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@76:7fd3ac1afe3e, 2021-08-07 (annotated)

Committer:
NaotoMorita
Date:
Sat Aug 07 06:54:58 2021 +0000
Revision:
76:7fd3ac1afe3e
Parent:
73:84ffa0166e6c
Child:
77:2bf856e3eca4
async update

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 "MPU6050.h"
cocorlow 56:888379912f81 9 #include "MAG3110.h"
NaotoMorita 61:c05353850017 10 #include "CalibrateMagneto.h"
cocorlow 56:888379912f81 11 #include "I2Cdev.h"
cocorlow 56:888379912f81 12 #include "FastPWM.h"
cocorlow 56:888379912f81 13 #include <cmath>
cocorlow 56:888379912f81 14 #include "UsaPack.hpp"
cocorlow 56:888379912f81 15 #include "Vector3.hpp"
NaotoMorita 76:7fd3ac1afe3e 16 #include "ScErrStateEKF.hpp"
NaotoMorita 70:99f974d8960e 17 #include "MedianFilter.hpp"
NaotoMorita 73:84ffa0166e6c 18 #include "Joystick.h"
cocorlow 56:888379912f81 19
cocorlow 56:888379912f81 20 #define MPU6050_PWR_MGMT_1 0x6B
cocorlow 56:888379912f81 21 #define MPU_ADDRESS 0x68
cocorlow 56:888379912f81 22 #define M_PI 3.141592f
cocorlow 56:888379912f81 23 #define ACCEL_FSR MPU6050_ACCEL_FS_8
cocorlow 56:888379912f81 24 #define ACCEL_SSF 4096.0f
NaotoMorita 70:99f974d8960e 25 #define GYRO_FSR MPU6050_GYRO_FS_250
NaotoMorita 70:99f974d8960e 26 #define GYRO_SSF 131.0f
NaotoMorita 73:84ffa0166e6c 27 #define MPU6050_LPF MPU6050_DLPF_BW_42
NaotoMorita 73:84ffa0166e6c 28 #define MPU6050_SAMPLERATE 0
cocorlow 56:888379912f81 29 #define PID_dt 0.015f
cocorlow 56:888379912f81 30 #define servoPwmMax 1800.0f
cocorlow 56:888379912f81 31 #define servoPwmMin 1200.0f
cocorlow 56:888379912f81 32 #define motorPwmMax 2000.0f
cocorlow 56:888379912f81 33 #define motorPwmMin 1100.0f
cocorlow 56:888379912f81 34
cocorlow 56:888379912f81 35 struct valuePack
cocorlow 56:888379912f81 36 {
NaotoMorita 73:84ffa0166e6c 37 int16_t accData[3];
NaotoMorita 73:84ffa0166e6c 38 int16_t gyroData[3];
NaotoMorita 73:84ffa0166e6c 39 int16_t magData[3];
NaotoMorita 76:7fd3ac1afe3e 40 int16_t actData[4];
NaotoMorita 76:7fd3ac1afe3e 41 int16_t commandIndex;
NaotoMorita 76:7fd3ac1afe3e 42 float commandVal;
cocorlow 56:888379912f81 43 };
cocorlow 56:888379912f81 44
cocorlow 56:888379912f81 45 // var
cocorlow 56:888379912f81 46
cocorlow 56:888379912f81 47 // communication
cocorlow 56:888379912f81 48 extern I2C i2c; // sda, scl
NaotoMorita 64:e9661430f0e3 49 extern UsaPack pc; // log - tail
NaotoMorita 76:7fd3ac1afe3e 50 extern Serial sd;
cocorlow 56:888379912f81 51
cocorlow 56:888379912f81 52 // sensor
cocorlow 56:888379912f81 53 extern MPU6050 accelgyro;
cocorlow 56:888379912f81 54 extern MAG3110 mag_sensor;
NaotoMorita 61:c05353850017 55 extern CalibrateMagneto magCalibrator;
cocorlow 56:888379912f81 56
cocorlow 56:888379912f81 57 // io
cocorlow 56:888379912f81 58 extern DigitalIn userButton;
NaotoMorita 70:99f974d8960e 59 extern SBUS sbus;
NaotoMorita 73:84ffa0166e6c 60 extern Joystick joystick;
cocorlow 56:888379912f81 61
cocorlow 56:888379912f81 62 // control
NaotoMorita 70:99f974d8960e 63 extern FastPWM servoRight;
NaotoMorita 70:99f974d8960e 64 extern FastPWM servoLeft;
NaotoMorita 70:99f974d8960e 65 extern FastPWM servoThrust;
NaotoMorita 70:99f974d8960e 66 extern PID pitchPID; //rad
NaotoMorita 70:99f974d8960e 67 extern PID pitchratePID;//rad/s
NaotoMorita 70:99f974d8960e 68 extern PID rollPID;
NaotoMorita 70:99f974d8960e 69 extern PID rollratePID;//rad/s
NaotoMorita 76:7fd3ac1afe3e 70 extern ScErrStateEKF ekf; // EKF class
NaotoMorita 76:7fd3ac1afe3e 71 extern int obsCount;
cocorlow 56:888379912f81 72
NaotoMorita 70:99f974d8960e 73 extern float rc[16];
cocorlow 56:888379912f81 74 extern int loop_count;
cocorlow 56:888379912f81 75 extern float att_dt;
cocorlow 56:888379912f81 76
cocorlow 56:888379912f81 77 extern int16_t ax, ay, az;
cocorlow 56:888379912f81 78 extern int16_t gx, gy, gz;
cocorlow 56:888379912f81 79 extern MotionSensorDataUnits mdata;
cocorlow 56:888379912f81 80 extern float magval[3];
cocorlow 56:888379912f81 81
NaotoMorita 70:99f974d8960e 82
cocorlow 56:888379912f81 83 // position
cocorlow 56:888379912f81 84 extern Vector3 rpy; // x:roll y:pitch z:yaw
cocorlow 56:888379912f81 85 extern Vector3 acc;
cocorlow 56:888379912f81 86 extern Vector3 accref;
NaotoMorita 68:b9f6938fab9d 87 extern Vector3 dynacc;
cocorlow 56:888379912f81 88 extern Vector3 mag;
cocorlow 56:888379912f81 89 extern Vector3 magref;
cocorlow 56:888379912f81 90 extern Vector3 gyro;
NaotoMorita 73:84ffa0166e6c 91 extern float de;
NaotoMorita 73:84ffa0166e6c 92 extern float da;
NaotoMorita 73:84ffa0166e6c 93 extern float dT;
NaotoMorita 70:99f974d8960e 94 extern MedianFilter accMedian;
NaotoMorita 70:99f974d8960e 95 extern MedianFilter gyroMedian;
NaotoMorita 70:99f974d8960e 96 extern MedianFilter magMedian;
cocorlow 56:888379912f81 97
NaotoMorita 64:e9661430f0e3 98 extern float scaledServoOut[2];
NaotoMorita 70:99f974d8960e 99 extern float scaledMotorOut[1];
NaotoMorita 64:e9661430f0e3 100 extern float servoOut[2];
NaotoMorita 70:99f974d8960e 101 extern float motorOut[1];
cocorlow 56:888379912f81 102
NaotoMorita 61:c05353850017 103
cocorlow 56:888379912f81 104 extern int calibrationFlag;
cocorlow 56:888379912f81 105 extern int agoffset[6];
NaotoMorita 61:c05353850017 106 extern float magbiasMin[3];
NaotoMorita 61:c05353850017 107 extern float magbiasMax[3];
NaotoMorita 76:7fd3ac1afe3e 108 extern float magbias[4];
NaotoMorita 70:99f974d8960e 109 extern float accMin[3];
NaotoMorita 70:99f974d8960e 110 extern float accMax[3];
cocorlow 56:888379912f81 111
cocorlow 56:888379912f81 112 extern Vector3 rpy_align;
cocorlow 56:888379912f81 113
cocorlow 56:888379912f81 114
cocorlow 56:888379912f81 115 //// UsaPack
NaotoMorita 73:84ffa0166e6c 116 extern valuePack vp;
NaotoMorita 73:84ffa0166e6c 117
NaotoMorita 73:84ffa0166e6c 118 // HIL
NaotoMorita 73:84ffa0166e6c 119 extern bool hilFlag;
NaotoMorita 76:7fd3ac1afe3e 120 extern bool serialControlSource;
NaotoMorita 76:7fd3ac1afe3e 121 extern bool serialParamSource;
NaotoMorita 76:7fd3ac1afe3e 122 extern int checkParamSerial[5];
cocorlow 56:888379912f81 123 // function
cocorlow 56:888379912f81 124
cocorlow 56:888379912f81 125 // main.cpp
cocorlow 56:888379912f81 126
cocorlow 56:888379912f81 127 // setup.cpp
cocorlow 56:888379912f81 128 extern void setup();
cocorlow 56:888379912f81 129 extern void calibrate();
NaotoMorita 70:99f974d8960e 130 extern float accScaleCalibrate(int attNo);
cocorlow 56:888379912f81 131
cocorlow 56:888379912f81 132 // run.cpp
cocorlow 56:888379912f81 133 extern void run();
cocorlow 56:888379912f81 134
cocorlow 56:888379912f81 135 // imu.cpp
cocorlow 56:888379912f81 136 extern void getIMUval();
cocorlow 56:888379912f81 137
NaotoMorita 73:84ffa0166e6c 138 // hil.cpp
NaotoMorita 73:84ffa0166e6c 139 extern void getHILval();
NaotoMorita 73:84ffa0166e6c 140 extern float randn();
NaotoMorita 73:84ffa0166e6c 141
cocorlow 56:888379912f81 142 // servo.cpp
cocorlow 56:888379912f81 143 extern void calcServoOut();
cocorlow 56:888379912f81 144
cocorlow 56:888379912f81 145 // sd_eeprom.cpp
cocorlow 56:888379912f81 146 extern void writeSdcard();
cocorlow 56:888379912f81 147
cocorlow 56:888379912f81 148 // global.cpp
cocorlow 56:888379912f81 149 extern float mapfloat(float x, float in_min, float in_max, float out_min, float out_max);
cocorlow 56:888379912f81 150
NaotoMorita 67:41fcdfb7cc5a 151
cocorlow 56:888379912f81 152 #endif