first commit

MPU6050/APP/alldata.h

@@ -0,0 +1,87 @@
+#ifndef __ALLDATA_H
+#define __ALLDATA_H
+
+typedef   signed          char int8_t;
+typedef   signed short     int int16_t;
+typedef   signed           int int32_t;
+typedef   signed       long long int64_t;
+
+/* exact-width unsigned integer types */
+typedef unsigned          char uint8_t;
+typedef unsigned short     int uint16_t;
+typedef unsigned           int uint32_t;
+typedef unsigned       long long uint64_t;
+
+//#define NULL 0
+extern volatile uint32_t SysTick_count;
+
+typedef struct{
+	int16_t accX;
+	int16_t accY;
+	int16_t accZ;
+	int16_t gyroX;
+	int16_t gyroY;
+	int16_t gyroZ;
+}_st_Mpu;
+
+typedef struct{
+	float roll;
+	float pitch;
+	float yaw;
+}_st_AngE;
+
+typedef struct
+{
+	uint16_t roll;
+	uint16_t pitch;
+	uint16_t thr;
+	uint16_t yaw;
+	uint16_t AUX1;
+	uint16_t AUX2;
+	uint16_t AUX3;
+	uint16_t AUX4;	
+}_st_Remote;
+
+typedef volatile struct
+{
+	float desired;     			//< set point
+	float offset;      			//< offset
+	float prevError;    		//< previous error
+	float integ;        		//< integral
+	float kp;           		//< proportional gain
+	float ki;           		//< integral gain
+	float kd;           		//< derivative gain
+	float IntegLimitHigh;   //< integral limit
+	float IntegLimitLow;
+	float measured;
+	float out;
+	float OutLimitHigh;
+	float OutLimitLow;
+}PidObject;
+
+
+typedef volatile struct
+{
+	uint8_t unlock;
+	
+
+}_st_ALL_flag;
+
+extern _st_Remote Remote;
+extern _st_Mpu MPU6050;
+extern _st_AngE Angle;
+
+extern _st_ALL_flag ALL_flag;
+
+extern	PidObject pidRateX;
+extern	PidObject pidRateY;
+extern	PidObject pidRateZ;
+
+extern	PidObject pidPitch;
+extern	PidObject pidRoll;
+extern	PidObject pidYaw;
+
+extern int16_t motor_PWM_Value[4];
+
+#endif
+