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Make util module header instead of .ino-file

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This commit is contained in:
Oleg Kalachev 2025-01-10 06:51:14 +03:00
parent 08b14d1d76
commit 85172cdcc8
11 changed files with 11 additions and 9 deletions
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3
.vscode/c_cpp_properties.json vendored
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@ -28,7 +28,6 @@
"${workspaceFolder}/flix/motors.ino", "${workspaceFolder}/flix/motors.ino",
"${workspaceFolder}/flix/rc.ino", "${workspaceFolder}/flix/rc.ino",
"${workspaceFolder}/flix/time.ino", "${workspaceFolder}/flix/time.ino",
"${workspaceFolder}/flix/util.ino",
"${workspaceFolder}/flix/wifi.ino", "${workspaceFolder}/flix/wifi.ino",
"${workspaceFolder}/flix/parameters.ino" "${workspaceFolder}/flix/parameters.ino"
], ],
@ -76,7 +75,6 @@
"${workspaceFolder}/flix/motors.ino", "${workspaceFolder}/flix/motors.ino",
"${workspaceFolder}/flix/rc.ino", "${workspaceFolder}/flix/rc.ino",
"${workspaceFolder}/flix/time.ino", "${workspaceFolder}/flix/time.ino",
"${workspaceFolder}/flix/util.ino",
"${workspaceFolder}/flix/wifi.ino", "${workspaceFolder}/flix/wifi.ino",
"${workspaceFolder}/flix/parameters.ino" "${workspaceFolder}/flix/parameters.ino"
], ],
@ -124,7 +122,6 @@
"${workspaceFolder}/flix/motors.ino", "${workspaceFolder}/flix/motors.ino",
"${workspaceFolder}/flix/rc.ino", "${workspaceFolder}/flix/rc.ino",
"${workspaceFolder}/flix/time.ino", "${workspaceFolder}/flix/time.ino",
"${workspaceFolder}/flix/util.ino",
"${workspaceFolder}/flix/wifi.ino", "${workspaceFolder}/flix/wifi.ino",
"${workspaceFolder}/flix/parameters.ino" "${workspaceFolder}/flix/parameters.ino"
], ],

1
flix/control.ino
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@ -7,6 +7,7 @@
#include "quaternion.h" #include "quaternion.h"
#include "pid.h" #include "pid.h"
#include "lpf.h" #include "lpf.h"
#include "util.h"
#define PITCHRATE_P 0.05 #define PITCHRATE_P 0.05
#define PITCHRATE_I 0.2 #define PITCHRATE_I 0.2

2
flix/estimate.ino
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@ -6,12 +6,12 @@
#include "quaternion.h" #include "quaternion.h"
#include "vector.h" #include "vector.h"
#include "lpf.h" #include "lpf.h"
#include "util.h"
#define WEIGHT_ACC 0.5f #define WEIGHT_ACC 0.5f
#define RATES_LFP_ALPHA 0.2 // cutoff frequency ~ 40 Hz #define RATES_LFP_ALPHA 0.2 // cutoff frequency ~ 40 Hz
LowPassFilter<Vector> ratesFilter(RATES_LFP_ALPHA); LowPassFilter<Vector> ratesFilter(RATES_LFP_ALPHA);
extern const float ONE_G;
void estimate() { void estimate() {
applyGyro(); applyGyro();

1
flix/flix.ino
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@ -5,6 +5,7 @@
#include "vector.h" #include "vector.h"
#include "quaternion.h" #include "quaternion.h"
#include "util.h"
#define SERIAL_BAUDRATE 115200 #define SERIAL_BAUDRATE 115200
#define WIFI_ENABLED 1 #define WIFI_ENABLED 1

3
flix/imu.ino
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@ -5,6 +5,7 @@
#include <SPI.h> #include <SPI.h>
#include <MPU9250.h> #include <MPU9250.h>
#include "util.h"
MPU9250 IMU(SPI); MPU9250 IMU(SPI);
@ -12,8 +13,6 @@ Vector accBias;
Vector gyroBias; Vector gyroBias;
Vector accScale(1, 1, 1); Vector accScale(1, 1, 1);
extern const float ONE_G;
void setupIMU() { void setupIMU() {
Serial.println("Setup IMU"); Serial.println("Setup IMU");
bool status = IMU.begin(); bool status = IMU.begin();

2
flix/motors.ino
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@ -4,6 +4,8 @@
// Motors output control using MOSFETs // Motors output control using MOSFETs
// In case of using ESCs, change PWM_MIN and PWM_MAX definitions to appropriate values in μs // In case of using ESCs, change PWM_MIN and PWM_MAX definitions to appropriate values in μs
#include "util.h"
#define MOTOR_0_PIN 12 // rear left #define MOTOR_0_PIN 12 // rear left
#define MOTOR_1_PIN 13 // rear right #define MOTOR_1_PIN 13 // rear right
#define MOTOR_2_PIN 14 // front right #define MOTOR_2_PIN 14 // front right

1
flix/rc.ino
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@ -4,6 +4,7 @@
// Work with the RC receiver // Work with the RC receiver
#include <SBUS.h> #include <SBUS.h>
#include "util.h"
float channelNeutral[RC_CHANNELS] = {NAN}; // first element NAN means not calibrated float channelNeutral[RC_CHANNELS] = {NAN}; // first element NAN means not calibrated
float channelMax[RC_CHANNELS]; float channelMax[RC_CHANNELS];

2
flix/util.ino → flix/util.h
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@ -3,6 +3,8 @@
// Utility functions // Utility functions
#pragma once
#include <math.h> #include <math.h>
#include <soc/soc.h> #include <soc/soc.h>
#include <soc/rtc_cntl_reg.h> #include <soc/rtc_cntl_reg.h>

1
gazebo/simulator.cpp
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@ -17,7 +17,6 @@
#include "Arduino.h" #include "Arduino.h"
#include "flix.h" #include "flix.h"
#include "util.ino"
#include "rc.ino" #include "rc.ino"
#include "time.ino" #include "time.ino"
#include "motors.ino" #include "motors.ino"

2
gazebo/soc/rtc_cntl_reg.h
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@ -1 +1 @@
// Dummy file to make it possible to compile simulator with util.ino // Dummy file to make it possible to compile simulator with Flix' util.h

2
gazebo/soc/soc.h
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@ -1,3 +1,3 @@
// Dummy file to make it possible to compile simulator with util.ino // Dummy file to make it possible to compile simulator with Flix' util.h
#define WRITE_PERI_REG(addr, val) {} #define WRITE_PERI_REG(addr, val) {}