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@92:00460f6df439, 2021-10-28 (annotated)
- Committer:
- NaotoMorita
- Date:
- Thu Oct 28 09:44:47 2021 +0000
- Revision:
- 92:00460f6df439
- Parent:
- 90:96c2b0ed4b96
- Child:
- 93:b827f78a717a
for PmodNAV
Who changed what in which revision?
User | Revision | Line number | New 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" |
osaka | 88:be349faa1976 | 14 | #include "LSM9DS1.h" |
osaka | 88:be349faa1976 | 15 | #include "LPS.h" |
NaotoMorita | 90:96c2b0ed4b96 | 16 | #include "solaESKF.hpp" |
NaotoMorita | 70:99f974d8960e | 17 | #include "MedianFilter.hpp" |
cocorlow | 56:888379912f81 | 18 | |
cocorlow | 56:888379912f81 | 19 | #define M_PI 3.141592f |
cocorlow | 56:888379912f81 | 20 | #define ACCEL_SSF 4096.0f |
NaotoMorita | 70:99f974d8960e | 21 | #define GYRO_SSF 131.0f |
cocorlow | 56:888379912f81 | 22 | #define PID_dt 0.015f |
cocorlow | 56:888379912f81 | 23 | #define servoPwmMax 1800.0f |
cocorlow | 56:888379912f81 | 24 | #define servoPwmMin 1200.0f |
cocorlow | 56:888379912f81 | 25 | #define motorPwmMax 2000.0f |
cocorlow | 56:888379912f81 | 26 | #define motorPwmMin 1100.0f |
cocorlow | 56:888379912f81 | 27 | |
osaka | 88:be349faa1976 | 28 | |
cocorlow | 56:888379912f81 | 29 | struct valuePack |
cocorlow | 56:888379912f81 | 30 | { |
NaotoMorita | 73:84ffa0166e6c | 31 | int16_t accData[3]; |
NaotoMorita | 73:84ffa0166e6c | 32 | int16_t gyroData[3]; |
NaotoMorita | 84:ff48e01ea76b | 33 | int16_t magData[3]; |
NaotoMorita | 84:ff48e01ea76b | 34 | int16_t viData[3]; |
NaotoMorita | 92:00460f6df439 | 35 | int16_t piData[3]; |
NaotoMorita | 84:ff48e01ea76b | 36 | int16_t actData[4]; |
NaotoMorita | 76:7fd3ac1afe3e | 37 | int16_t commandIndex; |
NaotoMorita | 83:e69ab831031c | 38 | int16_t commandVal; |
NaotoMorita | 83:e69ab831031c | 39 | }; |
NaotoMorita | 83:e69ab831031c | 40 | |
NaotoMorita | 83:e69ab831031c | 41 | struct sendPack |
NaotoMorita | 83:e69ab831031c | 42 | { |
NaotoMorita | 83:e69ab831031c | 43 | float da; |
NaotoMorita | 83:e69ab831031c | 44 | float de; |
NaotoMorita | 83:e69ab831031c | 45 | float dT; |
NaotoMorita | 83:e69ab831031c | 46 | float rpy[3]; |
NaotoMorita | 84:ff48e01ea76b | 47 | float vihat[3]; |
cocorlow | 56:888379912f81 | 48 | }; |
cocorlow | 56:888379912f81 | 49 | |
cocorlow | 56:888379912f81 | 50 | // var |
cocorlow | 56:888379912f81 | 51 | |
cocorlow | 56:888379912f81 | 52 | // communication |
osaka | 88:be349faa1976 | 53 | |
NaotoMorita | 64:e9661430f0e3 | 54 | extern UsaPack pc; // log - tail |
NaotoMorita | 76:7fd3ac1afe3e | 55 | extern Serial sd; |
osaka | 87:89bbbcdb667b | 56 | extern Serial twelite; |
cocorlow | 56:888379912f81 | 57 | |
cocorlow | 56:888379912f81 | 58 | // io |
cocorlow | 56:888379912f81 | 59 | extern DigitalIn userButton; |
NaotoMorita | 70:99f974d8960e | 60 | extern SBUS sbus; |
osaka | 88:be349faa1976 | 61 | extern I2C i2c; // sda, scl |
osaka | 88:be349faa1976 | 62 | extern LSM9DS1 lsm; |
osaka | 88:be349faa1976 | 63 | extern LPS lps; |
cocorlow | 56:888379912f81 | 64 | |
cocorlow | 56:888379912f81 | 65 | // control |
NaotoMorita | 70:99f974d8960e | 66 | extern FastPWM servoRight; |
NaotoMorita | 70:99f974d8960e | 67 | extern FastPWM servoLeft; |
NaotoMorita | 70:99f974d8960e | 68 | extern FastPWM servoThrust; |
NaotoMorita | 70:99f974d8960e | 69 | extern PID pitchPID; //rad |
NaotoMorita | 70:99f974d8960e | 70 | extern PID pitchratePID;//rad/s |
NaotoMorita | 70:99f974d8960e | 71 | extern PID rollPID; |
NaotoMorita | 70:99f974d8960e | 72 | extern PID rollratePID;//rad/s |
NaotoMorita | 90:96c2b0ed4b96 | 73 | extern solaESKF eskf; // EKF class |
NaotoMorita | 76:7fd3ac1afe3e | 74 | extern int obsCount; |
cocorlow | 56:888379912f81 | 75 | |
NaotoMorita | 70:99f974d8960e | 76 | extern float rc[16]; |
cocorlow | 56:888379912f81 | 77 | extern int loop_count; |
cocorlow | 56:888379912f81 | 78 | extern float att_dt; |
cocorlow | 56:888379912f81 | 79 | |
NaotoMorita | 70:99f974d8960e | 80 | |
cocorlow | 56:888379912f81 | 81 | // position |
cocorlow | 56:888379912f81 | 82 | extern Vector3 rpy; // x:roll y:pitch z:yaw |
cocorlow | 56:888379912f81 | 83 | extern Vector3 acc; |
cocorlow | 56:888379912f81 | 84 | extern Vector3 accref; |
cocorlow | 56:888379912f81 | 85 | extern Vector3 mag; |
cocorlow | 56:888379912f81 | 86 | extern Vector3 magref; |
cocorlow | 56:888379912f81 | 87 | extern Vector3 gyro; |
NaotoMorita | 82:c183c29d2427 | 88 | extern Vector3 vi; |
NaotoMorita | 92:00460f6df439 | 89 | extern Vector3 pi; |
NaotoMorita | 92:00460f6df439 | 90 | extern float palt; |
osaka | 87:89bbbcdb667b | 91 | |
NaotoMorita | 73:84ffa0166e6c | 92 | extern float de; |
NaotoMorita | 73:84ffa0166e6c | 93 | extern float da; |
NaotoMorita | 73:84ffa0166e6c | 94 | extern float dT; |
NaotoMorita | 70:99f974d8960e | 95 | extern MedianFilter accMedian; |
NaotoMorita | 70:99f974d8960e | 96 | extern MedianFilter gyroMedian; |
NaotoMorita | 70:99f974d8960e | 97 | extern MedianFilter magMedian; |
cocorlow | 56:888379912f81 | 98 | |
NaotoMorita | 64:e9661430f0e3 | 99 | extern float scaledServoOut[2]; |
NaotoMorita | 70:99f974d8960e | 100 | extern float scaledMotorOut[1]; |
NaotoMorita | 64:e9661430f0e3 | 101 | extern float servoOut[2]; |
NaotoMorita | 70:99f974d8960e | 102 | extern float motorOut[1]; |
cocorlow | 56:888379912f81 | 103 | |
NaotoMorita | 61:c05353850017 | 104 | |
cocorlow | 56:888379912f81 | 105 | extern int calibrationFlag; |
cocorlow | 56:888379912f81 | 106 | extern int agoffset[6]; |
NaotoMorita | 61:c05353850017 | 107 | extern float magbiasMin[3]; |
NaotoMorita | 61:c05353850017 | 108 | extern float magbiasMax[3]; |
NaotoMorita | 76:7fd3ac1afe3e | 109 | extern float magbias[4]; |
NaotoMorita | 70:99f974d8960e | 110 | extern float accMin[3]; |
NaotoMorita | 70:99f974d8960e | 111 | extern float accMax[3]; |
cocorlow | 56:888379912f81 | 112 | |
cocorlow | 56:888379912f81 | 113 | extern Vector3 rpy_align; |
cocorlow | 56:888379912f81 | 114 | |
cocorlow | 56:888379912f81 | 115 | |
cocorlow | 56:888379912f81 | 116 | //// UsaPack |
NaotoMorita | 73:84ffa0166e6c | 117 | extern valuePack vp; |
NaotoMorita | 83:e69ab831031c | 118 | extern sendPack sp; |
NaotoMorita | 73:84ffa0166e6c | 119 | |
NaotoMorita | 73:84ffa0166e6c | 120 | // HIL |
NaotoMorita | 73:84ffa0166e6c | 121 | extern bool hilFlag; |
NaotoMorita | 76:7fd3ac1afe3e | 122 | extern bool serialControlSource; |
NaotoMorita | 76:7fd3ac1afe3e | 123 | extern bool serialParamSource; |
NaotoMorita | 76:7fd3ac1afe3e | 124 | extern int checkParamSerial[5]; |
cocorlow | 56:888379912f81 | 125 | // function |
cocorlow | 56:888379912f81 | 126 | |
cocorlow | 56:888379912f81 | 127 | // main.cpp |
cocorlow | 56:888379912f81 | 128 | |
cocorlow | 56:888379912f81 | 129 | // setup.cpp |
cocorlow | 56:888379912f81 | 130 | extern void setup(); |
cocorlow | 56:888379912f81 | 131 | extern void calibrate(); |
cocorlow | 56:888379912f81 | 132 | // run.cpp |
cocorlow | 56:888379912f81 | 133 | extern void run(); |
cocorlow | 56:888379912f81 | 134 | |
cocorlow | 56:888379912f81 | 135 | // imu.cpp |
osaka | 88:be349faa1976 | 136 | extern void getIMUval(); |
cocorlow | 56:888379912f81 | 137 | |
NaotoMorita | 73:84ffa0166e6c | 138 | // hil.cpp |
NaotoMorita | 92:00460f6df439 | 139 | extern void getHilIMUval(); |
NaotoMorita | 92:00460f6df439 | 140 | extern void getHilGPSval(); |
NaotoMorita | 73:84ffa0166e6c | 141 | extern float randn(); |
NaotoMorita | 73:84ffa0166e6c | 142 | |
cocorlow | 56:888379912f81 | 143 | // servo.cpp |
cocorlow | 56:888379912f81 | 144 | extern void calcServoOut(); |
cocorlow | 56:888379912f81 | 145 | |
osaka | 87:89bbbcdb667b | 146 | // transferData.cpp |
osaka | 87:89bbbcdb667b | 147 | extern void sendData2PC(); |
osaka | 87:89bbbcdb667b | 148 | extern void sendTelemetry(); |
osaka | 87:89bbbcdb667b | 149 | extern void writeSDcard(); |
cocorlow | 56:888379912f81 | 150 | |
cocorlow | 56:888379912f81 | 151 | // global.cpp |
cocorlow | 56:888379912f81 | 152 | extern float mapfloat(float x, float in_min, float in_max, float out_min, float out_max); |
cocorlow | 56:888379912f81 | 153 | |
cocorlow | 56:888379912f81 | 154 | #endif |