Read IMU data at Serial port (p28, p27), data rate <100Hz @115200bps Read 5 channels PPM signal at p11 using InterruptIn Send data via RF Modem at serial port (p13, p14) in 36Hz @115200 Drive i2C motor speed controller at I2C port (p9, p10) in every 10mS (control loop delay time)
Diff: data_struct.h
- Revision:
- 0:7ccd56e1c3b1
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/data_struct.h Wed Aug 11 01:23:42 2010 +0000 @@ -0,0 +1,27 @@ + +typedef struct _fcc_data { + + unsigned short US; //2 + unsigned short IR1; //2 + unsigned short IR2; //2 + unsigned short IR3; //2 + unsigned short IR4; //2 + unsigned short FCC_voltage; //2 + char state_flag; //1 + float roll, pitch, yaw; // 4, 4, 4 + float g_roll, g_pitch, g_yaw; //4, 4, 4 + float acc_x, acc_y, acc_z; //4, 4 ,4 + +}FCC_DATA; +FCC_DATA fcc; + +typedef struct _ahrs { + + short packet; //2 + unsigned char data_info; //1 + float g_roll, g_pitch, g_yaw; //4, 4, 4 + float acc_x, acc_y, acc_z; //4, 4 ,4 + float roll, pitch, yaw; // 4, 4, 4 + +}AHRS_DATA; +AHRS_DATA IMU; \ No newline at end of file