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@87:89bbbcdb667b, 2021-10-20 (annotated)

Committer:
osaka
Date:
Wed Oct 20 01:50:52 2021 +0000
Revision:
87:89bbbcdb667b
Parent:
86:456f00d52974
Child:
88:be349faa1976
Pmod nav

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"
NaotoMorita 76:7fd3ac1afe3e 14 #include "ScErrStateEKF.hpp"
NaotoMorita 70:99f974d8960e 15 #include "MedianFilter.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
NaotoMorita 70:99f974d8960e 22 #define GYRO_FSR MPU6050_GYRO_FS_250
NaotoMorita 70:99f974d8960e 23 #define GYRO_SSF 131.0f
NaotoMorita 73:84ffa0166e6c 24 #define MPU6050_LPF MPU6050_DLPF_BW_42
NaotoMorita 73:84ffa0166e6c 25 #define MPU6050_SAMPLERATE 0
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
cocorlow 56:888379912f81 32 struct valuePack
cocorlow 56:888379912f81 33 {
NaotoMorita 73:84ffa0166e6c 34 int16_t accData[3];
NaotoMorita 73:84ffa0166e6c 35 int16_t gyroData[3];
NaotoMorita 84:ff48e01ea76b 36 int16_t magData[3];
NaotoMorita 84:ff48e01ea76b 37 int16_t viData[3];
NaotoMorita 84:ff48e01ea76b 38 int16_t actData[4];
NaotoMorita 76:7fd3ac1afe3e 39 int16_t commandIndex;
NaotoMorita 83:e69ab831031c 40 int16_t commandVal;
NaotoMorita 83:e69ab831031c 41 };
NaotoMorita 83:e69ab831031c 42
NaotoMorita 83:e69ab831031c 43 struct sendPack
NaotoMorita 83:e69ab831031c 44 {
NaotoMorita 83:e69ab831031c 45 float da;
NaotoMorita 83:e69ab831031c 46 float de;
NaotoMorita 83:e69ab831031c 47 float dT;
NaotoMorita 83:e69ab831031c 48 float rpy[3];
NaotoMorita 84:ff48e01ea76b 49 float vi[3];
NaotoMorita 84:ff48e01ea76b 50 float vihat[3];
osaka 86:456f00d52974 51 float accBias[3];
cocorlow 56:888379912f81 52 };
cocorlow 56:888379912f81 53
cocorlow 56:888379912f81 54 // var
cocorlow 56:888379912f81 55
cocorlow 56:888379912f81 56 // communication
cocorlow 56:888379912f81 57 extern I2C i2c; // sda, scl
NaotoMorita 64:e9661430f0e3 58 extern UsaPack pc; // log - tail
NaotoMorita 76:7fd3ac1afe3e 59 extern Serial sd;
osaka 87:89bbbcdb667b 60 extern Serial twelite;
cocorlow 56:888379912f81 61
cocorlow 56:888379912f81 62 // io
cocorlow 56:888379912f81 63 extern DigitalIn userButton;
NaotoMorita 70:99f974d8960e 64 extern SBUS sbus;
cocorlow 56:888379912f81 65
cocorlow 56:888379912f81 66 // control
NaotoMorita 70:99f974d8960e 67 extern FastPWM servoRight;
NaotoMorita 70:99f974d8960e 68 extern FastPWM servoLeft;
NaotoMorita 70:99f974d8960e 69 extern FastPWM servoThrust;
NaotoMorita 70:99f974d8960e 70 extern PID pitchPID; //rad
NaotoMorita 70:99f974d8960e 71 extern PID pitchratePID;//rad/s
NaotoMorita 70:99f974d8960e 72 extern PID rollPID;
NaotoMorita 70:99f974d8960e 73 extern PID rollratePID;//rad/s
NaotoMorita 76:7fd3ac1afe3e 74 extern ScErrStateEKF ekf; // EKF class
NaotoMorita 76:7fd3ac1afe3e 75 extern int obsCount;
cocorlow 56:888379912f81 76
NaotoMorita 70:99f974d8960e 77 extern float rc[16];
cocorlow 56:888379912f81 78 extern int loop_count;
cocorlow 56:888379912f81 79 extern float att_dt;
cocorlow 56:888379912f81 80
NaotoMorita 70:99f974d8960e 81
cocorlow 56:888379912f81 82 // position
cocorlow 56:888379912f81 83 extern Vector3 rpy; // x:roll y:pitch z:yaw
cocorlow 56:888379912f81 84 extern Vector3 acc;
cocorlow 56:888379912f81 85 extern Vector3 accref;
cocorlow 56:888379912f81 86 extern Vector3 mag;
cocorlow 56:888379912f81 87 extern Vector3 magref;
cocorlow 56:888379912f81 88 extern Vector3 gyro;
NaotoMorita 82:c183c29d2427 89 extern Vector3 vi;
osaka 87:89bbbcdb667b 90
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 83:e69ab831031c 117 extern sendPack sp;
NaotoMorita 73:84ffa0166e6c 118
NaotoMorita 73:84ffa0166e6c 119 // HIL
NaotoMorita 73:84ffa0166e6c 120 extern bool hilFlag;
NaotoMorita 76:7fd3ac1afe3e 121 extern bool serialControlSource;
NaotoMorita 76:7fd3ac1afe3e 122 extern bool serialParamSource;
NaotoMorita 76:7fd3ac1afe3e 123 extern int checkParamSerial[5];
cocorlow 56:888379912f81 124 // function
cocorlow 56:888379912f81 125
cocorlow 56:888379912f81 126 // main.cpp
cocorlow 56:888379912f81 127
cocorlow 56:888379912f81 128 // setup.cpp
cocorlow 56:888379912f81 129 extern void setup();
cocorlow 56:888379912f81 130 extern void calibrate();
cocorlow 56:888379912f81 131 // run.cpp
cocorlow 56:888379912f81 132 extern void run();
cocorlow 56:888379912f81 133
cocorlow 56:888379912f81 134 // imu.cpp
osaka 87:89bbbcdb667b 135 //extern void getIMUval();
cocorlow 56:888379912f81 136
NaotoMorita 73:84ffa0166e6c 137 // hil.cpp
NaotoMorita 73:84ffa0166e6c 138 extern void getHILval();
NaotoMorita 73:84ffa0166e6c 139 extern float randn();
NaotoMorita 73:84ffa0166e6c 140
cocorlow 56:888379912f81 141 // servo.cpp
cocorlow 56:888379912f81 142 extern void calcServoOut();
cocorlow 56:888379912f81 143
osaka 87:89bbbcdb667b 144 // transferData.cpp
osaka 87:89bbbcdb667b 145 extern void sendData2PC();
osaka 87:89bbbcdb667b 146 extern void sendTelemetry();
osaka 87:89bbbcdb667b 147 extern void writeSDcard();
cocorlow 56:888379912f81 148
cocorlow 56:888379912f81 149 // global.cpp
cocorlow 56:888379912f81 150 extern float mapfloat(float x, float in_min, float in_max, float out_min, float out_max);
cocorlow 56:888379912f81 151
NaotoMorita 67:41fcdfb7cc5a 152
cocorlow 56:888379912f81 153 #endif