HardwareDriver/mpu6050/m451/data.h

#ifndef _ALL_USER_DATA_H_
#define _ALL_USER_DATA_H_

#define SUCCESS 0
#define FAIL -1
#define FAILED  -1
typedef   signed          char int8_t;
typedef   signed short     int int16_t;
typedef   signed           int int32_t;
typedef   signed       long long int64_t;

    /* exact-width unsigned integer types */
typedef unsigned          char uint8_t;
typedef unsigned short     int uint16_t;
typedef unsigned           int uint32_t;
typedef unsigned       long long uint64_t;


#define NULL 0
extern volatile uint32_t SysTick_count;


typedef struct{
	int16_t accX;
	int16_t accY;
	int16_t accZ;
	int16_t gyroX;
	int16_t gyroY;
	int16_t gyroZ;
	int16_t magX;
	int16_t magY;
	int16_t magZ;
}_st_Mpu;

typedef struct {
	float accX;
	float accY;
	float accZ;
	float gyroX;
	float gyroY;
	float gyroZ;
	float magX;
	float magY;
	float magZ;
}_st_Mpu_Angle;

struct _1_ekf_filter
{
	float LastP;
	float	Now_P;
	float out;
	float Kg;
	float Q;
	float R;	
};

//void ekf_1(struct EKF *ekf,void *input);  //一维卡尔曼
extern void kalman_1(struct _1_ekf_filter *ekf,float input);  //一维卡尔曼



typedef struct{
	int16_t magX;
	int16_t magY;
	int16_t magZ;
}_st_Mag;


typedef struct{
	float rate;
	float height;
}High;


typedef struct{
	float roll;
	float pitch;
	float yaw;
}_st_AngE;



typedef struct
{
	uint16_t roll;
	uint16_t pitch;
	uint16_t thr;
	uint16_t yaw;
	uint16_t AUX1;
	uint16_t AUX2;
	uint16_t AUX3;
	uint16_t AUX4;	
}_st_Remote;



typedef volatile struct
{
	float desired;     //< set point
	float offset;      //
	float prevError;    //< previous error
	float integ;        //< integral
	float kp;           //< proportional gain
	float ki;           //< integral gain
	float kd;           //< derivative gain
	float IntegLimitHigh;       //< integral limit
	float IntegLimitLow;
	float measured;
	float out;
	float OutLimitHigh;
	float OutLimitLow;
}PidObject;


typedef volatile struct
{
	uint8_t unlock;
	

}_st_ALL_flag;


extern _st_Remote Remote;
extern _st_Mpu MPU6050;
extern _st_Mpu MPU6050UnFiltered;
extern _st_Mpu_Angle MPU6050Angle;
extern _st_Mag AK8975; //保留，需外接磁力<E7A381><E58A9B>?
extern _st_AngE Angle;


extern _st_ALL_flag ALL_flag;


extern	PidObject pidRateX;
extern	PidObject pidRateY;
extern	PidObject pidRateZ;

extern	PidObject pidPitch;
extern	PidObject pidRoll;
extern	PidObject pidYaw;

extern	PidObject pidHeightRate;
extern	PidObject pidHeightHigh;

extern int i2c0Lock;

extern void I2C0_LCK ();
extern void I2C0_UNLOCK();

#endif