Raharja Agie / Mbed 2 deprecated FlightController

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)

Dependencies:   mbed

data_struct.h

Committer:
agiembed
Date:
2010-08-11
Revision:
0:7ccd56e1c3b1

File content as of revision 0:7ccd56e1c3b1:


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;