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@56:888379912f81, 2021-05-31 (annotated)

Committer:
cocorlow
Date:
Mon May 31 18:59:36 2021 +0000
Revision:
56:888379912f81
Child:
61:c05353850017
file divided

Who changed what in which revision?

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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"
cocorlow 56:888379912f81 5 #include "PIDcontroller.h"
cocorlow 56:888379912f81 6 #include "SBUS.hpp"
cocorlow 56:888379912f81 7 #include "LoopTicker.hpp"
cocorlow 56:888379912f81 8 #include "MPU6050.h"
cocorlow 56:888379912f81 9 #include "MAG3110.h"
cocorlow 56:888379912f81 10 #include "I2Cdev.h"
cocorlow 56:888379912f81 11 #include "FastPWM.h"
cocorlow 56:888379912f81 12 #include <cmath>
cocorlow 56:888379912f81 13 #include "UsaPack.hpp"
cocorlow 56:888379912f81 14 #include "Vector3.hpp"
cocorlow 56:888379912f81 15 #include "HAPS_EKF.hpp"
cocorlow 56:888379912f81 16
cocorlow 56:888379912f81 17 #define MPU6050_PWR_MGMT_1 0x6B
cocorlow 56:888379912f81 18 #define MPU_ADDRESS 0x68
cocorlow 56:888379912f81 19 #define M_PI 3.141592f
cocorlow 56:888379912f81 20 #define ACCEL_FSR MPU6050_ACCEL_FS_8
cocorlow 56:888379912f81 21 #define ACCEL_SSF 4096.0f
cocorlow 56:888379912f81 22 #define GYRO_FSR MPU6050_GYRO_FS_250
cocorlow 56:888379912f81 23 #define GYRO_SSF 131.0f
cocorlow 56:888379912f81 24 #define MPU6050_LPF MPU6050_DLPF_BW_256
cocorlow 56:888379912f81 25 #define gyro_th 20.0f
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 #define N_EEPROM 10
cocorlow 56:888379912f81 32
cocorlow 56:888379912f81 33 // struct union
cocorlow 56:888379912f81 34 union U
cocorlow 56:888379912f81 35 {
cocorlow 56:888379912f81 36 int i[N_EEPROM]; // 0: flag(>1で正常に書き込まれた状態) 1 ~ 3: 磁場の中心座標, 4: 磁場の半径、 5~7; mag, 8~10: acc bias
cocorlow 56:888379912f81 37 char c[N_EEPROM*4]; // floatはcharの4倍
cocorlow 56:888379912f81 38 };
cocorlow 56:888379912f81 39
cocorlow 56:888379912f81 40 struct valuePack
cocorlow 56:888379912f81 41 {
cocorlow 56:888379912f81 42 float dt;
cocorlow 56:888379912f81 43 int count;
cocorlow 56:888379912f81 44 float acc[3];
cocorlow 56:888379912f81 45 float gyro[3];
cocorlow 56:888379912f81 46 float mag[3];
cocorlow 56:888379912f81 47 float rpy[3];
cocorlow 56:888379912f81 48 float rpy_g[3];
cocorlow 56:888379912f81 49 };
cocorlow 56:888379912f81 50
cocorlow 56:888379912f81 51 // var
cocorlow 56:888379912f81 52
cocorlow 56:888379912f81 53 // communication
cocorlow 56:888379912f81 54 extern Serial pc;
cocorlow 56:888379912f81 55 extern I2C i2c; // sda, scl
cocorlow 56:888379912f81 56 extern UsaPack tail; // log - tail
cocorlow 56:888379912f81 57 extern SBUS sbus;
cocorlow 56:888379912f81 58
cocorlow 56:888379912f81 59 // sensor
cocorlow 56:888379912f81 60 extern MPU6050 accelgyro;
cocorlow 56:888379912f81 61 extern MAG3110 mag_sensor;
cocorlow 56:888379912f81 62
cocorlow 56:888379912f81 63 // io
cocorlow 56:888379912f81 64 extern DigitalIn userButton;
cocorlow 56:888379912f81 65 extern DigitalIn locdef1;
cocorlow 56:888379912f81 66 extern DigitalIn locdef2;
cocorlow 56:888379912f81 67
cocorlow 56:888379912f81 68 // control
cocorlow 56:888379912f81 69 extern FastPWM servo;
cocorlow 56:888379912f81 70 extern PID pitchPID; // rad
cocorlow 56:888379912f81 71 extern PID pitchratePID;// rad/s
cocorlow 56:888379912f81 72 extern HAPS_EKF ekf; // EKF class
cocorlow 56:888379912f81 73
cocorlow 56:888379912f81 74 extern int loop_count;
cocorlow 56:888379912f81 75 extern int obs_count;
cocorlow 56:888379912f81 76 extern float att_dt;
cocorlow 56:888379912f81 77 extern float rc[16];
cocorlow 56:888379912f81 78
cocorlow 56:888379912f81 79 extern int16_t ax, ay, az;
cocorlow 56:888379912f81 80 extern int16_t gx, gy, gz;
cocorlow 56:888379912f81 81 extern MotionSensorDataUnits mdata;
cocorlow 56:888379912f81 82 extern float magval[3];
cocorlow 56:888379912f81 83
cocorlow 56:888379912f81 84 // position
cocorlow 56:888379912f81 85 extern Vector3 rpy; // x:roll y:pitch z:yaw
cocorlow 56:888379912f81 86 extern Vector3 rpy_g; // x:roll y:pitch z:yaw
cocorlow 56:888379912f81 87 extern Vector3 acc;
cocorlow 56:888379912f81 88 extern Vector3 accref;
cocorlow 56:888379912f81 89 extern Vector3 mag;
cocorlow 56:888379912f81 90 extern Vector3 magref;
cocorlow 56:888379912f81 91 extern Vector3 dynacc;
cocorlow 56:888379912f81 92 extern Vector3 gyro;
cocorlow 56:888379912f81 93
cocorlow 56:888379912f81 94 extern Vector3 LPacc;
cocorlow 56:888379912f81 95 extern Vector3 LPmag;
cocorlow 56:888379912f81 96
cocorlow 56:888379912f81 97 extern int out1, out2;
cocorlow 56:888379912f81 98 extern float scaledServoOut[1];
cocorlow 56:888379912f81 99 extern float servoOut[1];
cocorlow 56:888379912f81 100
cocorlow 56:888379912f81 101
cocorlow 56:888379912f81 102 extern float val_thmg;
cocorlow 56:888379912f81 103 extern float th_mg;
cocorlow 56:888379912f81 104 extern float accnormerr;
cocorlow 56:888379912f81 105
cocorlow 56:888379912f81 106 extern int calibrationFlag;
cocorlow 56:888379912f81 107 extern int pos_tail; // 0:left 1:center 2:right
cocorlow 56:888379912f81 108 extern int agoffset[6];
cocorlow 56:888379912f81 109 extern float magbias[4];
cocorlow 56:888379912f81 110
cocorlow 56:888379912f81 111 extern Vector3 rpy_align;
cocorlow 56:888379912f81 112
cocorlow 56:888379912f81 113 // eepromのread writeのためのunionを定義
cocorlow 56:888379912f81 114 extern const int eeprom_address; // EEPROMの3つの入力が全て+より
cocorlow 56:888379912f81 115 extern const int eeprom_pointeraddress;
cocorlow 56:888379912f81 116
cocorlow 56:888379912f81 117 //// UsaPack
cocorlow 56:888379912f81 118 extern const int tail_address[3];
cocorlow 56:888379912f81 119 extern valuePack posValues[3];
cocorlow 56:888379912f81 120
cocorlow 56:888379912f81 121 // function
cocorlow 56:888379912f81 122
cocorlow 56:888379912f81 123 // main.cpp
cocorlow 56:888379912f81 124
cocorlow 56:888379912f81 125 // setup.cpp
cocorlow 56:888379912f81 126 extern void setup();
cocorlow 56:888379912f81 127 extern void calibrate();
cocorlow 56:888379912f81 128
cocorlow 56:888379912f81 129 // run.cpp
cocorlow 56:888379912f81 130 extern void run();
cocorlow 56:888379912f81 131
cocorlow 56:888379912f81 132 // imu.cpp
cocorlow 56:888379912f81 133 extern void getIMUval();
cocorlow 56:888379912f81 134
cocorlow 56:888379912f81 135 // servo.cpp
cocorlow 56:888379912f81 136 extern void calcServoOut();
cocorlow 56:888379912f81 137
cocorlow 56:888379912f81 138 // sd_eeprom.cpp
cocorlow 56:888379912f81 139 extern void writeSdcard();
cocorlow 56:888379912f81 140 extern void writeEEPROM(int address, unsigned int eeaddress, char *data, int size);
cocorlow 56:888379912f81 141 extern void readEEPROM(int address, unsigned int eeaddress, char *data, int size);
cocorlow 56:888379912f81 142
cocorlow 56:888379912f81 143 // global.cpp
cocorlow 56:888379912f81 144 extern float mapfloat(float x, float in_min, float in_max, float out_min, float out_max);
cocorlow 56:888379912f81 145
cocorlow 56:888379912f81 146 #endif