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

global.hpp@77:b06a5f8554f4, 2021-09-29 (annotated)

Committer:
osaka
Date:
Wed Sep 29 01:44:17 2021 +0000
Revision:
77:b06a5f8554f4
Parent:
73:be7a8b8188de 
for PmodNAV

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 77:b06a5f8554f4 8 //#include "MPU6050.h"
osaka 77:b06a5f8554f4 9 //#include "MAG3110.h"
NaotoMorita 61:c05353850017 10 #include "CalibrateMagneto.h"
cocorlow 56:888379912f81 11 #include "I2Cdev.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"
NaotoMorita 71:62eb45ecffe9 16 #include "ScErrStateEKF.hpp"
NaotoMorita 70:9e7be21475f8 17 #include "MedianFilter.hpp"
osaka 77:b06a5f8554f4 18 #include "LSM9DS1.h"
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
osaka 77:b06a5f8554f4 23 //#define ACCEL_FSR MPU6050_ACCEL_FS_8
osaka 77:b06a5f8554f4 24 #define ACCEL_SSF 1/(0.244f*0.001f)
osaka 77:b06a5f8554f4 25 //#define GYRO_FSR MPU6050_GYRO_FS_250
osaka 77:b06a5f8554f4 26 #define GYRO_SSF 1/(8.75f*0.001f)
osaka 77:b06a5f8554f4 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
cocorlow 56:888379912f81 30 #define servoPwmMax 1800.0f
cocorlow 56:888379912f81 31 #define servoPwmMin 1200.0f
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 {
cocorlow 56:888379912f81 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, 8~10: acc bias
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 63:851e96f54a86 45 int day;
cocorlow 63:851e96f54a86 46 int ms;
NaotoMorita 73:be7a8b8188de 47 float gyroBias[3];
NaotoMorita 73:be7a8b8188de 48 float gyroBiasCov[6];
cocorlow 56:888379912f81 49 float acc[3];
cocorlow 56:888379912f81 50 float gyro[3];
cocorlow 56:888379912f81 51 float mag[3];
cocorlow 56:888379912f81 52 float rpy[3];
cocorlow 63:851e96f54a86 53 float de;
cocorlow 63:851e96f54a86 54 float deobj;
NaotoMorita 73:be7a8b8188de 55 float rc[5];
cocorlow 63:851e96f54a86 56 };
cocorlow 63:851e96f54a86 57
NaotoMorita 73:be7a8b8188de 58 struct updatePack
cocorlow 63:851e96f54a86 59 {
cocorlow 63:851e96f54a86 60 int day;
cocorlow 63:851e96f54a86 61 int ms;
NaotoMorita 73:be7a8b8188de 62 float gyroBias[3];
NaotoMorita 73:be7a8b8188de 63 float de_command;
cocorlow 56:888379912f81 64 };
cocorlow 56:888379912f81 65
cocorlow 56:888379912f81 66 // var
cocorlow 56:888379912f81 67
cocorlow 56:888379912f81 68 // communication
cocorlow 56:888379912f81 69 extern Serial pc;
cocorlow 56:888379912f81 70 extern I2C i2c; // sda, scl
cocorlow 56:888379912f81 71 extern UsaPack tail; // log - tail
cocorlow 56:888379912f81 72 extern SBUS sbus;
cocorlow 56:888379912f81 73
cocorlow 56:888379912f81 74 // sensor
osaka 77:b06a5f8554f4 75 //extern MPU6050 accelgyro;
osaka 77:b06a5f8554f4 76 //extern MAG3110 mag_sensor;
osaka 77:b06a5f8554f4 77 extern LSM9DS1 lsm; //PmodNAV
NaotoMorita 61:c05353850017 78 extern CalibrateMagneto magCalibrator;
cocorlow 56:888379912f81 79
cocorlow 56:888379912f81 80 // io
cocorlow 56:888379912f81 81 extern DigitalIn userButton;
cocorlow 56:888379912f81 82 extern DigitalIn locdef1;
cocorlow 56:888379912f81 83 extern DigitalIn locdef2;
cocorlow 56:888379912f81 84
cocorlow 56:888379912f81 85 // control
cocorlow 56:888379912f81 86 extern FastPWM servo;
cocorlow 56:888379912f81 87 extern PID pitchPID; // rad
cocorlow 56:888379912f81 88 extern PID pitchratePID;// rad/s
NaotoMorita 71:62eb45ecffe9 89 extern ScErrStateEKF ekf; // EKF class
NaotoMorita 71:62eb45ecffe9 90 extern int obsCount;
cocorlow 56:888379912f81 91
cocorlow 56:888379912f81 92 extern int loop_count;
cocorlow 56:888379912f81 93 extern float att_dt;
cocorlow 56:888379912f81 94 extern float rc[16];
cocorlow 56:888379912f81 95
cocorlow 56:888379912f81 96 extern int16_t ax, ay, az;
cocorlow 56:888379912f81 97 extern int16_t gx, gy, gz;
osaka 77:b06a5f8554f4 98 //extern MotionSensorDataUnits mdata;
cocorlow 56:888379912f81 99 extern float magval[3];
cocorlow 56:888379912f81 100
cocorlow 63:851e96f54a86 101 // elevator
cocorlow 63:851e96f54a86 102 extern float de;
cocorlow 63:851e96f54a86 103 extern float deobj;
cocorlow 63:851e96f54a86 104
cocorlow 56:888379912f81 105 // position
cocorlow 56:888379912f81 106 extern Vector3 rpy; // x:roll y:pitch z:yaw
cocorlow 56:888379912f81 107 extern Vector3 acc;
cocorlow 56:888379912f81 108 extern Vector3 accref;
cocorlow 56:888379912f81 109 extern Vector3 mag;
cocorlow 56:888379912f81 110 extern Vector3 magref;
cocorlow 56:888379912f81 111 extern Vector3 gyro;
NaotoMorita 71:62eb45ecffe9 112 extern Vector3 vb;
NaotoMorita 70:9e7be21475f8 113 extern MedianFilter accMedian;
NaotoMorita 70:9e7be21475f8 114 extern MedianFilter gyroMedian;
NaotoMorita 70:9e7be21475f8 115 extern MedianFilter magMedian;
cocorlow 56:888379912f81 116
cocorlow 56:888379912f81 117
cocorlow 56:888379912f81 118 extern float scaledServoOut[1];
cocorlow 56:888379912f81 119 extern float servoOut[1];
cocorlow 56:888379912f81 120
cocorlow 56:888379912f81 121
cocorlow 56:888379912f81 122 extern float val_thmg;
NaotoMorita 61:c05353850017 123 extern float sigma_thmg;
cocorlow 56:888379912f81 124 extern float th_mg;
cocorlow 56:888379912f81 125 extern float accnormerr;
NaotoMorita 61:c05353850017 126 extern float sigma_accnorm;
NaotoMorita 61:c05353850017 127
cocorlow 56:888379912f81 128 extern int calibrationFlag;
cocorlow 56:888379912f81 129 extern int pos_tail; // 0:left 1:center 2:right
cocorlow 56:888379912f81 130 extern int agoffset[6];
NaotoMorita 61:c05353850017 131 extern float magbiasMin[3];
NaotoMorita 61:c05353850017 132 extern float magbiasMax[3];
NaotoMorita 70:9e7be21475f8 133 extern float accMin[3];
NaotoMorita 70:9e7be21475f8 134 extern float accMax[3];
cocorlow 56:888379912f81 135
cocorlow 56:888379912f81 136 extern Vector3 rpy_align;
cocorlow 56:888379912f81 137
cocorlow 56:888379912f81 138 // eepromのread writeのためのunionを定義
cocorlow 56:888379912f81 139 extern const int eeprom_address; // EEPROMの3つの入力が全て+より
cocorlow 56:888379912f81 140 extern const int eeprom_pointeraddress;
cocorlow 56:888379912f81 141
cocorlow 56:888379912f81 142 //// UsaPack
cocorlow 56:888379912f81 143 extern const int tail_address[3];
cocorlow 63:851e96f54a86 144 extern const int time_address;
NaotoMorita 73:be7a8b8188de 145 extern valuePack posValues;
NaotoMorita 73:be7a8b8188de 146 extern updatePack updateValues;
cocorlow 63:851e96f54a86 147 extern Timer system_dt;
cocorlow 56:888379912f81 148
cocorlow 56:888379912f81 149 // function
cocorlow 56:888379912f81 150
cocorlow 56:888379912f81 151 // main.cpp
cocorlow 56:888379912f81 152
cocorlow 56:888379912f81 153 // setup.cpp
cocorlow 56:888379912f81 154 extern void setup();
cocorlow 56:888379912f81 155 extern void calibrate();
NaotoMorita 70:9e7be21475f8 156 extern float accScaleCalibrate(int attNo);
cocorlow 56:888379912f81 157
cocorlow 56:888379912f81 158 // run.cpp
cocorlow 56:888379912f81 159 extern void run();
cocorlow 56:888379912f81 160
cocorlow 56:888379912f81 161 // imu.cpp
cocorlow 56:888379912f81 162 extern void getIMUval();
cocorlow 56:888379912f81 163
cocorlow 56:888379912f81 164 // servo.cpp
cocorlow 56:888379912f81 165 extern void calcServoOut();
cocorlow 56:888379912f81 166
NaotoMorita 73:be7a8b8188de 167 // datatransfer.cpp
NaotoMorita 73:be7a8b8188de 168 extern void send2center();
cocorlow 56:888379912f81 169 extern void writeEEPROM(int address, unsigned int eeaddress, char *data, int size);
cocorlow 56:888379912f81 170 extern void readEEPROM(int address, unsigned int eeaddress, char *data, int size);
cocorlow 56:888379912f81 171
cocorlow 56:888379912f81 172 // global.cpp
cocorlow 56:888379912f81 173 extern float mapfloat(float x, float in_min, float in_max, float out_min, float out_max);
cocorlow 56:888379912f81 174
cocorlow 56:888379912f81 175 #endif