HAPSRG / Mbed 2 deprecated hexaTest_Eigen

solaESKF_EIGEN

Dependencies:   mbed LPS25HB_I2C LSM9DS1 PIDcontroller LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM

global.hpp@70:99f974d8960e, 2021-06-29 (annotated)

Committer:
NaotoMorita
Date:
Tue Jun 29 08:07:55 2021 +0000
Revision:
70:99f974d8960e
Parent:
68:b9f6938fab9d
Child:
73:84ffa0166e6c
commit

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"
NaotoMorita 70:99f974d8960e 5 #include "SBUS.hpp"
cocorlow 56:888379912f81 6 #include "PIDcontroller.h"
cocorlow 56:888379912f81 7 #include "LoopTicker.hpp"
cocorlow 56:888379912f81 8 #include "MPU6050.h"
cocorlow 56:888379912f81 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 67:41fcdfb7cc5a 16 #include "errStateEKF.hpp"
NaotoMorita 70:99f974d8960e 17 #include "MedianFilter.hpp"
cocorlow 56:888379912f81 18
cocorlow 56:888379912f81 19 #define MPU6050_PWR_MGMT_1 0x6B
cocorlow 56:888379912f81 20 #define MPU_ADDRESS 0x68
cocorlow 56:888379912f81 21 #define M_PI 3.141592f
cocorlow 56:888379912f81 22 #define ACCEL_FSR MPU6050_ACCEL_FS_8
cocorlow 56:888379912f81 23 #define ACCEL_SSF 4096.0f
NaotoMorita 70:99f974d8960e 24 #define GYRO_FSR MPU6050_GYRO_FS_250
NaotoMorita 70:99f974d8960e 25 #define GYRO_SSF 131.0f
cocorlow 56:888379912f81 26 #define MPU6050_LPF MPU6050_DLPF_BW_256
cocorlow 56:888379912f81 27 #define PID_dt 0.015f
cocorlow 56:888379912f81 28 #define servoPwmMax 1800.0f
cocorlow 56:888379912f81 29 #define servoPwmMin 1200.0f
cocorlow 56:888379912f81 30 #define motorPwmMax 2000.0f
cocorlow 56:888379912f81 31 #define motorPwmMin 1100.0f
cocorlow 56:888379912f81 32
cocorlow 56:888379912f81 33 struct valuePack
cocorlow 56:888379912f81 34 {
cocorlow 56:888379912f81 35 float dt;
cocorlow 56:888379912f81 36 int count;
NaotoMorita 68:b9f6938fab9d 37 float acc_vp[3];
NaotoMorita 68:b9f6938fab9d 38 float gyro_vp[3];
NaotoMorita 68:b9f6938fab9d 39 float mag_vp[3];
NaotoMorita 68:b9f6938fab9d 40 float rpy_vp[3];
cocorlow 56:888379912f81 41 };
cocorlow 56:888379912f81 42
cocorlow 56:888379912f81 43 // var
cocorlow 56:888379912f81 44
cocorlow 56:888379912f81 45 // communication
cocorlow 56:888379912f81 46 extern I2C i2c; // sda, scl
NaotoMorita 64:e9661430f0e3 47 extern UsaPack pc; // log - tail
cocorlow 56:888379912f81 48
cocorlow 56:888379912f81 49 // sensor
cocorlow 56:888379912f81 50 extern MPU6050 accelgyro;
cocorlow 56:888379912f81 51 extern MAG3110 mag_sensor;
NaotoMorita 61:c05353850017 52 extern CalibrateMagneto magCalibrator;
cocorlow 56:888379912f81 53
cocorlow 56:888379912f81 54 // io
cocorlow 56:888379912f81 55 extern DigitalIn userButton;
NaotoMorita 70:99f974d8960e 56 extern SBUS sbus;
cocorlow 56:888379912f81 57
cocorlow 56:888379912f81 58 // control
NaotoMorita 70:99f974d8960e 59 extern FastPWM servoRight;
NaotoMorita 70:99f974d8960e 60 extern FastPWM servoLeft;
NaotoMorita 70:99f974d8960e 61 extern FastPWM servoThrust;
NaotoMorita 70:99f974d8960e 62 extern PID pitchPID; //rad
NaotoMorita 70:99f974d8960e 63 extern PID pitchratePID;//rad/s
NaotoMorita 70:99f974d8960e 64 extern PID rollPID;
NaotoMorita 70:99f974d8960e 65 extern PID rollratePID;//rad/s
NaotoMorita 67:41fcdfb7cc5a 66 extern errStateEKF ekf; // EKF class
cocorlow 56:888379912f81 67
NaotoMorita 70:99f974d8960e 68 extern float rc[16];
cocorlow 56:888379912f81 69 extern int loop_count;
cocorlow 56:888379912f81 70 extern float att_dt;
cocorlow 56:888379912f81 71
cocorlow 56:888379912f81 72 extern int16_t ax, ay, az;
cocorlow 56:888379912f81 73 extern int16_t gx, gy, gz;
cocorlow 56:888379912f81 74 extern MotionSensorDataUnits mdata;
cocorlow 56:888379912f81 75 extern float magval[3];
cocorlow 56:888379912f81 76
NaotoMorita 70:99f974d8960e 77
cocorlow 56:888379912f81 78 // position
cocorlow 56:888379912f81 79 extern Vector3 rpy; // x:roll y:pitch z:yaw
cocorlow 56:888379912f81 80 extern Vector3 acc;
cocorlow 56:888379912f81 81 extern Vector3 accref;
NaotoMorita 68:b9f6938fab9d 82 extern Vector3 dynacc;
cocorlow 56:888379912f81 83 extern Vector3 mag;
cocorlow 56:888379912f81 84 extern Vector3 magref;
cocorlow 56:888379912f81 85 extern Vector3 gyro;
NaotoMorita 70:99f974d8960e 86 extern MedianFilter accMedian;
NaotoMorita 70:99f974d8960e 87 extern MedianFilter gyroMedian;
NaotoMorita 70:99f974d8960e 88 extern MedianFilter magMedian;
cocorlow 56:888379912f81 89
NaotoMorita 64:e9661430f0e3 90 extern float scaledServoOut[2];
NaotoMorita 70:99f974d8960e 91 extern float scaledMotorOut[1];
NaotoMorita 64:e9661430f0e3 92 extern float servoOut[2];
NaotoMorita 70:99f974d8960e 93 extern float motorOut[1];
cocorlow 56:888379912f81 94
NaotoMorita 61:c05353850017 95
cocorlow 56:888379912f81 96 extern int calibrationFlag;
cocorlow 56:888379912f81 97 extern int agoffset[6];
NaotoMorita 61:c05353850017 98 extern float magbiasMin[3];
NaotoMorita 61:c05353850017 99 extern float magbiasMax[3];
NaotoMorita 70:99f974d8960e 100 extern float accMin[3];
NaotoMorita 70:99f974d8960e 101 extern float accMax[3];
cocorlow 56:888379912f81 102
cocorlow 56:888379912f81 103 extern Vector3 rpy_align;
cocorlow 56:888379912f81 104
cocorlow 56:888379912f81 105
cocorlow 56:888379912f81 106 //// UsaPack
NaotoMorita 64:e9661430f0e3 107 extern valuePack posValues;
cocorlow 56:888379912f81 108
cocorlow 56:888379912f81 109 // function
cocorlow 56:888379912f81 110
cocorlow 56:888379912f81 111 // main.cpp
cocorlow 56:888379912f81 112
cocorlow 56:888379912f81 113 // setup.cpp
cocorlow 56:888379912f81 114 extern void setup();
cocorlow 56:888379912f81 115 extern void calibrate();
NaotoMorita 70:99f974d8960e 116 extern float accScaleCalibrate(int attNo);
cocorlow 56:888379912f81 117
cocorlow 56:888379912f81 118 // run.cpp
cocorlow 56:888379912f81 119 extern void run();
cocorlow 56:888379912f81 120
cocorlow 56:888379912f81 121 // imu.cpp
cocorlow 56:888379912f81 122 extern void getIMUval();
cocorlow 56:888379912f81 123
cocorlow 56:888379912f81 124 // servo.cpp
cocorlow 56:888379912f81 125 extern void calcServoOut();
cocorlow 56:888379912f81 126
cocorlow 56:888379912f81 127 // sd_eeprom.cpp
cocorlow 56:888379912f81 128 extern void writeSdcard();
cocorlow 56:888379912f81 129
cocorlow 56:888379912f81 130 // global.cpp
cocorlow 56:888379912f81 131 extern float mapfloat(float x, float in_min, float in_max, float out_min, float out_max);
cocorlow 56:888379912f81 132
NaotoMorita 67:41fcdfb7cc5a 133
cocorlow 56:888379912f81 134 #endif