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@137:240588882ae2, 2021-12-01 (annotated)

Committer:
osaka
Date:
Wed Dec 01 11:51:49 2021 +0000
Revision:
137:240588882ae2
Parent:
135:49f8916588da
Child:
139:b378528c05f2
climb

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 119:a21e283730d1 16 #include "CalibrateMagneto.h"
NaotoMorita 90:96c2b0ed4b96 17 #include "solaESKF.hpp"
NaotoMorita 70:99f974d8960e 18 #include "MedianFilter.hpp"
osaka 96:3645f8f9bdd3 19 #include "GPSUBX_UART.hpp"
osaka 109:eb255fc4462b 20 #include "Autopilot.hpp"
cocorlow 56:888379912f81 21
NaotoMorita 104:20b8caa29185 22 #define magresThreshold 0.025f
cocorlow 56:888379912f81 23 #define M_PI 3.141592f
cocorlow 56:888379912f81 24 #define ACCEL_SSF 4096.0f
NaotoMorita 70:99f974d8960e 25 #define GYRO_SSF 131.0f
cocorlow 56:888379912f81 26 #define PID_dt 0.015f
cocorlow 56:888379912f81 27 #define servoPwmMax 1800.0f
cocorlow 56:888379912f81 28 #define servoPwmMin 1200.0f
cocorlow 56:888379912f81 29 #define motorPwmMax 2000.0f
cocorlow 56:888379912f81 30 #define motorPwmMin 1100.0f
cocorlow 56:888379912f81 31
osaka 88:be349faa1976 32
cocorlow 56:888379912f81 33 struct valuePack
cocorlow 56:888379912f81 34 {
NaotoMorita 73:84ffa0166e6c 35 int16_t accData[3];
NaotoMorita 73:84ffa0166e6c 36 int16_t gyroData[3];
NaotoMorita 84:ff48e01ea76b 37 int16_t magData[3];
NaotoMorita 84:ff48e01ea76b 38 int16_t viData[3];
NaotoMorita 92:00460f6df439 39 int16_t piData[3];
NaotoMorita 84:ff48e01ea76b 40 int16_t actData[4];
NaotoMorita 76:7fd3ac1afe3e 41 int16_t commandIndex;
NaotoMorita 83:e69ab831031c 42 int16_t commandVal;
NaotoMorita 83:e69ab831031c 43 };
NaotoMorita 83:e69ab831031c 44
NaotoMorita 83:e69ab831031c 45 struct sendPack
NaotoMorita 83:e69ab831031c 46 {
NaotoMorita 83:e69ab831031c 47 float da;
NaotoMorita 83:e69ab831031c 48 float de;
NaotoMorita 83:e69ab831031c 49 float dT;
NaotoMorita 83:e69ab831031c 50 float rpy[3];
NaotoMorita 84:ff48e01ea76b 51 float vihat[3];
cocorlow 56:888379912f81 52 };
NaotoMorita 132:896ad37b534b 53 struct logPack
NaotoMorita 132:896ad37b534b 54 {
NaotoMorita 132:896ad37b534b 55 float time;
NaotoMorita 132:896ad37b534b 56 float hertz;
NaotoMorita 135:49f8916588da 57 float gpsFix;
NaotoMorita 132:896ad37b534b 58 float da;
NaotoMorita 132:896ad37b534b 59 float de;
NaotoMorita 132:896ad37b534b 60 float dT;
NaotoMorita 132:896ad37b534b 61 float rpy[3];
NaotoMorita 132:896ad37b534b 62 float pihat[3];
NaotoMorita 132:896ad37b534b 63 float vihat[3];
NaotoMorita 132:896ad37b534b 64 float pi[3];
NaotoMorita 132:896ad37b534b 65 float vi[3];
NaotoMorita 132:896ad37b534b 66 float palt;
NaotoMorita 132:896ad37b534b 67 float acc[3];
NaotoMorita 132:896ad37b534b 68 float gyro[3];
NaotoMorita 132:896ad37b534b 69 float mag[3];
NaotoMorita 133:346ce20b3950 70 float rc[16];
NaotoMorita 132:896ad37b534b 71 };
cocorlow 56:888379912f81 72
NaotoMorita 134:d57c6b2a706b 73 struct telemetryPack
NaotoMorita 134:d57c6b2a706b 74 {
NaotoMorita 134:d57c6b2a706b 75 float time;
NaotoMorita 134:d57c6b2a706b 76 float hertz;
NaotoMorita 134:d57c6b2a706b 77 float gpsFix;
NaotoMorita 134:d57c6b2a706b 78 float rpy[3];
NaotoMorita 134:d57c6b2a706b 79 float pihat[3];
NaotoMorita 134:d57c6b2a706b 80 float vihat[3];
NaotoMorita 134:d57c6b2a706b 81 float dynaccNorm;
NaotoMorita 134:d57c6b2a706b 82 };
NaotoMorita 134:d57c6b2a706b 83
cocorlow 56:888379912f81 84 // var
cocorlow 56:888379912f81 85
cocorlow 56:888379912f81 86 // communication
osaka 88:be349faa1976 87
NaotoMorita 64:e9661430f0e3 88 extern UsaPack pc; // log - tail
NaotoMorita 132:896ad37b534b 89 extern UsaPack sd;
NaotoMorita 133:346ce20b3950 90 extern UsaPack twelite;
cocorlow 56:888379912f81 91
cocorlow 56:888379912f81 92 // io
cocorlow 56:888379912f81 93 extern DigitalIn userButton;
NaotoMorita 70:99f974d8960e 94 extern SBUS sbus;
osaka 88:be349faa1976 95 extern I2C i2c; // sda, scl
osaka 88:be349faa1976 96 extern LSM9DS1 lsm;
osaka 88:be349faa1976 97 extern LPS lps;
osaka 96:3645f8f9bdd3 98 extern GPSUBX_UART gps;
NaotoMorita 119:a21e283730d1 99 extern CalibrateMagneto magCalibrator;
NaotoMorita 102:1c77ff6e2a85 100 extern float magres;
cocorlow 56:888379912f81 101 // control
NaotoMorita 94:579e875a4244 102 extern Timer _t;
NaotoMorita 70:99f974d8960e 103 extern FastPWM servoRight;
NaotoMorita 70:99f974d8960e 104 extern FastPWM servoLeft;
NaotoMorita 70:99f974d8960e 105 extern FastPWM servoThrust;
NaotoMorita 70:99f974d8960e 106 extern PID pitchPID; //rad
NaotoMorita 70:99f974d8960e 107 extern PID pitchratePID;//rad/s
NaotoMorita 70:99f974d8960e 108 extern PID rollPID;
NaotoMorita 70:99f974d8960e 109 extern PID rollratePID;//rad/s
NaotoMorita 90:96c2b0ed4b96 110 extern solaESKF eskf; // EKF class
NaotoMorita 76:7fd3ac1afe3e 111 extern int obsCount;
osaka 109:eb255fc4462b 112 extern Autopilot autopilot;
osaka 109:eb255fc4462b 113 extern float roll_obj;
osaka 109:eb255fc4462b 114 extern float pitch_obj;
osaka 121:2523eef96b36 115 extern float dT_obj;
cocorlow 56:888379912f81 116
NaotoMorita 70:99f974d8960e 117 extern float rc[16];
cocorlow 56:888379912f81 118 extern int loop_count;
cocorlow 56:888379912f81 119 extern float att_dt;
NaotoMorita 112:6a33ea9f6fed 120 extern bool accmagSwitch;
cocorlow 56:888379912f81 121
NaotoMorita 70:99f974d8960e 122
cocorlow 56:888379912f81 123 // position
NaotoMorita 113:3e47d9881529 124 extern Matrix SensorAlignmentAG;
NaotoMorita 113:3e47d9881529 125 extern Matrix SensorAlignmentMAG;
NaotoMorita 132:896ad37b534b 126 extern Matrix euler;
cocorlow 56:888379912f81 127 extern Vector3 rpy; // x:roll y:pitch z:yaw
cocorlow 56:888379912f81 128 extern Vector3 acc;
cocorlow 56:888379912f81 129 extern Vector3 accref;
cocorlow 56:888379912f81 130 extern Vector3 mag;
cocorlow 56:888379912f81 131 extern Vector3 magref;
cocorlow 56:888379912f81 132 extern Vector3 gyro;
NaotoMorita 82:c183c29d2427 133 extern Vector3 vi;
NaotoMorita 92:00460f6df439 134 extern Vector3 pi;
NaotoMorita 92:00460f6df439 135 extern float palt;
NaotoMorita 98:bdaa6bbfb1d9 136 extern float palt0;
NaotoMorita 129:a76be8380bb2 137 extern float dynaccnorm2;
NaotoMorita 106:2d854e92cebb 138 extern int itow_status;
NaotoMorita 100:7589b663d462 139 extern bool gpsUpdateFlag;
NaotoMorita 106:2d854e92cebb 140 extern bool gpsLlh0Fixed;
NaotoMorita 127:d73a6233ee4b 141 extern bool headingUpdateFlag;
osaka 87:89bbbcdb667b 142
NaotoMorita 73:84ffa0166e6c 143 extern float de;
NaotoMorita 73:84ffa0166e6c 144 extern float da;
NaotoMorita 73:84ffa0166e6c 145 extern float dT;
NaotoMorita 70:99f974d8960e 146 extern MedianFilter accMedian;
NaotoMorita 70:99f974d8960e 147 extern MedianFilter gyroMedian;
NaotoMorita 70:99f974d8960e 148 extern MedianFilter magMedian;
cocorlow 56:888379912f81 149
NaotoMorita 64:e9661430f0e3 150 extern float scaledServoOut[2];
NaotoMorita 70:99f974d8960e 151 extern float scaledMotorOut[1];
NaotoMorita 64:e9661430f0e3 152 extern float servoOut[2];
NaotoMorita 70:99f974d8960e 153 extern float motorOut[1];
cocorlow 56:888379912f81 154
NaotoMorita 61:c05353850017 155
cocorlow 56:888379912f81 156 extern int calibrationFlag;
NaotoMorita 93:b827f78a717a 157 extern float agoffset[6];
NaotoMorita 61:c05353850017 158 extern float magbiasMin[3];
NaotoMorita 61:c05353850017 159 extern float magbiasMax[3];
NaotoMorita 76:7fd3ac1afe3e 160 extern float magbias[4];
NaotoMorita 70:99f974d8960e 161 extern float accMin[3];
NaotoMorita 70:99f974d8960e 162 extern float accMax[3];
cocorlow 56:888379912f81 163
cocorlow 56:888379912f81 164 extern Vector3 rpy_align;
cocorlow 56:888379912f81 165
cocorlow 56:888379912f81 166
cocorlow 56:888379912f81 167 //// UsaPack
NaotoMorita 73:84ffa0166e6c 168 extern valuePack vp;
NaotoMorita 83:e69ab831031c 169 extern sendPack sp;
NaotoMorita 132:896ad37b534b 170 extern logPack lp;
NaotoMorita 134:d57c6b2a706b 171 extern telemetryPack tp;
NaotoMorita 73:84ffa0166e6c 172
NaotoMorita 73:84ffa0166e6c 173 // HIL
NaotoMorita 73:84ffa0166e6c 174 extern bool hilFlag;
NaotoMorita 76:7fd3ac1afe3e 175 extern bool serialControlSource;
NaotoMorita 76:7fd3ac1afe3e 176 extern bool serialParamSource;
NaotoMorita 76:7fd3ac1afe3e 177 extern int checkParamSerial[5];
cocorlow 56:888379912f81 178 // function
cocorlow 56:888379912f81 179
cocorlow 56:888379912f81 180 // main.cpp
cocorlow 56:888379912f81 181
cocorlow 56:888379912f81 182 // setup.cpp
cocorlow 56:888379912f81 183 extern void setup();
cocorlow 56:888379912f81 184 extern void calibrate();
cocorlow 56:888379912f81 185 // run.cpp
cocorlow 56:888379912f81 186 extern void run();
cocorlow 56:888379912f81 187
cocorlow 56:888379912f81 188 // imu.cpp
osaka 88:be349faa1976 189 extern void getIMUval();
cocorlow 56:888379912f81 190
osaka 96:3645f8f9bdd3 191 //gps.cpp
osaka 96:3645f8f9bdd3 192 extern void getGPSval();
osaka 97:2b3242c2dd85 193 extern void change_refpos();
osaka 96:3645f8f9bdd3 194
NaotoMorita 73:84ffa0166e6c 195 // hil.cpp
NaotoMorita 92:00460f6df439 196 extern void getHilIMUval();
NaotoMorita 92:00460f6df439 197 extern void getHilGPSval();
NaotoMorita 73:84ffa0166e6c 198 extern float randn();
NaotoMorita 73:84ffa0166e6c 199
osaka 109:eb255fc4462b 200 //autopilot.cpp
osaka 109:eb255fc4462b 201 extern void level_flight();
osaka 109:eb255fc4462b 202 extern void point_guide();
osaka 109:eb255fc4462b 203 extern void turning();
osaka 137:240588882ae2 204 extern void climb();
osaka 137:240588882ae2 205 extern Vector3 calc_vdot();
osaka 109:eb255fc4462b 206
cocorlow 56:888379912f81 207 // servo.cpp
cocorlow 56:888379912f81 208 extern void calcServoOut();
cocorlow 56:888379912f81 209
osaka 87:89bbbcdb667b 210 // transferData.cpp
osaka 87:89bbbcdb667b 211 extern void sendData2PC();
osaka 87:89bbbcdb667b 212 extern void sendTelemetry();
osaka 87:89bbbcdb667b 213 extern void writeSDcard();
cocorlow 56:888379912f81 214
cocorlow 56:888379912f81 215 // global.cpp
cocorlow 56:888379912f81 216 extern float mapfloat(float x, float in_min, float in_max, float out_min, float out_max);
NaotoMorita 93:b827f78a717a 217 extern void setDiag(Matrix& mat, float val);
NaotoMorita 93:b827f78a717a 218 extern void setBlockDiag(Matrix& mat, float val,int startIndex, int endIndex);
cocorlow 56:888379912f81 219 #endif