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@107:46e039e12182, 2021-11-12 (annotated)

Committer:
osaka
Date:
Fri Nov 12 09:04:59 2021 +0000
Revision:
107:46e039e12182
Parent:
104:20b8caa29185 
added autopilot

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"
osaka 107:46e039e12182 20 #include "Autopilot.hpp"
osaka 107:46e039e12182 21 #include <vector>
cocorlow 56:888379912f81 22
NaotoMorita 104:20b8caa29185 23 #define magresThreshold 0.025f
cocorlow 56:888379912f81 24 #define M_PI 3.141592f
cocorlow 56:888379912f81 25 #define ACCEL_SSF 4096.0f
NaotoMorita 70:99f974d8960e 26 #define GYRO_SSF 131.0f
cocorlow 56:888379912f81 27 #define PID_dt 0.015f
cocorlow 56:888379912f81 28 #define servoPwmMax 1800.0f
cocorlow 56:888379912f81 29 #define servoPwmMin 1200.0f
cocorlow 56:888379912f81 30 #define motorPwmMax 2000.0f
cocorlow 56:888379912f81 31 #define motorPwmMin 1100.0f
cocorlow 56:888379912f81 32
osaka 88:be349faa1976 33
cocorlow 56:888379912f81 34 struct valuePack
cocorlow 56:888379912f81 35 {
NaotoMorita 73:84ffa0166e6c 36 int16_t accData[3];
NaotoMorita 73:84ffa0166e6c 37 int16_t gyroData[3];
NaotoMorita 84:ff48e01ea76b 38 int16_t magData[3];
NaotoMorita 84:ff48e01ea76b 39 int16_t viData[3];
NaotoMorita 92:00460f6df439 40 int16_t piData[3];
NaotoMorita 84:ff48e01ea76b 41 int16_t actData[4];
NaotoMorita 76:7fd3ac1afe3e 42 int16_t commandIndex;
NaotoMorita 83:e69ab831031c 43 int16_t commandVal;
NaotoMorita 83:e69ab831031c 44 };
NaotoMorita 83:e69ab831031c 45
NaotoMorita 83:e69ab831031c 46 struct sendPack
NaotoMorita 83:e69ab831031c 47 {
NaotoMorita 83:e69ab831031c 48 float da;
NaotoMorita 83:e69ab831031c 49 float de;
NaotoMorita 83:e69ab831031c 50 float dT;
NaotoMorita 83:e69ab831031c 51 float rpy[3];
NaotoMorita 84:ff48e01ea76b 52 float vihat[3];
cocorlow 56:888379912f81 53 };
cocorlow 56:888379912f81 54
cocorlow 56:888379912f81 55 // var
cocorlow 56:888379912f81 56
cocorlow 56:888379912f81 57 // communication
osaka 88:be349faa1976 58
NaotoMorita 64:e9661430f0e3 59 extern UsaPack pc; // log - tail
NaotoMorita 76:7fd3ac1afe3e 60 extern Serial sd;
osaka 87:89bbbcdb667b 61 extern Serial twelite;
cocorlow 56:888379912f81 62
cocorlow 56:888379912f81 63 // io
cocorlow 56:888379912f81 64 extern DigitalIn userButton;
NaotoMorita 70:99f974d8960e 65 extern SBUS sbus;
osaka 88:be349faa1976 66 extern I2C i2c; // sda, scl
osaka 88:be349faa1976 67 extern LSM9DS1 lsm;
osaka 88:be349faa1976 68 extern LPS lps;
osaka 96:3645f8f9bdd3 69 extern GPSUBX_UART gps;
NaotoMorita 104:20b8caa29185 70 extern MagSphereCalibration magCalibrator;
NaotoMorita 102:1c77ff6e2a85 71 extern float magres;
cocorlow 56:888379912f81 72 // control
NaotoMorita 94:579e875a4244 73 extern Timer _t;
NaotoMorita 70:99f974d8960e 74 extern FastPWM servoRight;
NaotoMorita 70:99f974d8960e 75 extern FastPWM servoLeft;
NaotoMorita 70:99f974d8960e 76 extern FastPWM servoThrust;
NaotoMorita 70:99f974d8960e 77 extern PID pitchPID; //rad
NaotoMorita 70:99f974d8960e 78 extern PID pitchratePID;//rad/s
NaotoMorita 70:99f974d8960e 79 extern PID rollPID;
NaotoMorita 70:99f974d8960e 80 extern PID rollratePID;//rad/s
NaotoMorita 90:96c2b0ed4b96 81 extern solaESKF eskf; // EKF class
NaotoMorita 76:7fd3ac1afe3e 82 extern int obsCount;
cocorlow 56:888379912f81 83
NaotoMorita 70:99f974d8960e 84 extern float rc[16];
cocorlow 56:888379912f81 85 extern int loop_count;
cocorlow 56:888379912f81 86 extern float att_dt;
cocorlow 56:888379912f81 87
NaotoMorita 70:99f974d8960e 88
cocorlow 56:888379912f81 89 // position
NaotoMorita 93:b827f78a717a 90 extern Matrix SensorAlignment;
cocorlow 56:888379912f81 91 extern Vector3 rpy; // x:roll y:pitch z:yaw
cocorlow 56:888379912f81 92 extern Vector3 acc;
cocorlow 56:888379912f81 93 extern Vector3 accref;
cocorlow 56:888379912f81 94 extern Vector3 mag;
cocorlow 56:888379912f81 95 extern Vector3 magref;
cocorlow 56:888379912f81 96 extern Vector3 gyro;
NaotoMorita 82:c183c29d2427 97 extern Vector3 vi;
NaotoMorita 92:00460f6df439 98 extern Vector3 pi;
NaotoMorita 92:00460f6df439 99 extern float palt;
NaotoMorita 98:bdaa6bbfb1d9 100 extern float palt0;
osaka 97:2b3242c2dd85 101 extern int itow_velned;
osaka 97:2b3242c2dd85 102 extern int itow_posllh;
NaotoMorita 100:7589b663d462 103 extern bool gpsUpdateFlag;
osaka 87:89bbbcdb667b 104
osaka 107:46e039e12182 105 extern float roll_obj;
osaka 107:46e039e12182 106 extern float pitch_obj;
osaka 107:46e039e12182 107 extern float alt_obj;
osaka 107:46e039e12182 108 extern std::vector<float> obj;
osaka 107:46e039e12182 109 extern Vector3 destination;
osaka 107:46e039e12182 110 extern Vector3 turn_center;
osaka 107:46e039e12182 111 extern float turn_radius;
NaotoMorita 73:84ffa0166e6c 112 extern float de;
NaotoMorita 73:84ffa0166e6c 113 extern float da;
NaotoMorita 73:84ffa0166e6c 114 extern float dT;
NaotoMorita 70:99f974d8960e 115 extern MedianFilter accMedian;
NaotoMorita 70:99f974d8960e 116 extern MedianFilter gyroMedian;
NaotoMorita 70:99f974d8960e 117 extern MedianFilter magMedian;
cocorlow 56:888379912f81 118
NaotoMorita 64:e9661430f0e3 119 extern float scaledServoOut[2];
NaotoMorita 70:99f974d8960e 120 extern float scaledMotorOut[1];
NaotoMorita 64:e9661430f0e3 121 extern float servoOut[2];
NaotoMorita 70:99f974d8960e 122 extern float motorOut[1];
cocorlow 56:888379912f81 123
NaotoMorita 61:c05353850017 124
cocorlow 56:888379912f81 125 extern int calibrationFlag;
NaotoMorita 93:b827f78a717a 126 extern float agoffset[6];
NaotoMorita 61:c05353850017 127 extern float magbiasMin[3];
NaotoMorita 61:c05353850017 128 extern float magbiasMax[3];
NaotoMorita 76:7fd3ac1afe3e 129 extern float magbias[4];
NaotoMorita 70:99f974d8960e 130 extern float accMin[3];
NaotoMorita 70:99f974d8960e 131 extern float accMax[3];
cocorlow 56:888379912f81 132
cocorlow 56:888379912f81 133 extern Vector3 rpy_align;
cocorlow 56:888379912f81 134
cocorlow 56:888379912f81 135
cocorlow 56:888379912f81 136 //// UsaPack
NaotoMorita 73:84ffa0166e6c 137 extern valuePack vp;
NaotoMorita 83:e69ab831031c 138 extern sendPack sp;
NaotoMorita 73:84ffa0166e6c 139
NaotoMorita 73:84ffa0166e6c 140 // HIL
NaotoMorita 73:84ffa0166e6c 141 extern bool hilFlag;
NaotoMorita 76:7fd3ac1afe3e 142 extern bool serialControlSource;
NaotoMorita 76:7fd3ac1afe3e 143 extern bool serialParamSource;
NaotoMorita 76:7fd3ac1afe3e 144 extern int checkParamSerial[5];
osaka 107:46e039e12182 145
osaka 107:46e039e12182 146 //Autopilot
osaka 107:46e039e12182 147 extern Autopilot autopilot;
osaka 107:46e039e12182 148
cocorlow 56:888379912f81 149 // function
cocorlow 56:888379912f81 150
cocorlow 56:888379912f81 151 // main.cpp
cocorlow 56:888379912f81 152
cocorlow 56:888379912f81 153 // setup.cpp
cocorlow 56:888379912f81 154 extern void setup();
cocorlow 56:888379912f81 155 extern void calibrate();
cocorlow 56:888379912f81 156 // run.cpp
cocorlow 56:888379912f81 157 extern void run();
cocorlow 56:888379912f81 158
cocorlow 56:888379912f81 159 // imu.cpp
osaka 88:be349faa1976 160 extern void getIMUval();
cocorlow 56:888379912f81 161
osaka 96:3645f8f9bdd3 162 //gps.cpp
osaka 96:3645f8f9bdd3 163 extern void getGPSval();
osaka 97:2b3242c2dd85 164 extern void change_refpos();
osaka 96:3645f8f9bdd3 165
NaotoMorita 73:84ffa0166e6c 166 // hil.cpp
NaotoMorita 92:00460f6df439 167 extern void getHilIMUval();
NaotoMorita 92:00460f6df439 168 extern void getHilGPSval();
NaotoMorita 73:84ffa0166e6c 169 extern float randn();
NaotoMorita 73:84ffa0166e6c 170
osaka 107:46e039e12182 171 //autopilot.cpp
osaka 107:46e039e12182 172 extern void level_flight();
osaka 107:46e039e12182 173 extern void point_guide();
osaka 107:46e039e12182 174 extern void turning();
osaka 107:46e039e12182 175
cocorlow 56:888379912f81 176 // servo.cpp
cocorlow 56:888379912f81 177 extern void calcServoOut();
cocorlow 56:888379912f81 178
osaka 87:89bbbcdb667b 179 // transferData.cpp
osaka 87:89bbbcdb667b 180 extern void sendData2PC();
osaka 87:89bbbcdb667b 181 extern void sendTelemetry();
osaka 87:89bbbcdb667b 182 extern void writeSDcard();
cocorlow 56:888379912f81 183
cocorlow 56:888379912f81 184 // global.cpp
cocorlow 56:888379912f81 185 extern float mapfloat(float x, float in_min, float in_max, float out_min, float out_max);
NaotoMorita 93:b827f78a717a 186 extern void setDiag(Matrix& mat, float val);
NaotoMorita 93:b827f78a717a 187 extern void setBlockDiag(Matrix& mat, float val,int startIndex, int endIndex);
cocorlow 56:888379912f81 188 #endif