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@82:c183c29d2427, 2021-09-16 (annotated)

Committer:
NaotoMorita
Date:
Thu Sep 16 09:30:21 2021 +0000
Revision:
82:c183c29d2427
Parent:
77:2bf856e3eca4
Child:
83:e69ab831031c
velocity fuse

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 76:7fd3ac1afe3e 16 #include "ScErrStateEKF.hpp"
NaotoMorita 70:99f974d8960e 17 #include "MedianFilter.hpp"
NaotoMorita 73:84ffa0166e6c 18 #include "Joystick.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
cocorlow 56:888379912f81 23 #define ACCEL_FSR MPU6050_ACCEL_FS_8
cocorlow 56:888379912f81 24 #define ACCEL_SSF 4096.0f
NaotoMorita 70:99f974d8960e 25 #define GYRO_FSR MPU6050_GYRO_FS_250
NaotoMorita 70:99f974d8960e 26 #define GYRO_SSF 131.0f
NaotoMorita 73:84ffa0166e6c 27 #define MPU6050_LPF MPU6050_DLPF_BW_42
NaotoMorita 73:84ffa0166e6c 28 #define MPU6050_SAMPLERATE 0
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
cocorlow 56:888379912f81 34
cocorlow 56:888379912f81 35 struct valuePack
cocorlow 56:888379912f81 36 {
NaotoMorita 73:84ffa0166e6c 37 int16_t accData[3];
NaotoMorita 73:84ffa0166e6c 38 int16_t gyroData[3];
NaotoMorita 73:84ffa0166e6c 39 int16_t magData[3];
NaotoMorita 82:c183c29d2427 40 int16_t viData[3];
NaotoMorita 76:7fd3ac1afe3e 41 int16_t actData[4];
NaotoMorita 76:7fd3ac1afe3e 42 int16_t commandIndex;
NaotoMorita 76:7fd3ac1afe3e 43 float commandVal;
cocorlow 56:888379912f81 44 };
cocorlow 56:888379912f81 45
cocorlow 56:888379912f81 46 // var
cocorlow 56:888379912f81 47
cocorlow 56:888379912f81 48 // communication
cocorlow 56:888379912f81 49 extern I2C i2c; // sda, scl
NaotoMorita 64:e9661430f0e3 50 extern UsaPack pc; // log - tail
NaotoMorita 76:7fd3ac1afe3e 51 extern Serial sd;
cocorlow 56:888379912f81 52
cocorlow 56:888379912f81 53 // sensor
cocorlow 56:888379912f81 54 extern MPU6050 accelgyro;
cocorlow 56:888379912f81 55 extern MAG3110 mag_sensor;
NaotoMorita 61:c05353850017 56 extern CalibrateMagneto magCalibrator;
cocorlow 56:888379912f81 57
cocorlow 56:888379912f81 58 // io
cocorlow 56:888379912f81 59 extern DigitalIn userButton;
NaotoMorita 70:99f974d8960e 60 extern SBUS sbus;
NaotoMorita 73:84ffa0166e6c 61 extern Joystick joystick;
cocorlow 56:888379912f81 62
cocorlow 56:888379912f81 63 // control
NaotoMorita 70:99f974d8960e 64 extern FastPWM servoRight;
NaotoMorita 70:99f974d8960e 65 extern FastPWM servoLeft;
NaotoMorita 70:99f974d8960e 66 extern FastPWM servoThrust;
NaotoMorita 70:99f974d8960e 67 extern PID pitchPID; //rad
NaotoMorita 70:99f974d8960e 68 extern PID pitchratePID;//rad/s
NaotoMorita 70:99f974d8960e 69 extern PID rollPID;
NaotoMorita 70:99f974d8960e 70 extern PID rollratePID;//rad/s
NaotoMorita 76:7fd3ac1afe3e 71 extern ScErrStateEKF ekf; // EKF class
NaotoMorita 76:7fd3ac1afe3e 72 extern int obsCount;
cocorlow 56:888379912f81 73
NaotoMorita 70:99f974d8960e 74 extern float rc[16];
cocorlow 56:888379912f81 75 extern int loop_count;
cocorlow 56:888379912f81 76 extern float att_dt;
cocorlow 56:888379912f81 77
cocorlow 56:888379912f81 78 extern int16_t ax, ay, az;
cocorlow 56:888379912f81 79 extern int16_t gx, gy, gz;
cocorlow 56:888379912f81 80 extern MotionSensorDataUnits mdata;
cocorlow 56:888379912f81 81 extern float magval[3];
cocorlow 56:888379912f81 82
NaotoMorita 70:99f974d8960e 83
cocorlow 56:888379912f81 84 // position
cocorlow 56:888379912f81 85 extern Vector3 rpy; // x:roll y:pitch z:yaw
cocorlow 56:888379912f81 86 extern Vector3 acc;
cocorlow 56:888379912f81 87 extern Vector3 accref;
NaotoMorita 68:b9f6938fab9d 88 extern Vector3 dynacc;
cocorlow 56:888379912f81 89 extern Vector3 mag;
cocorlow 56:888379912f81 90 extern Vector3 magref;
cocorlow 56:888379912f81 91 extern Vector3 gyro;
NaotoMorita 77:2bf856e3eca4 92 extern Vector3 vb;
NaotoMorita 82:c183c29d2427 93 extern Vector3 vi;
NaotoMorita 73:84ffa0166e6c 94 extern float de;
NaotoMorita 73:84ffa0166e6c 95 extern float da;
NaotoMorita 73:84ffa0166e6c 96 extern float dT;
NaotoMorita 70:99f974d8960e 97 extern MedianFilter accMedian;
NaotoMorita 70:99f974d8960e 98 extern MedianFilter gyroMedian;
NaotoMorita 70:99f974d8960e 99 extern MedianFilter magMedian;
cocorlow 56:888379912f81 100
NaotoMorita 64:e9661430f0e3 101 extern float scaledServoOut[2];
NaotoMorita 70:99f974d8960e 102 extern float scaledMotorOut[1];
NaotoMorita 64:e9661430f0e3 103 extern float servoOut[2];
NaotoMorita 70:99f974d8960e 104 extern float motorOut[1];
cocorlow 56:888379912f81 105
NaotoMorita 61:c05353850017 106
cocorlow 56:888379912f81 107 extern int calibrationFlag;
cocorlow 56:888379912f81 108 extern int agoffset[6];
NaotoMorita 61:c05353850017 109 extern float magbiasMin[3];
NaotoMorita 61:c05353850017 110 extern float magbiasMax[3];
NaotoMorita 76:7fd3ac1afe3e 111 extern float magbias[4];
NaotoMorita 70:99f974d8960e 112 extern float accMin[3];
NaotoMorita 70:99f974d8960e 113 extern float accMax[3];
cocorlow 56:888379912f81 114
cocorlow 56:888379912f81 115 extern Vector3 rpy_align;
cocorlow 56:888379912f81 116
cocorlow 56:888379912f81 117
cocorlow 56:888379912f81 118 //// UsaPack
NaotoMorita 73:84ffa0166e6c 119 extern valuePack vp;
NaotoMorita 73:84ffa0166e6c 120
NaotoMorita 73:84ffa0166e6c 121 // HIL
NaotoMorita 73:84ffa0166e6c 122 extern bool hilFlag;
NaotoMorita 76:7fd3ac1afe3e 123 extern bool serialControlSource;
NaotoMorita 76:7fd3ac1afe3e 124 extern bool serialParamSource;
NaotoMorita 76:7fd3ac1afe3e 125 extern int checkParamSerial[5];
cocorlow 56:888379912f81 126 // function
cocorlow 56:888379912f81 127
cocorlow 56:888379912f81 128 // main.cpp
cocorlow 56:888379912f81 129
cocorlow 56:888379912f81 130 // setup.cpp
cocorlow 56:888379912f81 131 extern void setup();
cocorlow 56:888379912f81 132 extern void calibrate();
NaotoMorita 70:99f974d8960e 133 extern float accScaleCalibrate(int attNo);
cocorlow 56:888379912f81 134
cocorlow 56:888379912f81 135 // run.cpp
cocorlow 56:888379912f81 136 extern void run();
cocorlow 56:888379912f81 137
cocorlow 56:888379912f81 138 // imu.cpp
cocorlow 56:888379912f81 139 extern void getIMUval();
cocorlow 56:888379912f81 140
NaotoMorita 73:84ffa0166e6c 141 // hil.cpp
NaotoMorita 73:84ffa0166e6c 142 extern void getHILval();
NaotoMorita 73:84ffa0166e6c 143 extern float randn();
NaotoMorita 73:84ffa0166e6c 144
cocorlow 56:888379912f81 145 // servo.cpp
cocorlow 56:888379912f81 146 extern void calcServoOut();
cocorlow 56:888379912f81 147
cocorlow 56:888379912f81 148 // sd_eeprom.cpp
cocorlow 56:888379912f81 149 extern void writeSdcard();
cocorlow 56:888379912f81 150
cocorlow 56:888379912f81 151 // global.cpp
cocorlow 56:888379912f81 152 extern float mapfloat(float x, float in_min, float in_max, float out_min, float out_max);
cocorlow 56:888379912f81 153
NaotoMorita 67:41fcdfb7cc5a 154
cocorlow 56:888379912f81 155 #endif