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
Diff: global.hpp
- Revision:
- 88:be349faa1976
- Parent:
- 87:89bbbcdb667b
- Child:
- 89:c9f64bd655d9
diff -r 89bbbcdb667b -r be349faa1976 global.hpp --- a/global.hpp Wed Oct 20 01:50:52 2021 +0000 +++ b/global.hpp Thu Oct 21 06:41:03 2021 +0000 @@ -1,6 +1,8 @@ #ifndef __GLOBAL_HPP__ #define __GLOBAL_HPP__ +using namespace std; + #include "mbed.h" #include "SBUS.hpp" #include "PIDcontroller.h" @@ -11,24 +13,21 @@ #include "Vector3.hpp" #include "Matrix.h" #include "MatrixMath.h" +#include "LSM9DS1.h" +#include "LPS.h" #include "ScErrStateEKF.hpp" #include "MedianFilter.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_42 -#define MPU6050_SAMPLERATE 0 #define PID_dt 0.015f #define servoPwmMax 1800.0f #define servoPwmMin 1200.0f #define motorPwmMax 2000.0f #define motorPwmMin 1100.0f + struct valuePack { int16_t accData[3]; @@ -54,7 +53,7 @@ // var // communication -extern I2C i2c; // sda, scl + extern UsaPack pc; // log - tail extern Serial sd; extern Serial twelite; @@ -62,6 +61,9 @@ // io extern DigitalIn userButton; extern SBUS sbus; +extern I2C i2c; // sda, scl +extern LSM9DS1 lsm; +extern LPS lps; // control extern FastPWM servoRight; @@ -132,7 +134,7 @@ extern void run(); // imu.cpp -//extern void getIMUval(); +extern void getIMUval(); // hil.cpp extern void getHILval(); @@ -149,5 +151,4 @@ // 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