移动include下的所有源文件到lib/，另外将plotter改为PROTOCOL形式 (5b9041b2) · Commits · Wenxi XU / Mambo

include/CMakeLists.txt

+1 −1

Original line number	Diff line number	Diff line
		add_subdirectory(ares)
		No newline at end of file
		# Include目录只包含头文件，不需要编译源文件
		No newline at end of file

include/ares/ares_comm.h

+1 −1

Original line number	Diff line number	Diff line
		@@ -6,7 +6,7 @@
		#include <zephyr/kernel.h>
		#include <zephyr/net_buf.h>

		int ares_bind_interface(struct AresInterface interface, struct AresProtocol protocol)
		static inline int ares_bind_interface(struct AresInterface interface, struct AresProtocol protocol)
		{
		// Notice that we initialize interface before protocol
		if (interface == NULL \|\| protocol == NULL) {

include/ares/interface/uart/uart.h

+64 −62

Original line number	Diff line number	Diff line
		@@ -16,6 +16,7 @@

		int ares_uart_init(struct AresInterface *interface);
		int ares_uart_send(struct AresInterface interface, struct net_buf buf);
		int ares_uart_send_raw(struct AresInterface interface, uint8_t data, uint16_t len);
		struct net_buf ares_uart_interface_alloc_buf(struct AresInterface interface);

		void ares_uart_init_dev(struct AresInterface interface, const struct device uart_dev);
		@@ -25,7 +26,7 @@ void ares_uart_init_dev(struct AresInterface interface, const struct device ua

		#define ARES_UART_BLOCK_SIZE 72
		#define MAX_FRAME_PAYLOAD_SIZE ARES_UART_BLOCK_SIZE
		#define ARES_UART_TX_QUEUE_SIZE 10
		#define ARES_UART_TX_QUEUE_SIZE 32


		struct AresUartInterface {
		@@ -55,6 +56,7 @@ struct AresUartInterface {
		struct AresInterfaceAPI ares_uart_interface_api = { \
		.init = ares_uart_init, \
		.send = ares_uart_send, \
		.send_raw = ares_uart_send_raw, \
		.alloc_buf = ares_uart_interface_alloc_buf, \
		}; \
		struct AresUartInterface Internal_##Interface_name = {NULL}; \

include/ares/mahony/MahonyAHRS.h

0 → 100644

+47 −0

Original line number	Diff line number	Diff line
		//=====================================================================================================
		// MahonyAHRS.h
		//=====================================================================================================
		//
		// Madgwick's implementation of Mayhony's AHRS algorithm.
		// See: http://www.x-io.co.uk/node/8#open_source_ahrs_and_imu_algorithms
		//
		// Date Author Notes
		// 29/09/2011 SOH Madgwick Initial release
		// 02/10/2011 SOH Madgwick Optimised for reduced CPU load
		//
		//=====================================================================================================

		#include <stdbool.h>

		#ifndef MahonyAHRS_h
		#define MahonyAHRS_h

		typedef struct {
		float q[4];
		float Accel[3];
		float Gyro[3];
		float Mag[3];
		float Yaw, Pitch, Roll;
		float g;
		} MahonyAHRS_INS_t;

		//----------------------------------------------------------------------------------------------------
		// Variable declaration

		extern volatile float twoKp; // 2 * proportional gain (Kp)
		extern volatile float twoKi; // 2 * integral gain (Ki)
		extern volatile float q0, q1, q2, q3; // quaternion of sensor frame relative to auxiliary frame

		extern MahonyAHRS_INS_t MahonyAHRS_INS;

		//---------------------------------------------------------------------------------------------------
		// Function declarations

		void MahonyAHRSupdate(float gx, float gy, float gz, float gyro_dt, float ax, float ay, float az, float mx, float my, float mz, float accel_dt);
		void MahonyAHRSupdateIMU(float gx, float gy, float gz, float gyro_dt, float ax, float ay, float az, float accel_dt);
		void MahonyAHRSupdateGyro(float gx, float gy, float gz, float gyro_dt);

		#endif
		//=====================================================================================================
		// End of file
		//=====================================================================================================

include/ares/mahony/algorithm.h

0 → 100644

+116 −0

Original line number	Diff line number	Diff line
		/**
		******************************************************************************
		* @file user_lib.h
		* @author Wang Hongxi
		* @version V1.0.0
		* @date 2021/2/18
		* @brief
		******************************************************************************
		* @attention
		*
		******************************************************************************
		*/
		#ifndef _USER_LIB_H
		#define _USER_LIB_H

		#include "stdint.h"
		#include "arm_math.h"

		#define user_malloc(size) malloc(size)

		#define msin(x) (arm_sin_f32(x))
		#define mcos(x) (arm_cos_f32(x))

		// 若运算速度不够,可以使用q31代替f32,但是精度会降低
		#define mat arm_matrix_instance_f32
		#define Matrix_Init arm_mat_init_f32
		#define Matrix_Add arm_mat_add_f32
		#define Matrix_Subtract arm_mat_sub_f32
		#define Matrix_Multiply arm_mat_mult_f32
		#define Matrix_Transpose arm_mat_trans_f32
		#define Matrix_Inverse arm_mat_inverse_f32

		void MatInit(mat *m, uint8_t row, uint8_t col);

		/* boolean type definitions */
		#ifndef TRUE
		#define TRUE 1 /*< boolean true /
		#endif

		#ifndef FALSE
		#define FALSE 0 /*< boolean fails /
		#endif

		/* circumference ratio */
		#ifndef PI
		#define PI 3.14159265354f
		#endif

		#define VAL_LIMIT(val, min, max) \
		do { \
		if ((val) <= (min)) { \
		(val) = (min); \
		} else if ((val) >= (max)) { \
		(val) = (max); \
		} \
		} while (0)

		#define ANGLE_LIMIT_360(val, angle) \
		do { \
		(val) = (angle) - (int)(angle); \
		(val) += (int)(angle) % 360; \
		} while (0)

		#define ANGLE_LIMIT_360_TO_180(val) \
		do { \
		if ((val) > 180) \
		(val) -= 360; \
		} while (0)

		#define VAL_MIN(a, b) ((a) < (b) ? (a) : (b))
		#define VAL_MAX(a, b) ((a) > (b) ? (a) : (b))

		/**
		* @brief 返回一块干净的内�?,不过仍然需要强制转�?为你需要的类型
		*
		* @param size 分配大小
		* @return void*
		*/
		void *zmalloc(size_t size);

		// ��ٿ��
		float Sqrt(float x);
		// ��
		float abs_limit(float num, float Limit);
		// �жϷ��λ
		float sign(float value);
		// ��
		float float_deadband(float Value, float minValue, float maxValue);
		// �޷��
		float float_constrain(float Value, float minValue, float maxValue);
		// �޷��
		int16_t int16_constrain(int16_t Value, int16_t minValue, int16_t maxValue);
		// ѭ��޷��
		float loop_float_constrain(float Input, float minValue, float maxValue);
		// �Ƕ� ��޷� 180 ~ -180
		float theta_format(float Ang);

		int float_rounding(float raw);

		float Norm3d(float v);

		float NormOf3d(float *v);

		void Cross3d(float v1, float v2, float *res);

		float Dot3d(float v1, float v2);

		float AverageFilter(float new_data, float *buf, uint8_t len);

		void GetGroundAccel(float q, float accel, float g, float *ground_accel);

		void quaternionToYawPitchRoll(float q, float yaw, float pitch, float roll);

		#define rad_format(Ang) loop_float_constrain((Ang), -PI, PI)

		#endif
		No newline at end of file

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