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Dependencies:   mbed MatrixMath LPS25HB_I2C LSM9DS1 Matrix2 PIDcontroller LoopTicker SBUS_without_mainfile UsaPack solaESKF_wind Vector3 CalibrateMagneto FastPWM

global.hpp@96:0be0d80d5299, 2022-02-02 (annotated)

Committer:
osaka
Date:
Wed Feb 02 08:31:16 2022 +0000
Revision:
96:0be0d80d5299
Parent:
91:393b9ae62681
Child:
97:2a65f22488e4
send pihat and vihat to log

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cocorlow 56:888379912f81 1 #ifndef __GLOBAL_HPP__
cocorlow 56:888379912f81 2 #define __GLOBAL_HPP__
cocorlow 56:888379912f81 3
cocorlow 56:888379912f81 4 #include "mbed.h"
cocorlow 56:888379912f81 5 #include "PIDcontroller.h"
cocorlow 56:888379912f81 6 #include "SBUS.hpp"
cocorlow 56:888379912f81 7 #include "LoopTicker.hpp"
osaka 83:0a644de28415 8 #include "LSM9DS1.h"
osaka 83:0a644de28415 9 #include "LPS.h"
osaka 83:0a644de28415 10 #include "solaESKF.hpp"
NaotoMorita 61:c05353850017 11 #include "CalibrateMagneto.h"
cocorlow 56:888379912f81 12 #include "I2Cdev.h"
cocorlow 56:888379912f81 13 #include "FastPWM.h"
cocorlow 56:888379912f81 14 #include <cmath>
cocorlow 56:888379912f81 15 #include "UsaPack.hpp"
cocorlow 56:888379912f81 16 #include "Vector3.hpp"
NaotoMorita 71:62eb45ecffe9 17 #include "ScErrStateEKF.hpp"
NaotoMorita 70:9e7be21475f8 18 #include "MedianFilter.hpp"
cocorlow 56:888379912f81 19
cocorlow 56:888379912f81 20 #define MPU6050_PWR_MGMT_1 0x6B
cocorlow 56:888379912f81 21 #define MPU_ADDRESS 0x68
cocorlow 56:888379912f81 22 #define M_PI 3.141592f
cocorlow 56:888379912f81 23 #define ACCEL_FSR MPU6050_ACCEL_FS_8
cocorlow 56:888379912f81 24 #define ACCEL_SSF 4096.0f
cocorlow 56:888379912f81 25 #define GYRO_FSR MPU6050_GYRO_FS_250
cocorlow 56:888379912f81 26 #define GYRO_SSF 131.0f
cocorlow 56:888379912f81 27 #define MPU6050_LPF MPU6050_DLPF_BW_256
cocorlow 56:888379912f81 28 #define gyro_th 20.0f
cocorlow 56:888379912f81 29 #define PID_dt 0.015f
osaka 87:981895e1d4f2 30 #define servoPwmMax 2100.0f
osaka 87:981895e1d4f2 31 #define servoPwmMin 900.0f
cocorlow 56:888379912f81 32 #define motorPwmMax 2000.0f
cocorlow 56:888379912f81 33 #define motorPwmMin 1100.0f
NaotoMorita 71:62eb45ecffe9 34 #define N_EEPROM 12
cocorlow 56:888379912f81 35
cocorlow 56:888379912f81 36 // struct union
cocorlow 56:888379912f81 37 union U
cocorlow 56:888379912f81 38 {
osaka 88:0fc5df2fddcb 39 int i[N_EEPROM]; // 0: flag(>1で正常に書き込まれた状態) 1 ~ 3: 磁場の中心座標, 4: 磁場の半径、 5~7; mag, 10: roll offset, 11: pitch offset
cocorlow 56:888379912f81 40 char c[N_EEPROM*4]; // floatはcharの4倍
cocorlow 56:888379912f81 41 };
cocorlow 56:888379912f81 42
cocorlow 56:888379912f81 43 struct valuePack
cocorlow 56:888379912f81 44 {
cocorlow 56:888379912f81 45 float acc[3];
cocorlow 56:888379912f81 46 float gyro[3];
cocorlow 56:888379912f81 47 float mag[3];
cocorlow 56:888379912f81 48 float rpy[3];
osaka 88:0fc5df2fddcb 49 float altitude;
cocorlow 63:851e96f54a86 50 float de;
cocorlow 63:851e96f54a86 51 float deobj;
NaotoMorita 73:be7a8b8188de 52 float rc[5];
osaka 88:0fc5df2fddcb 53 int calibEndFlag;
osaka 91:393b9ae62681 54 int readyFlag;
osaka 96:0be0d80d5299 55 float pi[3];
osaka 96:0be0d80d5299 56 float vi[3];
cocorlow 63:851e96f54a86 57 };
cocorlow 63:851e96f54a86 58
NaotoMorita 73:be7a8b8188de 59 struct updatePack
cocorlow 63:851e96f54a86 60 {
osaka 88:0fc5df2fddcb 61 int calibrationFlag;
osaka 84:028bd650e8bc 62 char gps_fix;
osaka 84:028bd650e8bc 63 int gps_itow;
osaka 84:028bd650e8bc 64 float vi[3];
osaka 84:028bd650e8bc 65 float pi[3];
NaotoMorita 73:be7a8b8188de 66 float de_command;
cocorlow 56:888379912f81 67 };
cocorlow 56:888379912f81 68
cocorlow 56:888379912f81 69 // var
cocorlow 56:888379912f81 70
cocorlow 56:888379912f81 71 // communication
cocorlow 56:888379912f81 72 extern Serial pc;
cocorlow 56:888379912f81 73 extern I2C i2c; // sda, scl
cocorlow 56:888379912f81 74 extern UsaPack tail; // log - tail
cocorlow 56:888379912f81 75 extern SBUS sbus;
cocorlow 56:888379912f81 76
cocorlow 56:888379912f81 77 // sensor
osaka 83:0a644de28415 78 extern LSM9DS1 lsm;
osaka 83:0a644de28415 79 extern LPS lps;
osaka 83:0a644de28415 80 //extern UsaPack sensor1;
osaka 83:0a644de28415 81 //extern UsaPack sensor2;
NaotoMorita 61:c05353850017 82 extern CalibrateMagneto magCalibrator;
cocorlow 56:888379912f81 83
cocorlow 56:888379912f81 84 // io
cocorlow 56:888379912f81 85 extern DigitalIn userButton;
cocorlow 56:888379912f81 86 extern DigitalIn locdef1;
cocorlow 56:888379912f81 87 extern DigitalIn locdef2;
cocorlow 56:888379912f81 88
cocorlow 56:888379912f81 89 // control
cocorlow 56:888379912f81 90 extern FastPWM servo;
cocorlow 56:888379912f81 91 extern PID pitchPID; // rad
cocorlow 56:888379912f81 92 extern PID pitchratePID;// rad/s
NaotoMorita 79:aa2631950f46 93 extern int itowVEL_log;
osaka 84:028bd650e8bc 94 extern solaESKF eskf;
cocorlow 56:888379912f81 95
cocorlow 56:888379912f81 96 extern int loop_count;
cocorlow 56:888379912f81 97 extern float att_dt;
cocorlow 56:888379912f81 98 extern float rc[16];
cocorlow 56:888379912f81 99
cocorlow 56:888379912f81 100 extern int16_t ax, ay, az;
cocorlow 56:888379912f81 101 extern int16_t gx, gy, gz;
cocorlow 56:888379912f81 102 extern float magval[3];
cocorlow 56:888379912f81 103
cocorlow 63:851e96f54a86 104 // elevator
cocorlow 63:851e96f54a86 105 extern float de;
cocorlow 63:851e96f54a86 106 extern float deobj;
cocorlow 63:851e96f54a86 107
cocorlow 56:888379912f81 108 // position
osaka 83:0a644de28415 109 extern Matrix SensorAlignmentAG;
osaka 83:0a644de28415 110 extern Matrix SensorAlignmentMAG;
osaka 85:0b14a2a600fc 111 extern Matrix euler;
cocorlow 56:888379912f81 112 extern Vector3 rpy; // x:roll y:pitch z:yaw
cocorlow 56:888379912f81 113 extern Vector3 acc;
cocorlow 56:888379912f81 114 extern Vector3 accref;
cocorlow 56:888379912f81 115 extern Vector3 mag;
cocorlow 56:888379912f81 116 extern Vector3 magref;
cocorlow 56:888379912f81 117 extern Vector3 gyro;
NaotoMorita 71:62eb45ecffe9 118 extern Vector3 vb;
osaka 83:0a644de28415 119 extern float palt;
osaka 83:0a644de28415 120 extern float palt0;
NaotoMorita 70:9e7be21475f8 121 extern MedianFilter accMedian;
NaotoMorita 70:9e7be21475f8 122 extern MedianFilter gyroMedian;
NaotoMorita 70:9e7be21475f8 123 extern MedianFilter magMedian;
NaotoMorita 90:0b1f62f7a83a 124 extern bool gpsUpdateFlag;
osaka 84:028bd650e8bc 125 extern bool headingUpdateFlag;
osaka 84:028bd650e8bc 126 extern float dynaccnorm2;
cocorlow 56:888379912f81 127
cocorlow 56:888379912f81 128
cocorlow 56:888379912f81 129 extern float scaledServoOut[1];
cocorlow 56:888379912f81 130 extern float servoOut[1];
cocorlow 56:888379912f81 131
cocorlow 56:888379912f81 132
cocorlow 56:888379912f81 133 extern float val_thmg;
NaotoMorita 61:c05353850017 134 extern float sigma_thmg;
cocorlow 56:888379912f81 135 extern float th_mg;
cocorlow 56:888379912f81 136 extern float accnormerr;
NaotoMorita 61:c05353850017 137 extern float sigma_accnorm;
NaotoMorita 61:c05353850017 138
cocorlow 56:888379912f81 139 extern int calibrationFlag;
cocorlow 56:888379912f81 140 extern int pos_tail; // 0:left 1:center 2:right
NaotoMorita 90:0b1f62f7a83a 141 extern float agoffset[6];
NaotoMorita 61:c05353850017 142 extern float magbiasMin[3];
NaotoMorita 61:c05353850017 143 extern float magbiasMax[3];
NaotoMorita 70:9e7be21475f8 144 extern float accMin[3];
NaotoMorita 70:9e7be21475f8 145 extern float accMax[3];
cocorlow 56:888379912f81 146
osaka 88:0fc5df2fddcb 147 extern float roll_offset;
osaka 88:0fc5df2fddcb 148 extern float pitch_offset;
cocorlow 56:888379912f81 149
cocorlow 56:888379912f81 150 // eepromのread writeのためのunionを定義
cocorlow 56:888379912f81 151 extern const int eeprom_address; // EEPROMの3つの入力が全て+より
cocorlow 56:888379912f81 152 extern const int eeprom_pointeraddress;
cocorlow 56:888379912f81 153
cocorlow 56:888379912f81 154 //// UsaPack
cocorlow 56:888379912f81 155 extern const int tail_address[3];
cocorlow 63:851e96f54a86 156 extern const int time_address;
NaotoMorita 73:be7a8b8188de 157 extern valuePack posValues;
NaotoMorita 73:be7a8b8188de 158 extern updatePack updateValues;
cocorlow 63:851e96f54a86 159 extern Timer system_dt;
cocorlow 56:888379912f81 160
cocorlow 56:888379912f81 161 // function
cocorlow 56:888379912f81 162
cocorlow 56:888379912f81 163 // main.cpp
cocorlow 56:888379912f81 164
cocorlow 56:888379912f81 165 // setup.cpp
cocorlow 56:888379912f81 166 extern void setup();
cocorlow 56:888379912f81 167 extern void calibrate();
NaotoMorita 70:9e7be21475f8 168 extern float accScaleCalibrate(int attNo);
osaka 88:0fc5df2fddcb 169 extern void alignment();
osaka 88:0fc5df2fddcb 170 extern int n_ave;
osaka 88:0fc5df2fddcb 171 extern float roll_sum;
osaka 88:0fc5df2fddcb 172 extern float pitch_sum;
cocorlow 56:888379912f81 173
cocorlow 56:888379912f81 174 // run.cpp
osaka 87:981895e1d4f2 175 extern int gpsitow;
osaka 91:393b9ae62681 176 extern bool prefligt_finished;
cocorlow 56:888379912f81 177 extern void run();
cocorlow 56:888379912f81 178
cocorlow 56:888379912f81 179 // imu.cpp
cocorlow 56:888379912f81 180 extern void getIMUval();
cocorlow 56:888379912f81 181
cocorlow 56:888379912f81 182 // servo.cpp
cocorlow 56:888379912f81 183 extern void calcServoOut();
cocorlow 56:888379912f81 184
NaotoMorita 73:be7a8b8188de 185 // datatransfer.cpp
NaotoMorita 73:be7a8b8188de 186 extern void send2center();
cocorlow 56:888379912f81 187 extern void writeEEPROM(int address, unsigned int eeaddress, char *data, int size);
cocorlow 56:888379912f81 188 extern void readEEPROM(int address, unsigned int eeaddress, char *data, int size);
cocorlow 56:888379912f81 189
cocorlow 56:888379912f81 190 // global.cpp
cocorlow 56:888379912f81 191 extern float mapfloat(float x, float in_min, float in_max, float out_min, float out_max);
osaka 84:028bd650e8bc 192 extern void setDiag(Matrix& mat, float val);
cocorlow 56:888379912f81 193
cocorlow 56:888379912f81 194 #endif