Diff: global.hpp

Revision:

118:97ffe77b6f38

Parent:

117:8cedc59454c4

Child:

119:43ac44c68ff0

--- a/global.hpp	Wed Mar 30 04:47:36 2022 +0000
+++ b/global.hpp	Wed Mar 30 05:30:13 2022 +0000
@@ -64,7 +64,6 @@
     float pi[3];
     float de_command;
     float dT_command;
-    float dr_command;
     float gps_acc;
     float vx_opt;
     float vy_opt;
@@ -73,11 +72,30 @@
     float heading;
 };
 
+struct receivePack
+{
+    int16_t accData[3];
+    int16_t gyroData[3];
+    int16_t magData[3];
+    int16_t actData[4];
+    int16_t commandIndex;
+    int16_t commandVal;
+};
+struct sendPack
+{
+    float pos_tail;
+    float de;
+    float dTl;
+    float dTr;
+    float dr;
+    float rpy[3];
+};
+
 
 // var
 
 // communication
-extern Serial pc;
+extern UsaPack pc;
 extern I2C i2c;  // sda, scl
 extern UsaPack tail; // log - tail
 extern SBUS sbus;
@@ -122,6 +140,8 @@
 extern float deobj;
 extern float dr;
 extern float drobj;
+extern float dTl;
+extern float dTr;
 
 // position
 extern Matrix SensorAlignmentAG;
@@ -173,6 +193,8 @@
 extern const int time_address;
 extern valuePack posValues;
 extern updatePack updateValues;
+extern receivePack rp;
+extern sendPack sp;
 extern Timer system_dt;
 
 // function
@@ -207,6 +229,7 @@
 
 // datatransfer.cpp
 extern void send2center();
+extern void send2pc();
 extern void writeEEPROM(int address, unsigned int eeaddress, char *data, int size);
 extern void readEEPROM(int address, unsigned int eeaddress, char *data, int size);