HAPSRG / Mbed 2 deprecated optWingforHAPS_Eigen

Eigen Revision

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

global.hpp@104:20b8caa29185, 2021-11-10 (annotated)

Committer:
NaotoMorita
Date:
Wed Nov 10 06:34:16 2021 +0000
Revision:
104:20b8caa29185
Parent:
102:1c77ff6e2a85
Child:
106:2d854e92cebb
Child:
107:46e039e12182
mag implemented

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 "FastPWM.h"
cocorlow 56:888379912f81 9 #include <cmath>
cocorlow 56:888379912f81 10 #include "UsaPack.hpp"
cocorlow 56:888379912f81 11 #include "Vector3.hpp"
osaka 87:89bbbcdb667b 12 #include "Matrix.h"
osaka 87:89bbbcdb667b 13 #include "MatrixMath.h"
osaka 88:be349faa1976 14 #include "LSM9DS1.h"
osaka 88:be349faa1976 15 #include "LPS.h"
NaotoMorita 104:20b8caa29185 16 #include "MagSphereCalibration.hpp"
NaotoMorita 90:96c2b0ed4b96 17 #include "solaESKF.hpp"
NaotoMorita 70:99f974d8960e 18 #include "MedianFilter.hpp"
osaka 96:3645f8f9bdd3 19 #include "GPSUBX_UART.hpp"
cocorlow 56:888379912f81 20
NaotoMorita 104:20b8caa29185 21 #define magresThreshold 0.025f
cocorlow 56:888379912f81 22 #define M_PI 3.141592f
cocorlow 56:888379912f81 23 #define ACCEL_SSF 4096.0f
NaotoMorita 70:99f974d8960e 24 #define GYRO_SSF 131.0f
cocorlow 56:888379912f81 25 #define PID_dt 0.015f
cocorlow 56:888379912f81 26 #define servoPwmMax 1800.0f
cocorlow 56:888379912f81 27 #define servoPwmMin 1200.0f
cocorlow 56:888379912f81 28 #define motorPwmMax 2000.0f
cocorlow 56:888379912f81 29 #define motorPwmMin 1100.0f
cocorlow 56:888379912f81 30
osaka 88:be349faa1976 31
cocorlow 56:888379912f81 32 struct valuePack
cocorlow 56:888379912f81 33 {
NaotoMorita 73:84ffa0166e6c 34 int16_t accData[3];
NaotoMorita 73:84ffa0166e6c 35 int16_t gyroData[3];
NaotoMorita 84:ff48e01ea76b 36 int16_t magData[3];
NaotoMorita 84:ff48e01ea76b 37 int16_t viData[3];
NaotoMorita 92:00460f6df439 38 int16_t piData[3];
NaotoMorita 84:ff48e01ea76b 39 int16_t actData[4];
NaotoMorita 76:7fd3ac1afe3e 40 int16_t commandIndex;
NaotoMorita 83:e69ab831031c 41 int16_t commandVal;
NaotoMorita 83:e69ab831031c 42 };
NaotoMorita 83:e69ab831031c 43
NaotoMorita 83:e69ab831031c 44 struct sendPack
NaotoMorita 83:e69ab831031c 45 {
NaotoMorita 83:e69ab831031c 46 float da;
NaotoMorita 83:e69ab831031c 47 float de;
NaotoMorita 83:e69ab831031c 48 float dT;
NaotoMorita 83:e69ab831031c 49 float rpy[3];
NaotoMorita 84:ff48e01ea76b 50 float vihat[3];
cocorlow 56:888379912f81 51 };
cocorlow 56:888379912f81 52
cocorlow 56:888379912f81 53 // var
cocorlow 56:888379912f81 54
cocorlow 56:888379912f81 55 // communication
osaka 88:be349faa1976 56
NaotoMorita 64:e9661430f0e3 57 extern UsaPack pc; // log - tail
NaotoMorita 76:7fd3ac1afe3e 58 extern Serial sd;
osaka 87:89bbbcdb667b 59 extern Serial twelite;
cocorlow 56:888379912f81 60
cocorlow 56:888379912f81 61 // io
cocorlow 56:888379912f81 62 extern DigitalIn userButton;
NaotoMorita 70:99f974d8960e 63 extern SBUS sbus;
osaka 88:be349faa1976 64 extern I2C i2c; // sda, scl
osaka 88:be349faa1976 65 extern LSM9DS1 lsm;
osaka 88:be349faa1976 66 extern LPS lps;
osaka 96:3645f8f9bdd3 67 extern GPSUBX_UART gps;
NaotoMorita 104:20b8caa29185 68 extern MagSphereCalibration magCalibrator;
NaotoMorita 102:1c77ff6e2a85 69 extern float magres;
cocorlow 56:888379912f81 70 // control
NaotoMorita 94:579e875a4244 71 extern Timer _t;
NaotoMorita 70:99f974d8960e 72 extern FastPWM servoRight;
NaotoMorita 70:99f974d8960e 73 extern FastPWM servoLeft;
NaotoMorita 70:99f974d8960e 74 extern FastPWM servoThrust;
NaotoMorita 70:99f974d8960e 75 extern PID pitchPID; //rad
NaotoMorita 70:99f974d8960e 76 extern PID pitchratePID;//rad/s
NaotoMorita 70:99f974d8960e 77 extern PID rollPID;
NaotoMorita 70:99f974d8960e 78 extern PID rollratePID;//rad/s
NaotoMorita 90:96c2b0ed4b96 79 extern solaESKF eskf; // EKF class
NaotoMorita 76:7fd3ac1afe3e 80 extern int obsCount;
cocorlow 56:888379912f81 81
NaotoMorita 70:99f974d8960e 82 extern float rc[16];
cocorlow 56:888379912f81 83 extern int loop_count;
cocorlow 56:888379912f81 84 extern float att_dt;
cocorlow 56:888379912f81 85
NaotoMorita 70:99f974d8960e 86
cocorlow 56:888379912f81 87 // position
NaotoMorita 93:b827f78a717a 88 extern Matrix SensorAlignment;
cocorlow 56:888379912f81 89 extern Vector3 rpy; // x:roll y:pitch z:yaw
cocorlow 56:888379912f81 90 extern Vector3 acc;
cocorlow 56:888379912f81 91 extern Vector3 accref;
cocorlow 56:888379912f81 92 extern Vector3 mag;
cocorlow 56:888379912f81 93 extern Vector3 magref;
cocorlow 56:888379912f81 94 extern Vector3 gyro;
NaotoMorita 82:c183c29d2427 95 extern Vector3 vi;
NaotoMorita 92:00460f6df439 96 extern Vector3 pi;
NaotoMorita 92:00460f6df439 97 extern float palt;
NaotoMorita 98:bdaa6bbfb1d9 98 extern float palt0;
osaka 97:2b3242c2dd85 99 extern int itow_velned;
osaka 97:2b3242c2dd85 100 extern int itow_posllh;
NaotoMorita 100:7589b663d462 101 extern bool gpsUpdateFlag;
osaka 87:89bbbcdb667b 102
NaotoMorita 73:84ffa0166e6c 103 extern float de;
NaotoMorita 73:84ffa0166e6c 104 extern float da;
NaotoMorita 73:84ffa0166e6c 105 extern float dT;
NaotoMorita 70:99f974d8960e 106 extern MedianFilter accMedian;
NaotoMorita 70:99f974d8960e 107 extern MedianFilter gyroMedian;
NaotoMorita 70:99f974d8960e 108 extern MedianFilter magMedian;
cocorlow 56:888379912f81 109
NaotoMorita 64:e9661430f0e3 110 extern float scaledServoOut[2];
NaotoMorita 70:99f974d8960e 111 extern float scaledMotorOut[1];
NaotoMorita 64:e9661430f0e3 112 extern float servoOut[2];
NaotoMorita 70:99f974d8960e 113 extern float motorOut[1];
cocorlow 56:888379912f81 114
NaotoMorita 61:c05353850017 115
cocorlow 56:888379912f81 116 extern int calibrationFlag;
NaotoMorita 93:b827f78a717a 117 extern float agoffset[6];
NaotoMorita 61:c05353850017 118 extern float magbiasMin[3];
NaotoMorita 61:c05353850017 119 extern float magbiasMax[3];
NaotoMorita 76:7fd3ac1afe3e 120 extern float magbias[4];
NaotoMorita 70:99f974d8960e 121 extern float accMin[3];
NaotoMorita 70:99f974d8960e 122 extern float accMax[3];
cocorlow 56:888379912f81 123
cocorlow 56:888379912f81 124 extern Vector3 rpy_align;
cocorlow 56:888379912f81 125
cocorlow 56:888379912f81 126
cocorlow 56:888379912f81 127 //// UsaPack
NaotoMorita 73:84ffa0166e6c 128 extern valuePack vp;
NaotoMorita 83:e69ab831031c 129 extern sendPack sp;
NaotoMorita 73:84ffa0166e6c 130
NaotoMorita 73:84ffa0166e6c 131 // HIL
NaotoMorita 73:84ffa0166e6c 132 extern bool hilFlag;
NaotoMorita 76:7fd3ac1afe3e 133 extern bool serialControlSource;
NaotoMorita 76:7fd3ac1afe3e 134 extern bool serialParamSource;
NaotoMorita 76:7fd3ac1afe3e 135 extern int checkParamSerial[5];
cocorlow 56:888379912f81 136 // function
cocorlow 56:888379912f81 137
cocorlow 56:888379912f81 138 // main.cpp
cocorlow 56:888379912f81 139
cocorlow 56:888379912f81 140 // setup.cpp
cocorlow 56:888379912f81 141 extern void setup();
cocorlow 56:888379912f81 142 extern void calibrate();
cocorlow 56:888379912f81 143 // run.cpp
cocorlow 56:888379912f81 144 extern void run();
cocorlow 56:888379912f81 145
cocorlow 56:888379912f81 146 // imu.cpp
osaka 88:be349faa1976 147 extern void getIMUval();
cocorlow 56:888379912f81 148
osaka 96:3645f8f9bdd3 149 //gps.cpp
osaka 96:3645f8f9bdd3 150 extern void getGPSval();
osaka 97:2b3242c2dd85 151 extern void change_refpos();
osaka 96:3645f8f9bdd3 152
NaotoMorita 73:84ffa0166e6c 153 // hil.cpp
NaotoMorita 92:00460f6df439 154 extern void getHilIMUval();
NaotoMorita 92:00460f6df439 155 extern void getHilGPSval();
NaotoMorita 73:84ffa0166e6c 156 extern float randn();
NaotoMorita 73:84ffa0166e6c 157
cocorlow 56:888379912f81 158 // servo.cpp
cocorlow 56:888379912f81 159 extern void calcServoOut();
cocorlow 56:888379912f81 160
osaka 87:89bbbcdb667b 161 // transferData.cpp
osaka 87:89bbbcdb667b 162 extern void sendData2PC();
osaka 87:89bbbcdb667b 163 extern void sendTelemetry();
osaka 87:89bbbcdb667b 164 extern void writeSDcard();
cocorlow 56:888379912f81 165
cocorlow 56:888379912f81 166 // global.cpp
cocorlow 56:888379912f81 167 extern float mapfloat(float x, float in_min, float in_max, float out_min, float out_max);
NaotoMorita 93:b827f78a717a 168 extern void setDiag(Matrix& mat, float val);
NaotoMorita 93:b827f78a717a 169 extern void setBlockDiag(Matrix& mat, float val,int startIndex, int endIndex);
cocorlow 56:888379912f81 170 #endif