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49 lines
1.1 KiB
C
49 lines
1.1 KiB
C
// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
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// Repository: https://github.com/okalachev/flix
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// Declarations of some functions and variables in Arduino code
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#include <cmath>
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#include "vector.h"
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#include "quaternion.h"
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#define RC_CHANNELS 6
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#define MOTOR_REAR_LEFT 0
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#define MOTOR_FRONT_LEFT 3
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#define MOTOR_FRONT_RIGHT 2
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#define MOTOR_REAR_RIGHT 1
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uint32_t startTime;
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uint32_t stepTime;
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uint32_t steps;
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float stepsPerSecond;
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float dt;
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float motors[4];
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int16_t channels[16]; // raw rc channels WARNING: unsigned on hardware
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float controls[RC_CHANNELS];
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Vector acc;
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Vector rates;
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Quaternion attitude;
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// control
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void control();
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void interpretRC();
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static void controlAttitude();
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static void controlAttitudeAlter();
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static void controlManual();
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static void controlRate();
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void desaturate(float& a, float& b, float& c, float& d);
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static void indicateSaturation();
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// cli
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static void showTable();
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static void cliTestMotor(uint8_t n);
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// mocks
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void setLED(bool on) {};
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void calibrateGyro() {};
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void fullMotorTest(int n) {};
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void sendMotors() {};
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void printIMUCal() { Serial.print("cal: N/A\n"); };
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