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

global.hpp@120:9f4725deb5a6, 2022-03-31 (annotated)

Committer:
NaotoMorita
Date:
Thu Mar 31 03:33:28 2022 +0000
Revision:
120:9f4725deb5a6
Parent:
119:43ac44c68ff0
Child:
121:1d5b3e1f0d21
hil

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