Raharja Agie
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
diff -r 000000000000 -r 7ccd56e1c3b1 data_struct.h
--- /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