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

global.hpp@127:839ae718713b, 2022-07-08 (annotated)

Committer:
NaotoMorita
Date:
Fri Jul 08 08:25:42 2022 +0000
Revision:
127:839ae718713b
Parent:
124:59efdd87c211 
new

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 "FastPWM.h"
cocorlow 56:888379912f81 13 #include <cmath>
cocorlow 56:888379912f81 14 #include "UsaPack.hpp"
cocorlow 56:888379912f81 15 #include "Vector3.hpp"
cocorlow 56:888379912f81 16
cocorlow 56:888379912f81 17 #define MPU6050_PWR_MGMT_1 0x6B
cocorlow 56:888379912f81 18 #define MPU_ADDRESS 0x68
cocorlow 56:888379912f81 19 #define M_PI 3.141592f
cocorlow 56:888379912f81 20 #define ACCEL_FSR MPU6050_ACCEL_FS_8
cocorlow 56:888379912f81 21 #define ACCEL_SSF 4096.0f
cocorlow 56:888379912f81 22 #define GYRO_FSR MPU6050_GYRO_FS_250
cocorlow 56:888379912f81 23 #define GYRO_SSF 131.0f
cocorlow 56:888379912f81 24 #define MPU6050_LPF MPU6050_DLPF_BW_256
cocorlow 56:888379912f81 25 #define gyro_th 20.0f
cocorlow 56:888379912f81 26 #define PID_dt 0.015f
osaka 87:981895e1d4f2 27 #define servoPwmMax 2100.0f
osaka 87:981895e1d4f2 28 #define servoPwmMin 900.0f
cocorlow 56:888379912f81 29 #define motorPwmMax 2000.0f
cocorlow 56:888379912f81 30 #define motorPwmMin 1100.0f
NaotoMorita 71:62eb45ecffe9 31 #define N_EEPROM 12
cocorlow 56:888379912f81 32
cocorlow 56:888379912f81 33 // struct union
cocorlow 56:888379912f81 34 union U
cocorlow 56:888379912f81 35 {
osaka 88:0fc5df2fddcb 36 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 37 char c[N_EEPROM*4]; // floatはcharの4倍
cocorlow 56:888379912f81 38 };
cocorlow 56:888379912f81 39
cocorlow 56:888379912f81 40 struct valuePack
cocorlow 56:888379912f81 41 {
cocorlow 56:888379912f81 42 float acc[3];
cocorlow 56:888379912f81 43 float gyro[3];
cocorlow 56:888379912f81 44 float mag[3];
cocorlow 56:888379912f81 45 float rpy[3];
osaka 88:0fc5df2fddcb 46 float altitude;
cocorlow 63:851e96f54a86 47 float de;
cocorlow 63:851e96f54a86 48 float deobj;
NaotoMorita 73:be7a8b8188de 49 float rc[5];
osaka 88:0fc5df2fddcb 50 int calibEndFlag;
osaka 91:393b9ae62681 51 int readyFlag;
osaka 96:0be0d80d5299 52 float pi[3];
osaka 96:0be0d80d5299 53 float vi[3];
osaka 99:37cfd8633c9b 54 float att_dt;
osaka 112:5a82800e1485 55 int ap_flag;
osaka 123:0a74e696f7a6 56 float voltage;
osaka 123:0a74e696f7a6 57 float current;
cocorlow 63:851e96f54a86 58 };
cocorlow 63:851e96f54a86 59
NaotoMorita 73:be7a8b8188de 60 struct updatePack
cocorlow 63:851e96f54a86 61 {
osaka 88:0fc5df2fddcb 62 int calibrationFlag;
osaka 84:028bd650e8bc 63 char gps_fix;
osaka 84:028bd650e8bc 64 int gps_itow;
osaka 84:028bd650e8bc 65 float vi[3];
osaka 84:028bd650e8bc 66 float pi[3];
NaotoMorita 73:be7a8b8188de 67 float de_command;
osaka 112:5a82800e1485 68 float dT_command;
NaotoMorita 119:43ac44c68ff0 69 float dr_command;
osaka 98:39e4d1844a24 70 float gps_acc;
NaotoMorita 106:36458fb9b5b7 71 float vx_opt;
NaotoMorita 106:36458fb9b5b7 72 float vy_opt;
osaka 103:34e911b94440 73 float dist_ir;
NaotoMorita 106:36458fb9b5b7 74 //float dt_opt;
osaka 114:ba221936d53a 75 float heading;
cocorlow 56:888379912f81 76 };
cocorlow 56:888379912f81 77
NaotoMorita 118:97ffe77b6f38 78 struct receivePack
NaotoMorita 118:97ffe77b6f38 79 {
NaotoMorita 118:97ffe77b6f38 80 int16_t accData[3];
NaotoMorita 118:97ffe77b6f38 81 int16_t gyroData[3];
NaotoMorita 118:97ffe77b6f38 82 int16_t magData[3];
NaotoMorita 120:9f4725deb5a6 83 int16_t viData[3];
NaotoMorita 120:9f4725deb5a6 84 int16_t piData[3];
NaotoMorita 118:97ffe77b6f38 85 int16_t actData[4];
NaotoMorita 118:97ffe77b6f38 86 int16_t commandIndex;
NaotoMorita 118:97ffe77b6f38 87 int16_t commandVal;
NaotoMorita 118:97ffe77b6f38 88 };
NaotoMorita 120:9f4725deb5a6 89
NaotoMorita 118:97ffe77b6f38 90 struct sendPack
NaotoMorita 118:97ffe77b6f38 91 {
NaotoMorita 118:97ffe77b6f38 92 float de;
NaotoMorita 118:97ffe77b6f38 93 float dTl;
NaotoMorita 118:97ffe77b6f38 94 float dTr;
NaotoMorita 118:97ffe77b6f38 95 float dr;
NaotoMorita 127:839ae718713b 96 float roll;
NaotoMorita 127:839ae718713b 97 float pitch;
NaotoMorita 127:839ae718713b 98 float yaw;
NaotoMorita 127:839ae718713b 99
NaotoMorita 118:97ffe77b6f38 100 };
NaotoMorita 118:97ffe77b6f38 101
NaotoMorita 107:78e6f7bee68e 102
cocorlow 56:888379912f81 103 // var
cocorlow 56:888379912f81 104
NaotoMorita 120:9f4725deb5a6 105 extern bool hilFlag;
NaotoMorita 120:9f4725deb5a6 106
cocorlow 56:888379912f81 107 // communication
NaotoMorita 118:97ffe77b6f38 108 extern UsaPack pc;
cocorlow 56:888379912f81 109 extern I2C i2c; // sda, scl
cocorlow 56:888379912f81 110 extern UsaPack tail; // log - tail
cocorlow 56:888379912f81 111 extern SBUS sbus;
cocorlow 56:888379912f81 112
cocorlow 56:888379912f81 113 // sensor
osaka 83:0a644de28415 114 extern LSM9DS1 lsm;
osaka 83:0a644de28415 115 extern LPS lps;
osaka 83:0a644de28415 116 //extern UsaPack sensor1;
osaka 83:0a644de28415 117 //extern UsaPack sensor2;
NaotoMorita 61:c05353850017 118 extern CalibrateMagneto magCalibrator;
osaka 123:0a74e696f7a6 119 extern AnalogIn ain_v;
osaka 123:0a74e696f7a6 120 extern AnalogIn ain_i;
cocorlow 56:888379912f81 121
cocorlow 56:888379912f81 122 // io
cocorlow 56:888379912f81 123 extern DigitalIn userButton;
cocorlow 56:888379912f81 124 extern DigitalIn locdef1;
cocorlow 56:888379912f81 125 extern DigitalIn locdef2;
cocorlow 56:888379912f81 126
cocorlow 56:888379912f81 127 // control
cocorlow 56:888379912f81 128 extern FastPWM servo;
NaotoMorita 107:78e6f7bee68e 129 extern FastPWM rudServo;
NaotoMorita 107:78e6f7bee68e 130 extern FastPWM motor1;
NaotoMorita 107:78e6f7bee68e 131 extern FastPWM motor2;
cocorlow 56:888379912f81 132 extern PID pitchPID; // rad
cocorlow 56:888379912f81 133 extern PID pitchratePID;// rad/s
NaotoMorita 107:78e6f7bee68e 134 extern PID yawratePID;// rad/s
NaotoMorita 79:aa2631950f46 135 extern int itowVEL_log;
osaka 84:028bd650e8bc 136 extern solaESKF eskf;
cocorlow 56:888379912f81 137
NaotoMorita 104:f81befbc5ab7 138 extern Timer _t;
cocorlow 56:888379912f81 139 extern int loop_count;
NaotoMorita 104:f81befbc5ab7 140 extern float tstart;
NaotoMorita 104:f81befbc5ab7 141 extern float tgps;
NaotoMorita 106:36458fb9b5b7 142 extern float tsensors;
cocorlow 56:888379912f81 143 extern float att_dt;
cocorlow 56:888379912f81 144 extern float rc[16];
cocorlow 56:888379912f81 145
cocorlow 56:888379912f81 146 extern int16_t ax, ay, az;
cocorlow 56:888379912f81 147 extern int16_t gx, gy, gz;
cocorlow 56:888379912f81 148 extern float magval[3];
cocorlow 56:888379912f81 149
osaka 123:0a74e696f7a6 150 extern float voltage;
osaka 123:0a74e696f7a6 151 extern float current;
osaka 123:0a74e696f7a6 152
cocorlow 63:851e96f54a86 153 // elevator
cocorlow 63:851e96f54a86 154 extern float de;
cocorlow 63:851e96f54a86 155 extern float deobj;
NaotoMorita 107:78e6f7bee68e 156 extern float dr;
NaotoMorita 107:78e6f7bee68e 157 extern float drobj;
NaotoMorita 118:97ffe77b6f38 158 extern float dTl;
NaotoMorita 118:97ffe77b6f38 159 extern float dTr;
cocorlow 63:851e96f54a86 160
cocorlow 56:888379912f81 161 // position
osaka 83:0a644de28415 162 extern Matrix SensorAlignmentAG;
osaka 83:0a644de28415 163 extern Matrix SensorAlignmentMAG;
osaka 85:0b14a2a600fc 164 extern Matrix euler;
cocorlow 56:888379912f81 165 extern Vector3 rpy; // x:roll y:pitch z:yaw
cocorlow 56:888379912f81 166 extern Vector3 acc;
cocorlow 56:888379912f81 167 extern Vector3 accref;
cocorlow 56:888379912f81 168 extern Vector3 mag;
cocorlow 56:888379912f81 169 extern Vector3 magref;
cocorlow 56:888379912f81 170 extern Vector3 gyro;
NaotoMorita 120:9f4725deb5a6 171 extern Vector3 vi;
NaotoMorita 120:9f4725deb5a6 172 extern Vector3 pi;
osaka 83:0a644de28415 173 extern float palt;
osaka 83:0a644de28415 174 extern float palt0;
NaotoMorita 90:0b1f62f7a83a 175 extern bool gpsUpdateFlag;
NaotoMorita 106:36458fb9b5b7 176 extern bool sensorUpdateFlag;
NaotoMorita 106:36458fb9b5b7 177 extern int sensorUpdateID;
osaka 84:028bd650e8bc 178 extern float dynaccnorm2;
NaotoMorita 106:36458fb9b5b7 179 //extern float opt_vx;
NaotoMorita 106:36458fb9b5b7 180 //extern float opt_vy;
NaotoMorita 106:36458fb9b5b7 181 //extern const float theta_px;
NaotoMorita 106:36458fb9b5b7 182 //extern const float theta_py;
NaotoMorita 106:36458fb9b5b7 183 //extern const int pixel_x;
NaotoMorita 106:36458fb9b5b7 184 //extern const int pixel_y;
cocorlow 56:888379912f81 185
cocorlow 56:888379912f81 186
NaotoMorita 107:78e6f7bee68e 187 extern float scaledServoOut[2];
NaotoMorita 107:78e6f7bee68e 188 extern float servoOut[2];
NaotoMorita 107:78e6f7bee68e 189 extern float scaledMotorOut[2];
NaotoMorita 107:78e6f7bee68e 190 extern float motorOut[2];
cocorlow 56:888379912f81 191
cocorlow 56:888379912f81 192 extern int calibrationFlag;
cocorlow 56:888379912f81 193 extern int pos_tail; // 0:left 1:center 2:right
NaotoMorita 90:0b1f62f7a83a 194 extern float agoffset[6];
NaotoMorita 61:c05353850017 195 extern float magbiasMin[3];
NaotoMorita 61:c05353850017 196 extern float magbiasMax[3];
NaotoMorita 70:9e7be21475f8 197 extern float accMin[3];
NaotoMorita 70:9e7be21475f8 198 extern float accMax[3];
cocorlow 56:888379912f81 199
osaka 88:0fc5df2fddcb 200 extern float roll_offset;
osaka 88:0fc5df2fddcb 201 extern float pitch_offset;
cocorlow 56:888379912f81 202
cocorlow 56:888379912f81 203 // eepromのread writeのためのunionを定義
cocorlow 56:888379912f81 204 extern const int eeprom_address; // EEPROMの3つの入力が全て+より
cocorlow 56:888379912f81 205 extern const int eeprom_pointeraddress;
cocorlow 56:888379912f81 206
cocorlow 56:888379912f81 207 //// UsaPack
cocorlow 56:888379912f81 208 extern const int tail_address[3];
cocorlow 63:851e96f54a86 209 extern const int time_address;
NaotoMorita 73:be7a8b8188de 210 extern valuePack posValues;
NaotoMorita 73:be7a8b8188de 211 extern updatePack updateValues;
NaotoMorita 118:97ffe77b6f38 212 extern receivePack rp;
NaotoMorita 118:97ffe77b6f38 213 extern sendPack sp;
cocorlow 63:851e96f54a86 214 extern Timer system_dt;
cocorlow 56:888379912f81 215
cocorlow 56:888379912f81 216 // function
cocorlow 56:888379912f81 217
cocorlow 56:888379912f81 218 // main.cpp
cocorlow 56:888379912f81 219
cocorlow 56:888379912f81 220 // setup.cpp
cocorlow 56:888379912f81 221 extern void setup();
cocorlow 56:888379912f81 222 extern void calibrate();
NaotoMorita 70:9e7be21475f8 223 extern float accScaleCalibrate(int attNo);
osaka 88:0fc5df2fddcb 224 extern void alignment();
osaka 88:0fc5df2fddcb 225 extern int n_ave;
osaka 88:0fc5df2fddcb 226 extern float roll_sum;
osaka 88:0fc5df2fddcb 227 extern float pitch_sum;
NaotoMorita 104:f81befbc5ab7 228 extern void mainloopCalibration();
cocorlow 56:888379912f81 229
cocorlow 56:888379912f81 230 // run.cpp
osaka 87:981895e1d4f2 231 extern int gpsitow;
osaka 91:393b9ae62681 232 extern bool prefligt_finished;
cocorlow 56:888379912f81 233 extern void run();
cocorlow 56:888379912f81 234
NaotoMorita 104:f81befbc5ab7 235 // preflight.cpp
NaotoMorita 104:f81befbc5ab7 236 extern void preflightCalibration();
NaotoMorita 104:f81befbc5ab7 237 extern void preflightCheck();
NaotoMorita 104:f81befbc5ab7 238
osaka 103:34e911b94440 239 // sensor.cpp
cocorlow 56:888379912f81 240 extern void getIMUval();
NaotoMorita 120:9f4725deb5a6 241 extern void getGPSval();
osaka 103:34e911b94440 242 extern void calcOpticalVel();
osaka 124:59efdd87c211 243 extern void getElectricVal();
cocorlow 56:888379912f81 244
NaotoMorita 120:9f4725deb5a6 245 // hil.cpp
NaotoMorita 120:9f4725deb5a6 246 extern void getHilIMUval();
NaotoMorita 120:9f4725deb5a6 247 extern void getHilGPSval();
NaotoMorita 120:9f4725deb5a6 248 extern float randn();
NaotoMorita 120:9f4725deb5a6 249
cocorlow 56:888379912f81 250 // servo.cpp
cocorlow 56:888379912f81 251 extern void calcServoOut();
cocorlow 56:888379912f81 252
NaotoMorita 73:be7a8b8188de 253 // datatransfer.cpp
NaotoMorita 73:be7a8b8188de 254 extern void send2center();
NaotoMorita 118:97ffe77b6f38 255 extern void send2pc();
cocorlow 56:888379912f81 256 extern void writeEEPROM(int address, unsigned int eeaddress, char *data, int size);
cocorlow 56:888379912f81 257 extern void readEEPROM(int address, unsigned int eeaddress, char *data, int size);
cocorlow 56:888379912f81 258
cocorlow 56:888379912f81 259 // global.cpp
cocorlow 56:888379912f81 260 extern float mapfloat(float x, float in_min, float in_max, float out_min, float out_max);
osaka 84:028bd650e8bc 261 extern void setDiag(Matrix& mat, float val);
cocorlow 56:888379912f81 262
cocorlow 56:888379912f81 263 #endif