Diff: global.cpp

Revision:

56:888379912f81

Child:

58:a7947322db87

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/global.cpp	Mon May 31 18:59:36 2021 +0000
@@ -0,0 +1,75 @@
+#include "global.hpp"
+
+// var
+
+// communication
+Serial pc(USBTX, USBRX, 57600);
+I2C i2c(PB_9,PB_8);  // sda, scl
+UsaPack tail(PG_14, PG_9, 57600); // log - tail
+SBUS sbus(PD_5, PD_6);
+
+// sensor
+MPU6050 accelgyro;
+MAG3110 mag_sensor(PB_9,PB_8);
+
+// io
+DigitalIn userButton(USER_BUTTON);
+DigitalIn locdef1(PG_2);
+DigitalIn locdef2(PG_3);
+
+// control
+FastPWM servo(PE_9);
+PID pitchPID(5.0, 0,0, PID_dt); // rad
+PID pitchratePID(0.5, 0.0, 0.0, PID_dt); // rad/s
+HAPS_EKF ekf; // EKF class
+
+int loop_count = 0;
+int obs_count = 0;
+float att_dt = 0.01f;
+float rc[16];
+
+int16_t ax, ay, az;
+int16_t gx, gy, gz;
+MotionSensorDataUnits mdata;
+float magval[3] = {1.0f, 0.0f, 0.0f};
+
+// position
+Vector3 rpy(0.0f, 0.0f, 0.0f); // x:roll  y:pitch  z:yaw
+Vector3 rpy_g(0.0f, 0.0f, 0.0f); // x:roll  y:pitch  z:yaw
+Vector3 acc;
+Vector3 accref(0.0f, 0.0f, -0.98f);
+Vector3 mag;
+Vector3 magref(0.65f, 0.0f, 0.75f);
+Vector3 dynacc;
+Vector3 gyro;
+
+Vector3 LPacc(0.0f, 0.0f, 0.0f);
+Vector3 LPmag(0.0f, 0.0f, 0.0f);
+
+int out1, out2;
+float scaledServoOut[1] = {0.0f};
+float servoOut[1] = {1500.0f};
+
+float val_thmg = 0.0f;
+float th_mg = 0.0f;
+float accnormerr = 0.0f;
+
+int calibrationFlag = 0;
+int pos_tail = 0; // 0:left 1:center 2:right
+int agoffset[6] = {0, 0, 0, 386, -450, 48};
+float magbias[4] = {0.0f, 0.0f, 0.0f, 50.0f};
+
+Vector3 rpy_align(0.0f*M_PI/180.0f, 0.0f*M_PI/180.0f, 0.0f);
+
+// eepromのread writeのためのunionを定義
+const int eeprom_address = 0xAE; // EEPROMの3つの入力が全て+より
+const int eeprom_pointeraddress = 0;
+
+// UsaPack
+const int tail_address[3] = {1111, 2222, 3333};
+valuePack posValues[3];
+
+float mapfloat(float x, float in_min, float in_max, float out_min, float out_max)
+{
+    return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
+}
\ No newline at end of file