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yangkang / DataFusionH7

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README
MIT

实时组合导航算法

MCU:STM32H743IIT6
IMU:ADIS16460
GNSS:MXT906B,外挂
Middleware: FATFS,FREE_RTOS, PSINS

说明:
时间同步策略:初始对时完成之后记录此时gps时间为$gpst_0$,同时开始维持本地时间。
$$ t = gpst_0 + (TIM->CNT + INT->CNT)/PPS_MARGIN $$

开发日志

20210325

完成实时任务和输出任务设计,能够满足204.8Hz运行 初始对准方式目前为给定初始姿态 存在bug,运行时间长了触发hardware fault 中断,原因待查

20210328

添加LED任务,完成动态对准移植
LED灯颜色含义:

  1. 开机上电 红色持续
  2. 本地授时 黄色慢闪
  3. 本地授时完成,进行动对准中,黄色快闪
    对准完成,开始进行组合导航之后,根据导航状态决定颜色;
  4. SPP/INS 青色
  5. RTK_FLOAT DGPS/INS 蓝色
  6. RTK_FIX/INS 绿色
  7. INS 粉色
  8. 系统错误,爆栈等等 红色快闪
20210608
  1. 添加里程計支持
  2. 添加高速校驗輸出
  3. 搬動代碼到TCM內存區域,提高系統運行速度
Memory region         Used Size  Region Size  %age Used
         DTCMRAM:      116044 B       128 KB     88.53%
          RAM_D1:        7220 B       512 KB      1.38%
          RAM_D2:       10880 B       288 KB      3.69%
          RAM_D3:          0 GB        64 KB      0.00%
         ITCMRAM:         40 KB        64 KB     62.50%
           FLASH:      349344 B         2 MB     16.66%
MIT License Copyright (c) 2021 Arebeater Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

简介

GNSS/INS/ODO 组合导航算法,在STM32 上实时运行demo, 基于Eigen库完成,需要使用arm-gcc-none-eabi编译器进行编译。 展开 收起
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