false);	//主机模式
	mpu6500SetWaitForExternalSensorEnabled(true); 	
	mpu6500SetInterruptMode(0); 		// 中断高电平有效
	mpu6500SetInterruptDrive(0); 		// 推挽输出
	mpu6500SetInterruptLatch(0); 		// 中断锁存模式(0=50us-pulse, 1=latch-until-int-cleared)
	mpu6500SetInterruptLatchClear(1); 	// 中断清除模式(0=status-read-only, 1=any-register-read)
	mpu6500SetSlaveReadWriteTransitionEnabled(false); // 关闭从机读写传输
	mpu6500SetMasterClockSpeed(13); 	// 设置i2c速度400kHz

#ifdef SENSORS_ENABLE_MAG_AK8963
	if (isMagPresent)
	{
		// 设置MPU6500主机要读取的寄存器
		mpu6500SetSlaveAddress(0, 0x80 | AK8963_ADDRESS_00); 	// 设置磁力计为0号从机
		mpu6500SetSlaveRegister(0, AK8963_RA_ST1); 				// 从机0需要读取的寄存器
		mpu6500SetSlaveDataLength(0, SENSORS_MAG_BUFF_LEN); 	// 读取8个字节(ST1, x, y, z heading, ST2 (overflow check))
		mpu6500SetSlaveDelayEnabled(0, true);
		mpu6500SetSlaveEnabled(0, true);
	}
#endif


	if (isBaroPresent && baroType == BMP280)
	{
		// 设置MPU6500主机要读取BMP280的寄存器
		mpu6500SetSlaveAddress(1, 0x80 | BMP280_I2C_ADDR);		// 设置气压计状态寄存器为1号从机
		mpu6500SetSlaveRegister(1, BMP280_STAT_REG);			// 从机1需要读取的寄存器
		mpu6500SetSlaveDataLength(1, SENSORS_BARO_STATUS_LEN);	// 读取1个字节
		mpu6500SetSlaveDelayEnabled(1, true);
		mpu6500SetSlaveEnabled(1, true);

		mpu6500SetSlaveAddress(2, 0x80 | BMP280_I2C_ADDR);		// 设置气压计数据寄存器为2号从机
		mpu6500SetSlaveRegister(2, BMP280_PRESSURE_MSB_REG);	// 从机2需要读取的寄存器
		mpu6500SetSlaveDataLength(2, SENSORS_BARO_DATA_LEN);	// 读取6个字节
		mpu6500SetSlaveDelayEnabled(2, true);
		mpu6500SetSlaveEnabled(2, true);
	}
	if (isBaroPresent && baroType == SPL06)
	{
		// 设置MPU6500主机要读取SPL06的寄存器
		mpu6500SetSlaveAddress(1, 0x80 | SPL06_I2C_ADDR);		// 设置气压计状态寄存器为1号从机
		mpu6500SetSlaveRegister(1, SPL06_MODE_CFG_REG);			// 从机1需要读取的寄存器
		mpu6500SetSlaveDataLength(1, SENSORS_BARO_STATUS_LEN);	// 读取1个字节
		mpu6500SetSlaveDelayEnabled(1, true);
		mpu6500SetSlaveEnabled(1, true);

		mpu6500SetSlaveAddress(2, 0x80 | SPL06_I2C_ADDR);		// 设置气压计数据寄存器为2号从机
		mpu6500SetSlaveRegister(2, SPL06_PRESSURE_MSB_REG);		// 从机2需要读取的寄存器
		mpu6500SetSlaveDataLength(2, SENSORS_BARO_DATA_LEN);	// 读取6个字节
		mpu6500SetSlaveDelayEnabled(2, true);
		mpu6500SetSlaveEnabled(2, true);
	}

	mpu6500SetI2CMasterModeEnabled(true);	//使能mpu6500主机模式
	mpu6500SetIntDataReadyEnabled(true);	//数据就绪中断使能
}

/**
 * 往方差缓冲区（循环缓冲区）添加一个新值，缓冲区满后，替换旧的的值
 */
static void sensorsAddBiasValue(BiasObj* bias, int16_t x, int16_t y, int16_t z)
{
	bias->bufHead->x = x;
	bias->bufHead->y = y;
	bias->bufHead->z = z;
	bias->bufHead++;

	if (bias->bufHead >= &bias->buffer[SENSORS_NBR_OF_BIAS_SAMPLES])
	{
		bias->bufHead = bias->buffer;
		bias->isBufferFilled = true;
	}
}

/**
 * 根据样本计算重力加速度缩放因子
 */
static bool processAccScale(int16_t ax, int16_t ay, int16_t az)
{
	static bool accBiasFound = false;
	static uint32_t accScaleSumCount = 0;

	if (!accBiasFound)
	{
		accScaleSum += sqrtf(powf(ax * SENSORS_G_PER_LSB_CFG, 2) + powf(ay * SENSORS_G_PER_LSB_CFG, 2) + powf(az * SENSORS_G_PER_LSB_CFG, 2));
		accScaleSumCount++;

		if (accScaleSumCount == SENSORS_ACC_SCALE_SAMPLES)
		{
			accScale = accScaleSum / SENSORS_ACC_SCALE_SAMPLES;
			accBiasFound = true;
		}
	}

	return accBiasFound;
}

/**
 * 计算陀螺方差
 */
static bool processGyroBias(int16_t gx, int16_t gy, int16_t gz, Axis3f *gyroBiasOut)
{
	sensorsAddBiasValue(&gyroBiasRunning, gx, gy, gz);

	if (!gyroBiasRunning.isBiasValueFound)
	{
		sensorsFindBiasValue(&gyroBiasRunning);
	}

	gyroBiasOut->x = gyroBiasRunning.bias.x;
	gyroBiasOut->y = gyroBiasRunning.bias.y;
	gyroBiasOut->z = gyroBiasRunning.bias.z;

	return gyroBiasRunning.isBiasValueFound;
}

/*处理气压计数据*/
void processBarometerMeasurements(const u8 *buffer)
{
	static float temp;
    static float pressure;
	
	if (baroType == BMP280)
	{
		// Check if there is a new data update
		if ((buffer[0] & 0x08)) /*bit3=1 转换完成*/
		{
			s32 rawPressure = (s32)((((u32)(buffer[1])) << 12) | (((u32)(buffer[2])) << 4) | ((u32)buffer[3] >> 4));
			s32 rawTemp = (s32)((((u32)(buffer[4])) << 12) | (((u32)(buffer[5])) << 4) | ((u32)buffer[6] >> 4));
			temp = bmp280CompensateT(rawTemp)/100.0f;		
			pressure = bmp280CompensateP(rawPressure)/25600.0f;			

//			pressureFilter(&pressure, &sensors.baro.pressure);	
			sensors.baro.pressure = pressure;
			sensors.baro.temperature = (float)temp;	/*单位度*/
			sensors.baro.asl = bmp280PressureToAltitude(&pressure) * 100.f;	/*转换成海拔*/
		}
	}
	else if (baroType == SPL06)
	{
		s32 rawPressure = (int32_t)buffer[1]<<16 | (int32_t)buffer[2]<<8 | (int32_t)buffer[3];
		rawPressure = (rawPressure & 0x800000) ? (0xFF000000 | rawPressure) : rawPressure;
		
		s32 rawTemp = (int32_t)buffer[4]<<16 | (int32_t)buffer[5]<<8 | (int32_t)buffer[6];
		rawTemp = (rawTemp & 0x800000) ? (0xFF000000 | rawTemp) : rawTemp;
		
		temp = spl0601_get_temperature(rawTemp);
		pressure = spl0601_get_pressure(rawPressure, rawTemp);
		sensors.baro.pressure = pressure / 100.0f;
		sensors.baro.temperature = (float)temp; /*单位度*/
		sensors.baro.asl = SPL06PressureToAltitude(sensors.baro.pressure) * 100.f; //cm
	}

}
/*处理磁力计数据*/
void processMagnetometerMeasurements(const uint8_t *buffer)
{
	if (buffer[0] & (1 << AK8963_ST1_DRDY_BIT)) 
	{
		int16_t headingx = (((int16_t) buffer[2]) << 8) | buffer[1];
		int16_t headingy = (((int16_t) buffer[4]) << 8) | buffer[3];
		int16_t headingz = (((int16_t) buffer[6]) << 8) | buffer[5];

		sensors.mag.x = (float)headingx / MAG_GAUSS_PER_LSB;
		sensors.mag.y = (float)headingy / MAG_GAUSS_PER_LSB;
		sensors.mag.z = (float)headingz / MAG_GAUSS_PER_LSB;		
		magRaw.x = headingx;/*用于上传到上位机*/
		
		magRaw.y = headingy;
		magRaw.z = headingz;
	}
}
/*处理加速计和陀螺仪数据*/
void processAccGyroMeasurements(const uint8_t *buffer)
{
	/*注意传感器读取方向(旋转270°x和y交换)*/
	int16_t ay = (((int16_t) buffer[0]) << 8) | buffer[1];
	int16_t ax = ((((int16_t) buffer[2]) << 8) | buffer[3]);
	int16_t az = (((int16_t) buffer[4]) << 8) | buffer[5];
	int16_t gy = (((int16_t) buffer[8]) << 8) | buffer[9];
	int16_t gx = (((int16_t) buffer[10]) << 8) | buffer[11];
	int16_t gz = (((int16_t) buffer[12]) << 8) | buffer[13];

	accRaw.x = ax;/*用于上传到上位机*/
	accRaw.y = ay;
	accRaw.z = az;
	gyroRaw.x = gx - gyroBias.x;
	gyroRaw.y = gy - gyroBias.y;
	gyroRaw.z = gz - gyroBias.z;

	gyroBiasFound = processGyroBias(gx, gy, gz, &gyroBias);
	
	if (gyroBiasFound)
	{
		processAccScale(ax, ay, az);	/*计算accScale*/
	}
	
	sensors.gyro.x = -(gx - gyroBias.x) * SENSORS_DEG_PER_LSB_CFG;	/*单位 °/s */
	sensors.gyro.y =  (gy - gyroBias.y) * SENSORS_DEG_PER_LSB_CFG;
	sensors.gyro.z =  (gz - gyroBias.z) * SENSORS_DEG_PER_LSB_CFG;
	applyAxis3fLpf(gyroLpf, &sensors.gyro);	

	sensors.acc.x = -(ax) * SENSORS_G_PER_LSB_CFG / accScale;	/*单位 g(9.8m/s^2)*/
	sensors.acc.y =  (ay) * SENSORS_G_PER_LSB_CFG / accScale;	/*重力加速度缩放因子accScale 根据样本计算得出*/
	sensors.acc.z =  (az) * SENSORS_G_PER_LSB_CFG / accScale;

	applyAxis3fLpf(accLpf, &sensors.acc);
}
/*传感器任务*/
void sensorsTask(void *param)
{
	sensorsInit();	/*传感器初始化*/
	vTaskDelay(150);
	sensorsSetupSlaveRead();/*设置传感器从模式读取*/

	while (1)
	{
		if (pdTRUE == xSemaphoreTake(sensorsDataReady, portMAX_DELAY))
		{
			/*确定数据长度*/
			u8 dataLen = (u8) (SENSORS_MPU6500_BUFF_LEN +
				(isMagPresent ? SENSORS_MAG_BUFF_LEN : 0) +
				(isBaroPresent ? SENSORS_BARO_BUFF_LEN : 0));

			i2cdevRead(I2C1_DEV, MPU6500_ADDRESS_AD0_HIGH, MPU6500_RA_ACCEL_XOUT_H, dataLen, buffer);
			
			/*处理原始数据，并放入数据队列中*/
			processAccGyroMeasurements(&(buffer[0]));

			if (isMagPresent)
			{
				processMagnetometerMeasurements(&(buffer[SENSORS_MPU6500_BUFF_LEN]));
			}
			if (isBaroPresent)
			{
				processBarometerMeasurements(&(buffer[isMagPresent ?
					SENSORS_MPU6500_BUFF_LEN + SENSORS_MAG_BUFF_LEN : SENSORS_MPU6500_BUFF_LEN]));
			}
			
			vTaskSuspendAll();	/*确保同一时刻把数据放入队列中*/
			xQueueOverwrite(accelerometerDataQueue, &sensors.acc);
			xQueueOverwrite(gyroDataQueue, &sensors.gyro);
			if (isMagPresent)
			{
				xQueueOverwrite(magnetometerDataQueue, &sensors.mag);
			}
			if (isBaroPresent)
			{
				xQueueOverwrite(barometerDataQueue, &sensors.baro);
			}
			xTaskResumeAll();
		}
	}	
}
/*获取传感器数据*/
void sensorsAcquire(sensorData_t *sensors, const u32 tick)	
{	
	sensorsReadGyro(&sensors->gyro);
	sensorsReadAcc(&sensors->acc);
	sensorsReadMag(&sensors->mag);
	sensorsReadBaro(&sensors->baro);
}

void __attribute__((used)) EXTI4_Callback(void)
{
	portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
	xSemaphoreGiveFromISR(sensorsDataReady, &xHigherPriorityTaskWoken);

	if (xHigherPriorityTaskWoken)
	{
		portYIELD();
	}
}
/*二阶低通滤波*/
static void applyAxis3fLpf(lpf2pData *data, Axis3f* in)
{
	for (u8 i = 0; i < 3; i++) 
	{
		in->axis[i] = lpf2pApply(&data[i], in->axis[i]);
	}
}
/*传感器数据校准*/
bool sensorsAreCalibrated()	
{
	return gyroBiasFound;
}
/*上位机获取读取原始数据*/
void getSensorRawData(Axis3i16* acc, Axis3i16* gyro, Axis3i16* mag)
{
	*acc = accRaw;
	*gyro = gyroRaw;
	*mag = magRaw;
}

bool getIsMPU9250Present(void)
{
	bool value = isMPUPresent;
#ifdef SENSORS_ENABLE_MAG_AK8963
	value &= isMagPresent;
#endif
	return value;
}


bool getIsBaroPresent(void)
{
	return isBaroPresent;
}

数据融合，主要是将陀螺仪检测到的角度通过加速度计数值互补滤波得到校正后的角度

参考：(69条消息) 姿态解算（四）四元数 - 姿态解算步骤_四元数姿态解算原理_InfiniteYuan的博客-CSDN博客

四元数姿态解算求Pitch(俯仰角)Roll(横滚角)Yall(偏航角)的公式代码解析 - 挖窝网 (wawooo.com)

#include 
#include "sensfusion6.h"
#include "config.h"
#include "ledseq.h"
#include "maths.h"

/********************************************************************************	 
 * 本程序只供学习使用，未经作者许可，不得用于其它任何用途
 * ALIENTEK MiniFly
 * 6轴数据融合代码	
 * 正点原子@ALIENTEK
 * 技术论坛:www.openedv.com
 * 创建日期:2017/5/12
 * 版本：V1.3
 * 版权所有，盗版必究。
 * Copyright(C) 广州市星翼电子科技有限公司 2014-2024
 * All rights reserved
 *
 * 修改说明:
 * 版本V1.3 互补滤波代码移植于inav-1.9.0
********************************************************************************/

#define ACCZ_SAMPLE		350

float Kp = 0.4f;		/*比例增益*/
float Ki = 0.001f;		/*积分增益*/
float exInt = 0.0f;
float eyInt = 0.0f;
float ezInt = 0.0f;		/*积分误差累计*/

static float q0 = 1.0f;	/*四元数*/
static float q1 = 0.0f;
static float q2 = 0.0f;
static float q3 = 0.0f;	
static float rMat[3][3];/*旋转矩阵*/

static float maxError = 0.f;		/*最大误差*/
bool isGravityCalibrated = false;	/*是否校校准完成*/
static float baseAcc[3] = {0.f,0.f,1.0f};	/*静态加速度*/


static float invSqrt(float x);	/*快速开平方求倒*/

static void calBaseAcc(float* acc)	/*计算静态加速度*/
{
	static u16 cnt = 0;
	static float accZMin = 1.5;
	static float accZMax = 0.5;
	static float sumAcc[3] = {0.f};
	
	for(u8 i=0; i<3; i++)
		sumAcc[i] += acc[i];
		
	if(acc[2] < accZMin)	accZMin = acc[2];
	if(acc[2] > accZMax)	accZMax = acc[2];
	
	if(++cnt >= ACCZ_SAMPLE) /*缓冲区满*/
	{
		cnt = 0;
		maxError = accZMax - accZMin;
		accZMin = 1.5;
		accZMax = 0.5;
		
		if(maxError < 0.015f)
		{
			for(u8 i=0; i<3; i++)
				baseAcc[i] = sumAcc[i] / ACCZ_SAMPLE;
			
			isGravityCalibrated = true;
			
			ledseqRun(SYS_LED, seq_calibrated);	/*校准通过指示灯*/
		}
		
		for(u8 i=0; i<3; i++)		
			sumAcc[i] = 0.f;		
	}	
}

/*计算旋转矩阵*/
void imuComputeRotationMatrix(void)
{
    float q1q1 = q1 * q1;
    float q2q2 = q2 * q2;
    float q3q3 = q3 * q3;

    float q0q1 = q0 * q1;
    float q0q2 = q0 * q2;
    float q0q3 = q0 * q3;
    float q1q2 = q1 * q2;
    float q1q3 = q1 * q3;
    float q2q3 = q2 * q3;

    rMat[0][0] = 1.0f - 2.0f * q2q2 - 2.0f * q3q3;
    rMat[0][1] = 2.0f * (q1q2 + -q0q3);
    rMat[0][2] = 2.0f * (q1q3 - -q0q2);

    rMat[1][0] = 2.0f * (q1q2 - -q0q3);
    rMat[1][1] = 1.0f - 2.0f * q1q1 - 2.0f * q3q3;
    rMat[1][2] = 2.0f * (q2q3 + -q0q1);

    rMat[2][0] = 2.0f * (q1q3 + -q0q2);
    rMat[2][1] = 2.0f * (q2q3 - -q0q1);
    rMat[2][2] = 1.0f - 2.0f * q1q1 - 2.0f * q2q2;
}
//姿态解算，得出pitch,roll,yawd,z轴加速度（除去重力加速度）
//姿态融合说白了就是将3轴加速度、3轴角速度和3轴磁场强度融合成四元数，再将四元数转化为欧拉角，
//最后将欧拉角最为控制量输送到所有电机以达控制飞行器姿态的目的。
//欧拉角包括偏航角Yaw、俯仰角Pitch和滚动角Roll。
//IMUupdate算法只融合了加速度计和陀螺仪的数据，还需要使用互补滤波算法来融合磁力计以修正偏航角Yaw，

/*
这个算法的基本思路是以陀螺仪所测的角度为主，把由加速度得到角度误差补偿到由陀螺仪所得的角度值当中。
之所以要这样做，是因为陀螺仪短期测量很准，但在长期测量时容易积累误差，而加速度则相反
*/
void imuUpdate(Axis3f acc, Axis3f gyro, state_t *state , float dt)	/*数据融合 互补滤波*/
{
	float normalise;
	float ex, ey, ez;
	float halfT = 0.5f * dt;
	float accBuf[3] = {0.f};
	Axis3f tempacc = acc;
	/*
	
	以上求出的角速度是以°为单位的，这里，我们还需要把°转化为弧度
	*/
	gyro.x = gyro.x * DEG2RAD;	/* 度转弧度 */
	gyro.y = gyro.y * DEG2RAD;
	gyro.z = gyro.z * DEG2RAD;

	/* 加速度计输出有效时,利用加速度计补偿陀螺仪*/
	if((acc.x != 0.0f) || (acc.y != 0.0f) || (acc.z != 0.0f))
	{
		/*单位化加速计测量值*/
		/*
		这一部分的作用在于把ax、ay、az标准化，
		它有这么一个性质，就是对于空间向量（ax、ay、az），其模长为1。这个性质有什么作用呢？后面会讲到。
		*/
		normalise = invSqrt(acc.x * acc.x + acc.y * acc.y + acc.z * acc.z);
		acc.x *= normalise;
		acc.y *= normalise;
		acc.z *= normalise;

		/*加速计读取的方向与重力加速计方向的差值，用向量叉乘计算*/
		ex = (acc.y * rMat[2][2] - acc.z * rMat[2][1]);
		ey = (acc.z * rMat[2][0] - acc.x * rMat[2][2]);
		ez = (acc.x * rMat[2][1] - acc.y * rMat[2][0]);
		
		/*误差累计，与积分常数相乘*/
		exInt += Ki * ex * dt ;  
		eyInt += Ki * ey * dt ;
		ezInt += Ki * ez * dt ;
		
		/*用叉积误差来做PI修正陀螺零偏，即抵消陀螺读数中的偏移量*/
		gyro.x += Kp * ex + exInt;
		gyro.y += Kp * ey + eyInt;
		gyro.z += Kp * ez + ezInt;
	}
	/* 一阶近似算法，四元数运动学方程的离散化形式和积分 */
	//一阶龙格库塔法
	float q0Last = q0;
	float q1Last = q1;
	float q2Last = q2;
	float q3Last = q3;
	q0 += (-q1Last * gyro.x - q2Last * gyro.y - q3Last * gyro.z) * halfT;
	q1 += ( q0Last * gyro.x + q2Last * gyro.z - q3Last * gyro.y) * halfT;
	q2 += ( q0Last * gyro.y - q1Last * gyro.z + q3Last * gyro.x) * halfT;
	q3 += ( q0Last * gyro.z + q1Last * gyro.y - q2Last * gyro.x) * halfT;
	
	/*单位化四元数*/
	normalise = invSqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3);
	q0 *= normalise;
	q1 *= normalise;
	q2 *= normalise;
	q3 *= normalise;
	
	imuComputeRotationMatrix();	/*计算旋转矩阵*/
	/*
	四元数-->欧拉角公式
	Pitch = arcsin(2 * q0* q2 - 2 * q1 * q3)
Roll = arctan((2 * q2 * q3 + 2 * q0 * q1) / (-2 * q1^2 - 2 * q2^2 + 1)) 
Yaw = arctan((2*q1^2 + 2*q0*q3) / (-2*q2^2 - 2*q3^2+1))
*/
	
	/*计算roll pitch yaw 欧拉角*/
	state->attitude.pitch = -asinf(rMat[2][0]) * RAD2DEG;//#define RAD2DEG		57.29578f		/* 弧度转度 180/π */ 
	state->attitude.roll = atan2f(rMat[2][1], rMat[2][2]) * RAD2DEG;
	state->attitude.yaw = atan2f(rMat[1][0], rMat[0][0]) * RAD2DEG;
	
	if (!isGravityCalibrated)	/*未校准*/
	{		
//		accBuf[0] = tempacc.x* rMat[0][0] + tempacc.y * rMat[0][1] + tempacc.z * rMat[0][2];	/*accx*/
//		accBuf[1] = tempacc.x* rMat[1][0] + tempacc.y * rMat[1][1] + tempacc.z * rMat[1][2];	/*accy*/
		accBuf[2] = tempacc.x* rMat[2][0] + tempacc.y * rMat[2][1] + tempacc.z * rMat[2][2];	/*accz*/
		calBaseAcc(accBuf);		/*计算静态加速度*/				
	}
}

/*机体到地球*/
void imuTransformVectorBodyToEarth(Axis3f * v)
{
    /* From body frame to earth frame */
    const float x = rMat[0][0] * v->x + rMat[0][1] * v->y + rMat[0][2] * v->z;
    const float y = rMat[1][0] * v->x + rMat[1][1] * v->y + rMat[1][2] * v->z;
    const float z = rMat[2][0] * v->x + rMat[2][1] * v->y + rMat[2][2] * v->z;

	float yawRad = atan2f(rMat[1][0], rMat[0][0]);
	float cosy = cosf(yawRad);
	float siny = sinf(yawRad);
	float vx = x * cosy + y * siny;
	float vy = y * cosy - x * siny;	
	
    v->x = vx;
    v->y = -vy;
    v->z = z - baseAcc[2] *  980.f;	/*去除重力加速度*/
}

/*地球到机体*/
void imuTransformVectorEarthToBody(Axis3f * v)
{
    v->y = -v->y;

    /* From earth frame to body frame */
    const float x = rMat[0][0] * v->x + rMat[1][0] * v->y + rMat[2][0] * v->z;
    const float y = rMat[0][1] * v->x + rMat[1][1] * v->y + rMat[2][1] * v->z;
    const float z = rMat[0][2] * v->x + rMat[1][2] * v->y + rMat[2][2] * v->z;

    v->x= x;
    v->y = y;
    v->z = z;
}

// Fast inverse square-root
// See: http://en.wikipedia.org/wiki/Fast_inverse_square_root
float invSqrt(float x)	/*快速开平方求倒*/
{
	float halfx = 0.5f * x;
	float y = x;
	long i = *(long*)&y;
	i = 0x5f3759df - (i>>1);
	y = *(float*)&i;
	y = y * (1.5f - (halfx * y * y));
	return y;
}

bool getIsCalibrated(void)
{
	return isGravityCalibrated;
}