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@95:43717535c354, 2021-11-01 (annotated)

Committer:
osaka
Date:
Mon Nov 01 09:15:40 2021 +0000
Revision:
95:43717535c354
Parent:
93:b827f78a717a 
gps

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 90:96c2b0ed4b96 16 #include "solaESKF.hpp"
NaotoMorita 70:99f974d8960e 17 #include "MedianFilter.hpp"
osaka 95:43717535c354 18 #include "GPSUBX_UART.hpp"
cocorlow 56:888379912f81 19
cocorlow 56:888379912f81 20 #define M_PI 3.141592f
cocorlow 56:888379912f81 21 #define ACCEL_SSF 4096.0f
NaotoMorita 70:99f974d8960e 22 #define GYRO_SSF 131.0f
cocorlow 56:888379912f81 23 #define PID_dt 0.015f
cocorlow 56:888379912f81 24 #define servoPwmMax 1800.0f
cocorlow 56:888379912f81 25 #define servoPwmMin 1200.0f
cocorlow 56:888379912f81 26 #define motorPwmMax 2000.0f
cocorlow 56:888379912f81 27 #define motorPwmMin 1100.0f
cocorlow 56:888379912f81 28
osaka 88:be349faa1976 29
cocorlow 56:888379912f81 30 struct valuePack
cocorlow 56:888379912f81 31 {
NaotoMorita 73:84ffa0166e6c 32 int16_t accData[3];
NaotoMorita 73:84ffa0166e6c 33 int16_t gyroData[3];
NaotoMorita 84:ff48e01ea76b 34 int16_t magData[3];
NaotoMorita 84:ff48e01ea76b 35 int16_t viData[3];
NaotoMorita 92:00460f6df439 36 int16_t piData[3];
NaotoMorita 84:ff48e01ea76b 37 int16_t actData[4];
NaotoMorita 76:7fd3ac1afe3e 38 int16_t commandIndex;
NaotoMorita 83:e69ab831031c 39 int16_t commandVal;
NaotoMorita 83:e69ab831031c 40 };
NaotoMorita 83:e69ab831031c 41
NaotoMorita 83:e69ab831031c 42 struct sendPack
NaotoMorita 83:e69ab831031c 43 {
NaotoMorita 83:e69ab831031c 44 float da;
NaotoMorita 83:e69ab831031c 45 float de;
NaotoMorita 83:e69ab831031c 46 float dT;
NaotoMorita 83:e69ab831031c 47 float rpy[3];
NaotoMorita 84:ff48e01ea76b 48 float vihat[3];
cocorlow 56:888379912f81 49 };
cocorlow 56:888379912f81 50
cocorlow 56:888379912f81 51 // var
cocorlow 56:888379912f81 52
cocorlow 56:888379912f81 53 // communication
osaka 88:be349faa1976 54
NaotoMorita 64:e9661430f0e3 55 extern UsaPack pc; // log - tail
NaotoMorita 76:7fd3ac1afe3e 56 extern Serial sd;
osaka 87:89bbbcdb667b 57 extern Serial twelite;
cocorlow 56:888379912f81 58
cocorlow 56:888379912f81 59 // io
cocorlow 56:888379912f81 60 extern DigitalIn userButton;
NaotoMorita 70:99f974d8960e 61 extern SBUS sbus;
osaka 88:be349faa1976 62 extern I2C i2c; // sda, scl
osaka 88:be349faa1976 63 extern LSM9DS1 lsm;
osaka 88:be349faa1976 64 extern LPS lps;
osaka 95:43717535c354 65 extern GPSUBX_UART gps;
cocorlow 56:888379912f81 66
cocorlow 56:888379912f81 67 // control
NaotoMorita 70:99f974d8960e 68 extern FastPWM servoRight;
NaotoMorita 70:99f974d8960e 69 extern FastPWM servoLeft;
NaotoMorita 70:99f974d8960e 70 extern FastPWM servoThrust;
NaotoMorita 70:99f974d8960e 71 extern PID pitchPID; //rad
NaotoMorita 70:99f974d8960e 72 extern PID pitchratePID;//rad/s
NaotoMorita 70:99f974d8960e 73 extern PID rollPID;
NaotoMorita 70:99f974d8960e 74 extern PID rollratePID;//rad/s
NaotoMorita 90:96c2b0ed4b96 75 extern solaESKF eskf; // EKF class
NaotoMorita 76:7fd3ac1afe3e 76 extern int obsCount;
cocorlow 56:888379912f81 77
NaotoMorita 70:99f974d8960e 78 extern float rc[16];
cocorlow 56:888379912f81 79 extern int loop_count;
cocorlow 56:888379912f81 80 extern float att_dt;
cocorlow 56:888379912f81 81
NaotoMorita 70:99f974d8960e 82
cocorlow 56:888379912f81 83 // position
NaotoMorita 93:b827f78a717a 84 extern Matrix SensorAlignment;
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;
cocorlow 56:888379912f81 88 extern Vector3 mag;
cocorlow 56:888379912f81 89 extern Vector3 magref;
cocorlow 56:888379912f81 90 extern Vector3 gyro;
NaotoMorita 82:c183c29d2427 91 extern Vector3 vi;
NaotoMorita 92:00460f6df439 92 extern Vector3 pi;
NaotoMorita 92:00460f6df439 93 extern float palt;
osaka 87:89bbbcdb667b 94
NaotoMorita 73:84ffa0166e6c 95 extern float de;
NaotoMorita 73:84ffa0166e6c 96 extern float da;
NaotoMorita 73:84ffa0166e6c 97 extern float dT;
NaotoMorita 70:99f974d8960e 98 extern MedianFilter accMedian;
NaotoMorita 70:99f974d8960e 99 extern MedianFilter gyroMedian;
NaotoMorita 70:99f974d8960e 100 extern MedianFilter magMedian;
cocorlow 56:888379912f81 101
NaotoMorita 64:e9661430f0e3 102 extern float scaledServoOut[2];
NaotoMorita 70:99f974d8960e 103 extern float scaledMotorOut[1];
NaotoMorita 64:e9661430f0e3 104 extern float servoOut[2];
NaotoMorita 70:99f974d8960e 105 extern float motorOut[1];
cocorlow 56:888379912f81 106
NaotoMorita 61:c05353850017 107
cocorlow 56:888379912f81 108 extern int calibrationFlag;
NaotoMorita 93:b827f78a717a 109 extern float agoffset[6];
NaotoMorita 61:c05353850017 110 extern float magbiasMin[3];
NaotoMorita 61:c05353850017 111 extern float magbiasMax[3];
NaotoMorita 76:7fd3ac1afe3e 112 extern float magbias[4];
NaotoMorita 70:99f974d8960e 113 extern float accMin[3];
NaotoMorita 70:99f974d8960e 114 extern float accMax[3];
cocorlow 56:888379912f81 115
cocorlow 56:888379912f81 116 extern Vector3 rpy_align;
cocorlow 56:888379912f81 117
cocorlow 56:888379912f81 118
cocorlow 56:888379912f81 119 //// UsaPack
NaotoMorita 73:84ffa0166e6c 120 extern valuePack vp;
NaotoMorita 83:e69ab831031c 121 extern sendPack sp;
NaotoMorita 73:84ffa0166e6c 122
NaotoMorita 73:84ffa0166e6c 123 // HIL
NaotoMorita 73:84ffa0166e6c 124 extern bool hilFlag;
NaotoMorita 76:7fd3ac1afe3e 125 extern bool serialControlSource;
NaotoMorita 76:7fd3ac1afe3e 126 extern bool serialParamSource;
NaotoMorita 76:7fd3ac1afe3e 127 extern int checkParamSerial[5];
cocorlow 56:888379912f81 128 // function
cocorlow 56:888379912f81 129
cocorlow 56:888379912f81 130 // main.cpp
cocorlow 56:888379912f81 131
cocorlow 56:888379912f81 132 // setup.cpp
cocorlow 56:888379912f81 133 extern void setup();
cocorlow 56:888379912f81 134 extern void calibrate();
cocorlow 56:888379912f81 135 // run.cpp
cocorlow 56:888379912f81 136 extern void run();
cocorlow 56:888379912f81 137
cocorlow 56:888379912f81 138 // imu.cpp
osaka 88:be349faa1976 139 extern void getIMUval();
cocorlow 56:888379912f81 140
NaotoMorita 73:84ffa0166e6c 141 // hil.cpp
NaotoMorita 92:00460f6df439 142 extern void getHilIMUval();
NaotoMorita 92:00460f6df439 143 extern void getHilGPSval();
NaotoMorita 73:84ffa0166e6c 144 extern float randn();
NaotoMorita 73:84ffa0166e6c 145
cocorlow 56:888379912f81 146 // servo.cpp
cocorlow 56:888379912f81 147 extern void calcServoOut();
cocorlow 56:888379912f81 148
osaka 87:89bbbcdb667b 149 // transferData.cpp
osaka 87:89bbbcdb667b 150 extern void sendData2PC();
osaka 87:89bbbcdb667b 151 extern void sendTelemetry();
osaka 87:89bbbcdb667b 152 extern void writeSDcard();
cocorlow 56:888379912f81 153
cocorlow 56:888379912f81 154 // global.cpp
cocorlow 56:888379912f81 155 extern float mapfloat(float x, float in_min, float in_max, float out_min, float out_max);
NaotoMorita 93:b827f78a717a 156 extern void setDiag(Matrix& mat, float val);
NaotoMorita 93:b827f78a717a 157 extern void setBlockDiag(Matrix& mat, float val,int startIndex, int endIndex);
cocorlow 56:888379912f81 158 #endif