Raharja Agie / Mbed 2 deprecated Controller

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)

Dependencies:   mbed

struct.h@0:bd282c11d296, 2010-08-12 (annotated)

Committer:
agiembed
Date:
Thu Aug 12 01:08:40 2010 +0000
Revision:
0:bd282c11d296

        

        
Who changed what in which revision?

        

            
                
UserRevisionLine numberNew contents of line

            
            


agiembed

0:bd282c11d296


     1







agiembed

0:bd282c11d296


     2

typedef struct _fcc_data {





agiembed

0:bd282c11d296


     3







agiembed

0:bd282c11d296


     4

    unsigned short US;  //2





agiembed

0:bd282c11d296


     5

    unsigned short IR1;          //2





agiembed

0:bd282c11d296


     6

    unsigned short IR2;         //2





agiembed

0:bd282c11d296


     7

    unsigned short IR3;         //2





agiembed

0:bd282c11d296


     8

    unsigned short IR4;         //2





agiembed

0:bd282c11d296


     9

    unsigned short FCC_voltage;   //2





agiembed

0:bd282c11d296


    10

    char state_flag;    //1





agiembed

0:bd282c11d296


    11

    float roll, pitch, yaw;    // 4, 4, 4





agiembed

0:bd282c11d296


    12

    float g_roll, g_pitch, g_yaw;  //4, 4, 4





agiembed

0:bd282c11d296


    13

    float acc_x, acc_y, acc_z;   //4, 4 ,4





agiembed

0:bd282c11d296


    14







agiembed

0:bd282c11d296


    15

}FCC_DATA;





agiembed

0:bd282c11d296


    16

FCC_DATA fcc;





agiembed

0:bd282c11d296


    17







agiembed

0:bd282c11d296


    18

typedef struct _ahrs {





agiembed

0:bd282c11d296


    19







agiembed

0:bd282c11d296


    20

    short packet;  //2





agiembed

0:bd282c11d296


    21

    unsigned char data_info;  //1





agiembed

0:bd282c11d296


    22

    float g_roll, g_pitch, g_yaw;  //4, 4, 4





agiembed

0:bd282c11d296


    23

    float acc_x, acc_y, acc_z;   //4, 4 ,4





agiembed

0:bd282c11d296


    24

    float roll, pitch, yaw;    // 4, 4, 4





agiembed

0:bd282c11d296


    25







agiembed

0:bd282c11d296


    26

}AHRS_DATA;





agiembed

0:bd282c11d296


    27

AHRS_DATA IMU;





agiembed

0:bd282c11d296


    28







agiembed

0:bd282c11d296


    29

typedef struct _rc {





agiembed

0:bd282c11d296


    30

    short roll, throttle, pitch, yaw, sw;





agiembed

0:bd282c11d296


    31

} RC_DATA;





agiembed

0:bd282c11d296


    32

RC_DATA RC;