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

global.hpp@112:5a82800e1485, 2022-03-18 (annotated)

Committer:
osaka
Date:
Fri Mar 18 10:21:45 2022 +0000
Revision:
112:5a82800e1485
Parent:
107:78e6f7bee68e
Child:
114:ba221936d53a
autopilot (not tested)

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;
osaka 98:39e4d1844a24 67 float gps_acc;
NaotoMorita 106:36458fb9b5b7 68 float vx_opt;
NaotoMorita 106:36458fb9b5b7 69 float vy_opt;
osaka 103:34e911b94440 70 float dist_ir;
NaotoMorita 106:36458fb9b5b7 71 //float dt_opt;
cocorlow 56:888379912f81 72 };
cocorlow 56:888379912f81 73
NaotoMorita 107:78e6f7bee68e 74
cocorlow 56:888379912f81 75 // var
cocorlow 56:888379912f81 76
cocorlow 56:888379912f81 77 // communication
cocorlow 56:888379912f81 78 extern Serial pc;
cocorlow 56:888379912f81 79 extern I2C i2c; // sda, scl
cocorlow 56:888379912f81 80 extern UsaPack tail; // log - tail
cocorlow 56:888379912f81 81 extern SBUS sbus;
cocorlow 56:888379912f81 82
cocorlow 56:888379912f81 83 // sensor
osaka 83:0a644de28415 84 extern LSM9DS1 lsm;
osaka 83:0a644de28415 85 extern LPS lps;
osaka 83:0a644de28415 86 //extern UsaPack sensor1;
osaka 83:0a644de28415 87 //extern UsaPack sensor2;
NaotoMorita 61:c05353850017 88 extern CalibrateMagneto magCalibrator;
cocorlow 56:888379912f81 89
cocorlow 56:888379912f81 90 // io
cocorlow 56:888379912f81 91 extern DigitalIn userButton;
cocorlow 56:888379912f81 92 extern DigitalIn locdef1;
cocorlow 56:888379912f81 93 extern DigitalIn locdef2;
cocorlow 56:888379912f81 94
cocorlow 56:888379912f81 95 // control
cocorlow 56:888379912f81 96 extern FastPWM servo;
NaotoMorita 107:78e6f7bee68e 97 extern FastPWM rudServo;
NaotoMorita 107:78e6f7bee68e 98 extern FastPWM motor1;
NaotoMorita 107:78e6f7bee68e 99 extern FastPWM motor2;
cocorlow 56:888379912f81 100 extern PID pitchPID; // rad
cocorlow 56:888379912f81 101 extern PID pitchratePID;// rad/s
NaotoMorita 107:78e6f7bee68e 102 extern PID yawratePID;// rad/s
NaotoMorita 79:aa2631950f46 103 extern int itowVEL_log;
osaka 84:028bd650e8bc 104 extern solaESKF eskf;
cocorlow 56:888379912f81 105
NaotoMorita 104:f81befbc5ab7 106 extern Timer _t;
cocorlow 56:888379912f81 107 extern int loop_count;
NaotoMorita 104:f81befbc5ab7 108 extern float tstart;
NaotoMorita 104:f81befbc5ab7 109 extern float tgps;
NaotoMorita 106:36458fb9b5b7 110 extern float tsensors;
cocorlow 56:888379912f81 111 extern float att_dt;
cocorlow 56:888379912f81 112 extern float rc[16];
cocorlow 56:888379912f81 113
cocorlow 56:888379912f81 114 extern int16_t ax, ay, az;
cocorlow 56:888379912f81 115 extern int16_t gx, gy, gz;
cocorlow 56:888379912f81 116 extern float magval[3];
cocorlow 56:888379912f81 117
cocorlow 63:851e96f54a86 118 // elevator
cocorlow 63:851e96f54a86 119 extern float de;
cocorlow 63:851e96f54a86 120 extern float deobj;
NaotoMorita 107:78e6f7bee68e 121 extern float dr;
NaotoMorita 107:78e6f7bee68e 122 extern float drobj;
cocorlow 63:851e96f54a86 123
cocorlow 56:888379912f81 124 // position
osaka 83:0a644de28415 125 extern Matrix SensorAlignmentAG;
osaka 83:0a644de28415 126 extern Matrix SensorAlignmentMAG;
osaka 85:0b14a2a600fc 127 extern Matrix euler;
cocorlow 56:888379912f81 128 extern Vector3 rpy; // x:roll y:pitch z:yaw
cocorlow 56:888379912f81 129 extern Vector3 acc;
cocorlow 56:888379912f81 130 extern Vector3 accref;
cocorlow 56:888379912f81 131 extern Vector3 mag;
cocorlow 56:888379912f81 132 extern Vector3 magref;
cocorlow 56:888379912f81 133 extern Vector3 gyro;
NaotoMorita 71:62eb45ecffe9 134 extern Vector3 vb;
osaka 83:0a644de28415 135 extern float palt;
osaka 83:0a644de28415 136 extern float palt0;
NaotoMorita 90:0b1f62f7a83a 137 extern bool gpsUpdateFlag;
NaotoMorita 106:36458fb9b5b7 138 extern bool sensorUpdateFlag;
NaotoMorita 106:36458fb9b5b7 139 extern int sensorUpdateID;
osaka 84:028bd650e8bc 140 extern float dynaccnorm2;
NaotoMorita 106:36458fb9b5b7 141 //extern float opt_vx;
NaotoMorita 106:36458fb9b5b7 142 //extern float opt_vy;
NaotoMorita 106:36458fb9b5b7 143 //extern const float theta_px;
NaotoMorita 106:36458fb9b5b7 144 //extern const float theta_py;
NaotoMorita 106:36458fb9b5b7 145 //extern const int pixel_x;
NaotoMorita 106:36458fb9b5b7 146 //extern const int pixel_y;
cocorlow 56:888379912f81 147
cocorlow 56:888379912f81 148
NaotoMorita 107:78e6f7bee68e 149 extern float scaledServoOut[2];
NaotoMorita 107:78e6f7bee68e 150 extern float servoOut[2];
NaotoMorita 107:78e6f7bee68e 151 extern float scaledMotorOut[2];
NaotoMorita 107:78e6f7bee68e 152 extern float motorOut[2];
cocorlow 56:888379912f81 153
cocorlow 56:888379912f81 154 extern int calibrationFlag;
cocorlow 56:888379912f81 155 extern int pos_tail; // 0:left 1:center 2:right
NaotoMorita 90:0b1f62f7a83a 156 extern float agoffset[6];
NaotoMorita 61:c05353850017 157 extern float magbiasMin[3];
NaotoMorita 61:c05353850017 158 extern float magbiasMax[3];
NaotoMorita 70:9e7be21475f8 159 extern float accMin[3];
NaotoMorita 70:9e7be21475f8 160 extern float accMax[3];
cocorlow 56:888379912f81 161
osaka 88:0fc5df2fddcb 162 extern float roll_offset;
osaka 88:0fc5df2fddcb 163 extern float pitch_offset;
cocorlow 56:888379912f81 164
cocorlow 56:888379912f81 165 // eepromのread writeのためのunionを定義
cocorlow 56:888379912f81 166 extern const int eeprom_address; // EEPROMの3つの入力が全て+より
cocorlow 56:888379912f81 167 extern const int eeprom_pointeraddress;
cocorlow 56:888379912f81 168
cocorlow 56:888379912f81 169 //// UsaPack
cocorlow 56:888379912f81 170 extern const int tail_address[3];
cocorlow 63:851e96f54a86 171 extern const int time_address;
NaotoMorita 73:be7a8b8188de 172 extern valuePack posValues;
NaotoMorita 73:be7a8b8188de 173 extern updatePack updateValues;
cocorlow 63:851e96f54a86 174 extern Timer system_dt;
cocorlow 56:888379912f81 175
cocorlow 56:888379912f81 176 // function
cocorlow 56:888379912f81 177
cocorlow 56:888379912f81 178 // main.cpp
cocorlow 56:888379912f81 179
cocorlow 56:888379912f81 180 // setup.cpp
cocorlow 56:888379912f81 181 extern void setup();
cocorlow 56:888379912f81 182 extern void calibrate();
NaotoMorita 70:9e7be21475f8 183 extern float accScaleCalibrate(int attNo);
osaka 88:0fc5df2fddcb 184 extern void alignment();
osaka 88:0fc5df2fddcb 185 extern int n_ave;
osaka 88:0fc5df2fddcb 186 extern float roll_sum;
osaka 88:0fc5df2fddcb 187 extern float pitch_sum;
NaotoMorita 104:f81befbc5ab7 188 extern void mainloopCalibration();
cocorlow 56:888379912f81 189
cocorlow 56:888379912f81 190 // run.cpp
osaka 87:981895e1d4f2 191 extern int gpsitow;
osaka 91:393b9ae62681 192 extern bool prefligt_finished;
cocorlow 56:888379912f81 193 extern void run();
cocorlow 56:888379912f81 194
NaotoMorita 104:f81befbc5ab7 195 // preflight.cpp
NaotoMorita 104:f81befbc5ab7 196 extern void preflightCalibration();
NaotoMorita 104:f81befbc5ab7 197 extern void preflightCheck();
NaotoMorita 104:f81befbc5ab7 198
osaka 103:34e911b94440 199 // sensor.cpp
cocorlow 56:888379912f81 200 extern void getIMUval();
osaka 103:34e911b94440 201 extern void calcOpticalVel();
cocorlow 56:888379912f81 202
cocorlow 56:888379912f81 203 // servo.cpp
cocorlow 56:888379912f81 204 extern void calcServoOut();
cocorlow 56:888379912f81 205
NaotoMorita 73:be7a8b8188de 206 // datatransfer.cpp
NaotoMorita 73:be7a8b8188de 207 extern void send2center();
cocorlow 56:888379912f81 208 extern void writeEEPROM(int address, unsigned int eeaddress, char *data, int size);
cocorlow 56:888379912f81 209 extern void readEEPROM(int address, unsigned int eeaddress, char *data, int size);
cocorlow 56:888379912f81 210
cocorlow 56:888379912f81 211 // global.cpp
cocorlow 56:888379912f81 212 extern float mapfloat(float x, float in_min, float in_max, float out_min, float out_max);
osaka 84:028bd650e8bc 213 extern void setDiag(Matrix& mat, float val);
cocorlow 56:888379912f81 214
cocorlow 56:888379912f81 215 #endif