Diff: global.hpp

Revision:

56:888379912f81

Child:

61:c05353850017

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/global.hpp	Mon May 31 18:59:36 2021 +0000
@@ -0,0 +1,146 @@
+#ifndef __GLOBAL_HPP__
+#define __GLOBAL_HPP__
+
+#include "mbed.h"
+#include "PIDcontroller.h"
+#include "SBUS.hpp"
+#include "LoopTicker.hpp"
+#include "MPU6050.h"
+#include "MAG3110.h"
+#include "I2Cdev.h"
+#include "FastPWM.h"
+#include <cmath>
+#include "UsaPack.hpp"
+#include "Vector3.hpp"
+#include "HAPS_EKF.hpp"
+
+#define MPU6050_PWR_MGMT_1   0x6B
+#define MPU_ADDRESS  0x68
+#define M_PI 3.141592f
+#define ACCEL_FSR MPU6050_ACCEL_FS_8
+#define ACCEL_SSF 4096.0f
+#define GYRO_FSR MPU6050_GYRO_FS_250
+#define GYRO_SSF 131.0f
+#define MPU6050_LPF MPU6050_DLPF_BW_256
+#define gyro_th 20.0f
+#define PID_dt 0.015f
+#define servoPwmMax  1800.0f
+#define servoPwmMin  1200.0f
+#define motorPwmMax  2000.0f
+#define motorPwmMin  1100.0f
+#define N_EEPROM 10
+
+// struct union
+union U
+{
+    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
+    char c[N_EEPROM*4]; // floatはcharの4倍
+};
+
+struct valuePack
+{
+    float dt;
+    int count;
+    float acc[3];
+    float gyro[3];
+    float mag[3];
+    float rpy[3];
+    float rpy_g[3];
+};
+
+// var
+
+// communication
+extern Serial pc;
+extern I2C i2c;  // sda, scl
+extern UsaPack tail; // log - tail
+extern SBUS sbus;
+
+// sensor
+extern MPU6050 accelgyro;
+extern MAG3110 mag_sensor;
+
+// io
+extern DigitalIn userButton;
+extern DigitalIn locdef1;
+extern DigitalIn locdef2;
+
+// control
+extern FastPWM servo;
+extern PID pitchPID; // rad
+extern PID pitchratePID;// rad/s
+extern HAPS_EKF ekf; // EKF class
+
+extern int loop_count;
+extern int obs_count;
+extern float att_dt;
+extern float rc[16];
+
+extern int16_t ax, ay, az;
+extern int16_t gx, gy, gz;
+extern MotionSensorDataUnits mdata;
+extern float magval[3];
+
+// position
+extern Vector3 rpy; // x:roll  y:pitch  z:yaw
+extern Vector3 rpy_g; // x:roll  y:pitch  z:yaw
+extern Vector3 acc;
+extern Vector3 accref;
+extern Vector3 mag;
+extern Vector3 magref;
+extern Vector3 dynacc;
+extern Vector3 gyro;
+
+extern Vector3 LPacc;
+extern Vector3 LPmag;
+
+extern int out1, out2;
+extern float scaledServoOut[1];
+extern float servoOut[1];
+
+
+extern float val_thmg;
+extern float th_mg;
+extern float accnormerr;
+ 
+extern int calibrationFlag;
+extern int pos_tail; // 0:left 1:center 2:right
+extern int agoffset[6];
+extern float magbias[4];
+
+extern Vector3 rpy_align;
+
+// eepromのread writeのためのunionを定義
+extern const int eeprom_address; // EEPROMの3つの入力が全て+より
+extern const int eeprom_pointeraddress;
+
+//// UsaPack
+extern const int tail_address[3];
+extern valuePack posValues[3];
+
+// function
+
+// main.cpp
+
+// setup.cpp
+extern void setup();
+extern void calibrate();
+
+// run.cpp
+extern void run();
+
+// imu.cpp
+extern void getIMUval();
+
+// servo.cpp
+extern void calcServoOut();
+
+// sd_eeprom.cpp
+extern void writeSdcard();
+extern void writeEEPROM(int address, unsigned int eeaddress, char *data, int size);
+extern void readEEPROM(int address, unsigned int eeaddress, char *data, int size);
+
+// global.cpp
+extern float mapfloat(float x, float in_min, float in_max, float out_min, float out_max);
+
+#endif
\ No newline at end of file