storc.h

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/***********************************************************
 * StoRC - Search to Rescue Craft
 * MEAM Senior Design 2011-2012
 * 
 * Authors:  Michael Posner (CIS, MEAM '12)
 * Timothy Hennelly (ESE '12)
 * Jacob Orloff (MEAM '12)
 * 
 * (some code from ArduPilot Mega project, found here:
 * http://code.google.com/p/ardupilot-mega/ )
 * 
 * Licensing:
 * 
 * This program is free software: you can redistribute it and/or modify 
 * it under the terms of the GNU General Public License as published by 
 * the Free Software Foundation, either version 3 of the License, or 
 * (at your option) any later version. 
 * 
 * This program is distributed in the hope that it will be useful, 
 * but WITHOUT ANY WARRANTY; without even the implied warranty of 
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 
 * GNU General Public License for more details. 
 * 
 * You should have received a copy of the GNU General Public License 
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 * 
 ***********************************************************/

/**
*  @file storc.h
*  @brief Main header file, contains global variables, includes, macros, etc.
*  @author Michael Posner (CIS, MEAM '12)
*  @author Timothy Hennelly (ESE '12)
*  @author Jacob Orloff (MEAM '12)
*  
*/


//Definitions -------------------------------------------------------
#define LOG 0  ///< Easy way to turn logging on (1) and off (0)
#define TELEMETRY 1  ///< Easy way to turn telemetry on (1) and off (0)
#define CONTROLS 1   ///< Easy way to turn controls on (1) and off (0) - if off, Payload release is ON
#define NAVIGATION 0 ///< Turn outer loop navigation on (1) and off (0)

#define GRAVITY 9.81  ///< acceleration due to gravity
#define K_DRIFT 0.2564
#define OFFSET_DRIFT 6.4577

#define DEG2RAD(x) (x*0.0174532925)  ///< Macro to convert degrees to radians
#define RAD2DEG(x) (x*57.2957795)   ///< Macro to convert radians to degrees

#define DELT_M2GPS_LAT(x) (x*105.37407797)  ///< Macro to convert a delta of meters to a delta of GPS decimal*10^7 (latitude)
#define DELT_M2GPS_LON(x) (x*74.51564828)  ///< Macro to convert a delta of meters to a delta of GPS decimal*10^7 (longitude)
#define DELT_GPS_LAT2M(x) (x*0.00949)  ///< Macro to convert a delta of GPS decimal*10^7 to a delta of meters (latitude)
#define DELT_GPS_LON2M(x) (x*0.01342)  ///< Macro to convert a delta of GPS decimal*10^7 to a delta of meters (longitude)

// System and Loop Clocks
#define SYSTEM_CLOCK 16000000  ///< ATmega 2560 clock speed in Hz
#define SLOW_LOOP_CLOCK 5  ///< Slow loop clock speed in Hz
#define MED_LOOP_CLOCK 25  ///< Medium loop clock speed in Hz
#define FAST_LOOP_CLOCK 50  ///< Fast loop clock speed in Hz
#define TELEMETRY_CLOCK 5  ///< Telemetry transmit speed in Hz
#define LOGGING_CLOCK 15  ///< Logging speed in Hz (except for GPS and barometer, which are in the slow loop)

// LEDs and Switches
#define A_LED 37  ///< set this pin to output to control LED A on the shield
#define B_LED 36  ///< set this pin to output to control LED B on the shield
#define C_LED 35  ///< set this pin to output to control LED C on the shield
#define SLIDE_SWITCH 40  ///< set this pin to input to read the state of the sliding switch on the shield
#define RELAY_SWITCH 47  ///< set this pin to output to control the Relay Switch on the shield
#define LOGGING_SWITCH 6  ///< switch attached to analog 6 to control whether or not to log

// Sensors
#define PITOT_CH 7      ///< The external ADC channel for the pitot probe
#define PITOT_RATIO 1.0  ///< Conversion between pitot probe voltage and kPa:  once the offset (PITOT_OFFSET) is subtracted, 2V -> 2 kPa
#define PITOT_OFFSET 2.8   ///< This voltage reading from the pitot probe corresponds to 0 pressure difference between static and dynamic
#define RHO 1.2  ///< The density of air at sea level

// RC Channel Definitions
#define ELEVATOR_CH 0               ///< Elevator Channel definition
#define RUDDER_CH 1              ///< Rudder Channel definition
#define THROTTLE_CH 2           ///< Throttle Channel definition

// Payload drop
#define RC4_CH 3           ///< Payload Drop Channel Switch: Ouput #9 on Receiver -  Input #4 on APM
#define DROP_SERVO 3            ///< Drop servo on APM output #4

#define RC5_CH 4                ///< RC ch5 definition
#define RC6_CH 5                ///< RC ch6 definition
#define RC7_CH 6               ///< RC ch7 definition
#define RC8_CH 7                ///< RC ch8 definition

// Time conversions for GPS
#define SEC_PER_DAY 86400  ///< Number of seconds in a day
#define SEC_PER_HOUR 3600  ///< Number of seconds in an hour
#define SEC_PER_MIN 60  ///< Number of seconds in a minute

// Logging Definitions (mostly the same convention used by ArduPilot Mega)
#define HEAD_BYTE1 0xA3    ///< Header byte for flash memory writing (Decimal 163)
#define HEAD_BYTE2 0x95    ///< Header byte for flash memory writing (Decimal 149)
#define END_BYTE 0xBA      ///< End byte for flash memory writing (Decimal 186)

#define LOG_INDEX_MSG                   0xF0  ///< Index header byte for flash memory writing (for determining log numbering)
#define LOG_ATTITUDE_MSG                0x01  ///< Attitude header byte for flash memory writing (used by ArduPilot Mega, here to keep track of what's used)
#define LOG_GPS_MSG                     0x02  ///< GPS header byte for flash memory writing
#define LOG_MODE_MSG                    0X03  ///< Mode header byte for flash memory writing (used by ArduPilot Mega, here to keep track of what's used)
#define LOG_BAROMETER_MSG               0X04  ///< Barometer header byte for flash memory writing
#define LOG_IMU_MSG                     0X05  ///< IMU header byte for flash memory writing 
#define LOG_RC_MSG                      0X06  ///< RC header byte for flash memory writing
#define LOG_AIRSPEED_MSG                0x07  ///< Airspeed header byte for flash memory writing
#define LOG_MAG_MSG                     0x08  ///< Magnetometer header byte for flash memory writing
#define LOG_CONTROLS_RUDDER_MSG         0x09  ///< Controls roll comp header byte for flash memory writing
#define LOG_CONTROLS_ELEVATOR_MSG       0x0A  ///< Controls elevator header byte for flash memory writing
#define LOG_CONTROLS_THROTTLE_MSG       0x0B  ///< Controls throttle header byte for flash memory writing
#define LOG_STATE_MSG                   0x0C  ///< State header byte for flash memory writing
#define LOG_NAVIGATION_MSG              0x0D  ///< Navigation header byte for flash memory writing

#define TYPE_AIRSTART_MSG               0x00  ///< Airstart header byte for flash memory writing (used by ArduPilot Mega, here to keep track of what's used)
#define TYPE_GROUNDSTART_MSG            0x01  ///< Groundstart header byte for flash memory writing (used by ArduPilot Mega, here to keep track of what's used)
#define MAX_NUM_LOGS                    50  ///< Maximum number of logs allowed in flash memory

//DCM
#define GYRO_INT_TIME  0.02  ///< Gyro integration time for the DCM


//Global Variables --------------------------------------------------

//Timers
unsigned long fast_timer;  /**< timer for fast loop:  stores how much time has elapsed since
                            the last time this loop was run (in milliseconds) */
unsigned long medium_timer;/**< timer for medium loop:  stores how much time has elapsed since
                            the last time this loop was run (in milliseconds) */
unsigned long slow_timer;  /**< timer for slow loop:  stores how much time has elapsed since
                            the last time this loop was run (in milliseconds) */
unsigned long telemetry_timer;  /**< timer for telemetry:  stores how much time has elapsed since
                            the last time data was transmitted (in milliseconds) */
unsigned long logging_timer;  /**< timer for higher speed logging:  stores how much time has elapsed since
                            the last time data was transmitted (in milliseconds) */

// RC Values
int rc_elevator = 0;       ///< RC Elevator Input
int rc_rudder = 0;         ///< RC Rudder Input
int rc_throttle = 0;       ///< RC Throttle Input
int rc_4 = 0;              ///< RC Payload Drop Input & ELE_control on/off
int rc_5 = 0;              ///< RC switch for turning controls on/off
int rc_6 = 0;              ///< RC knob for adjusting controls gain
int rc_7 = 0;              ///< RC knob for adjusting controls gain
int rc_8 = 0;

// Drop timer
unsigned long drop_timer;  ///< makes sure the rc input wasnt just a fluke, keeps track of how long the input is high to make sure you want to drop

//Airspeed Values
float airspeed;  ///< stores current airspeed reading
float pitot_pressure_offset;  ///< stores an offset for zeroing the pitot pressure measurements
//avg wind calcs
boolean get_wind_profile = true;
float sum_wind_ns = 0;  ///< running sum of wind samples in North South direction during ascent
float sum_wind_ew = 0;  ///< running sum of wind samples in East West direction during ascent
int total_ns = 0;  ///< total number of wind samples in NS direction during ascent
int total_ew = 0;  ///< total number of wind samples in EW direction during ascent
float avg_wind_ns = 0;  ///< average wind in NS direction during ascent
float avg_wind_ew = 0;  ///< average wind in EW direction during ascent

float drift_ns = 0.0;
float drift_ew = 0.0;

//Switch/state values
int slide_sw = LOW;  ///< state of hardware switch on shield ( either LOW (0) or HIGH (1) )
int logging_sw = 0;  ///< state of the logging switch on analog 6 (see LOGGING_SWITCH)
boolean drop_state = false;  ///< state of the drop servo

boolean use_gps = false;  ///< whether or not to use gps, based on reading the slide_switch at power-on

//Acceleration and Gyro
Vector3f accel;
Vector3f gyro;

//GPS starting location
long gps_start_lat = 0;
long gps_start_lon = 0;

//Declarations ---------------------------------------------------------

//Serial setup
FastSerialPort0(Serial);  ///< setup fast serial port (for FTDI)
FastSerialPort1(Serial1);  ///< setup fast serial port (for GPS) to make gps library happy
FastSerialPort3(Serial3);  ///< setup fast serial port for telemetry communication

static GPS * gps;  ///< GPS pointer
AP_GPS_Auto gps_driver (&Serial1,&gps);  ///< Initialize GPS (has to be outside of a function for some reason)

static AP_ADC_ADS7844 adc; ///< declare an instance of the ADC class

APM_BMP085_Class barometer;  ///< declare an instance of the Barometer class

AP_IMU_Oilpan imu(&adc, 0);  ///< declare an instance of the IMU class, set to 0 to disable warm start (warm start = start in air in flight) 

AP_Compass_HMC5843 compass;  ///< declare an instance of the Magnetometer class

AP_DCM  dcm(&imu, gps);  ///< declare an instance of the DCM class