152 lines
2.4 KiB
C
152 lines
2.4 KiB
C
#ifndef _ALL_USER_DATA_H_
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#define _ALL_USER_DATA_H_
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#define SUCCESS 0
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#define FAIL -1
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#define FAILED -1
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typedef signed char int8_t;
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typedef signed short int int16_t;
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typedef signed int int32_t;
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typedef signed long long int64_t;
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/* exact-width unsigned integer types */
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typedef unsigned char uint8_t;
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typedef unsigned short int uint16_t;
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typedef unsigned int uint32_t;
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typedef unsigned long long uint64_t;
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#define NULL 0
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extern volatile uint32_t SysTick_count;
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typedef struct{
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int16_t accX;
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int16_t accY;
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int16_t accZ;
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int16_t gyroX;
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int16_t gyroY;
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int16_t gyroZ;
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int16_t magX;
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int16_t magY;
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int16_t magZ;
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}_st_Mpu;
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typedef struct {
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float accX;
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float accY;
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float accZ;
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float gyroX;
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float gyroY;
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float gyroZ;
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float magX;
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float magY;
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float magZ;
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}_st_Mpu_Angle;
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struct _1_ekf_filter
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{
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float LastP;
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float Now_P;
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float out;
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float Kg;
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float Q;
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float R;
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};
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//void ekf_1(struct EKF *ekf,void *input); //一维卡尔曼
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extern void kalman_1(struct _1_ekf_filter *ekf,float input); //一维卡尔曼
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typedef struct{
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int16_t magX;
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int16_t magY;
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int16_t magZ;
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}_st_Mag;
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typedef struct{
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float rate;
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float height;
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}High;
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typedef struct{
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float roll;
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float pitch;
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float yaw;
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}_st_AngE;
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typedef struct
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{
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uint16_t roll;
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uint16_t pitch;
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uint16_t thr;
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uint16_t yaw;
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uint16_t AUX1;
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uint16_t AUX2;
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uint16_t AUX3;
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uint16_t AUX4;
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}_st_Remote;
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typedef volatile struct
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{
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float desired; //< set point
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float offset; //
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float prevError; //< previous error
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float integ; //< integral
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float kp; //< proportional gain
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float ki; //< integral gain
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float kd; //< derivative gain
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float IntegLimitHigh; //< integral limit
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float IntegLimitLow;
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float measured;
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float out;
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float OutLimitHigh;
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float OutLimitLow;
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}PidObject;
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typedef volatile struct
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{
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uint8_t unlock;
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}_st_ALL_flag;
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extern _st_Remote Remote;
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extern _st_Mpu MPU6050;
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extern _st_Mpu MPU6050UnFiltered;
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extern _st_Mpu_Angle MPU6050Angle;
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extern _st_Mag AK8975; //保留，需外接磁力<E7A381><E58A9B>?
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extern _st_AngE Angle;
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extern _st_ALL_flag ALL_flag;
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extern PidObject pidRateX;
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extern PidObject pidRateY;
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extern PidObject pidRateZ;
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extern PidObject pidPitch;
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extern PidObject pidRoll;
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extern PidObject pidYaw;
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extern PidObject pidHeightRate;
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extern PidObject pidHeightHigh;
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extern int i2c0Lock;
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extern void I2C0_LCK ();
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extern void I2C0_UNLOCK();
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#endif
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