添加IMU实例

# SPDX-License-Identifier: Apache-2.0

cmake_minimum_required(VERSION 3.20.0)

set(CMAKE_CXX_STANDARD 17)

find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})

project(motor)

FILE(GLOB app_sources src/*.c)

include_directories(${ZEPHYR_BASE}/include)

include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)

include_directories(${CMAKE_CURRENT_SOURCE_DIR}/dts)

target_sources(app PRIVATE ${app_sources})

target_include_directories(app PRIVATE ${ZEPHYR_BASE}/include)

target_include_directories(app PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include)

target_include_directories(app PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/dts)

.. zephyr:code-sample:: imu-quaternion-ekf

   :name: IMU四元数扩展卡尔曼滤波器示例

   使用四元数EKF算法处理IMU传感器数据并估计姿态角度。

概述

****

这个示例应用演示了如何使用ARES框架中的四元数扩展卡尔曼滤波器(Quaternion EKF)来处理IMU传感器数据。该示例集成了BMI08x系列的加速度计和陀螺仪，通过Hongxi Wong的QEKF融合算法实现精确的姿态估计。

传感器配置

==========

该示例使用以下传感器：

* **BMI08x加速度计**: 测量线性加速度，用于重力方向估计

* **BMI08x陀螺仪**: 测量角速度，提供高频率姿态更新

传感器通过SPI接口连接，支持高频率数据采集(最高2000Hz)。

硬件要求

********

* RoboMaster Board C (STM32F407)

* DM MC02开发板

构建和运行

**********

以RoboMaster Board C为例的构建命令:

`west build -b robomaster_board_c samples/IMU`

配置选项

========

主要的Kconfig配置选项：

* ``CONFIG_ARES=y`` - 启用ARES框架

* ``CONFIG_MAHONY_LIB=y`` - 启用Mahony算法库

* ``CONFIG_AUTO_PROBE_GYRO_BIAS=y`` - 启用陀螺仪零偏自动估计

* ``CONFIG_CMSIS_DSP=y`` - 启用CMSIS DSP库用于矩阵运算

* ``CONFIG_PLOTTER=y`` - 启用数据绘图功能

示例输出

========

控制台输出示例:

.. code-block:: console

   *** Booting Zephyr OS build ***

   [00:00:01.000,000] <inf> main: q: 1.000000, 0.000000, 0.000000, 0.000000

   [00:00:01.200,000] <inf> main: Yaw: 0.123456, Pitch: 0.654321, Roll: 0.987654

   [00:00:01.400,000] <inf> main: q: 0.999123, 0.001234, 0.005678, 0.009876

   [00:00:01.600,000] <inf> main: Yaw: 1.234567, Pitch: 0.765432, Roll: 1.098765

输出数据说明:

* **q**: 四元数分量 [q0, q1, q2, q3]，表示当前姿态

* **Yaw/Pitch/Roll**: 欧拉角(度)，分别表示偏航角、俯仰角、横滚角

 No newline at end of file

/ {

};

 No newline at end of file

CONFIG_ARES=y

CONFIG_EKF_LIB=y

CONFIG_CMSIS_DSP=y

CONFIG_CMSIS_DSP_MATRIX=y

CONFIG_CMSIS_DSP_CONTROLLER=y

CONFIG_CMSIS_DSP_FASTMATH=y

CONFIG_PLOTTER=y

CONFIG_ARESPLOT_FREQ=500

CONFIG_CHASSIS=n

 No newline at end of file

sample:

  name: IMU四元数EKF姿态估计示例

  description: 使用ARES框架的四元数扩展卡尔曼滤波器处理IMU传感器数据并估计姿态角度

tests:

  sample.ares.imu.quaternion_ekf:

    tags: sensor imu ekf ares

    depends_on: spi sensor

    filter: dt_nodelabel_enabled("bmi08x_accel") and dt_nodelabel_enabled("bmi08x_gyro")

    integration_platforms:

      - robomaster_board_c

      - dm_mc02

    harness: console

    harness_config:

      type: multi_line

      regex:

        - "q: [0-9.-]+, [0-9.-]+, [0-9.-]+, [0-9.-]+"

        - "Yaw: [0-9.-]+, Pitch: [0-9.-]+, Roll: [0-9.-]+"

 No newline at end of file