File content as of revision 56:888379912f81:

#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