Autodrone
Multi-Domain Vehicle
board.h
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1
11#ifndef __BOARD_H__
12#define __BOARD_H__
13
14/* C or System */
15#include <stdbool.h>
16#include <stdlib.h>
17#include <stdint.h>
18#include <math.h>
19#include <ctype.h>
20#include <string.h>
21#include <stdio.h>
22#include <stdarg.h>
23#include <errno.h>
24#include "stm32f7xx.h"
25#include "stm32f7xx_hal.h"
26#include "stm32f7xx_it.h"
27#include "arm_math.h"
28
29/* General */
30#include "pid.h"
31#include "autodrone32.h"
32#include "main.h"
33#include "config.h"
34#include "utilities.h"
35#include "battery.h"
36#include "logging.h"
37
38/* Drivers */
39#include "drv_led.h"
40#include "drv_color.h"
41#include "drv_system.h"
42#include "drv_rcc.h"
43#include "drv_usart.h"
44#include "drv_serial.h"
45#include "drv_adc.h"
46#include "drv_dma.h"
47#include "drv_spi1.h"
48#include "drv_spi2.h"
49#include "drv_tim.h"
50#include "drv_worm.h"
51#include "drv_dshot.h"
52
53/* Motion */
54#include "process_commands.h"
55#include "compute_axis_commands.h"
56#include "mixer.h"
57#include "motors.h"
58#include "rotations.h"
59#include "transition.h"
60
61/* Sensors */
62#include "ibus.h"
63#include "mpu6000.h"
64#include "madgwick.h"
65#include "orientation.h"
66#include "mpu6000_calibration.h"
67#include "accel_calibration_mpu.h"
68
69#endif /* __BOARD_H__ */
accel_calibration_mpu.h
This file is used to calibrate the accelerometer.
autodrone32.h
This file contains many of the global variables and settings for the drone.
battery.h
This file initializes the battery monitor and provides functions to process the data.
compute_axis_commands.h
This file creates the inputs to the PID controller and sends values to the mixer.
config.h
This file configures the EEPROM settings of the flight controller.
drv_adc.h
This file initializes and enables the adc for reading the battery voltage.
drv_color.h
This file is used to change the output color to the terminal.
drv_dma.h
This file initializes the dma clock and nvic.
drv_dshot.h
This files enables the gpio, timer, and dma peripherals to send dshot commands with pwm.
drv_led.h
This file contains functions to activate the 5 LEDs onboard.
drv_rcc.h
This file initializes clock.
drv_serial.h
This file enables reading of usart data for use with printf.
drv_spi1.h
drv_spi2.h
drv_system.h
This file contains all the basic functions to run the timing of the system as well as initialize the ...
drv_tim.h
This file enables use of a timer to ensure accurate timing of the PID loop.
drv_usart.h
This file enables reading of usart data for use with a serial receiver.
drv_worm.h
This file initializes the timer and GPIO interrupt for the arm rotation.
ibus.h
This file initializes the ibus receiver protocol.
logging.h
This file logs data to the terminal if connected.
madgwick.h
This file gives the function to create our RPY values.
main.h
This file runs all the other functions and carries out the scheduling of tasks.
mixer.h
This file takes the output of the PID controller and assigns values to the motors.
motors.h
This file contains functions to initialize the ESC or change modes.
mpu6000.h
This file contains all the functions to initalize and read data from the MPU-6000.
mpu6000_calibration.h
This file is used to calibrate IMU.
orientation.h
This file contains a function to orient the board.
pid.h
This files initializes and updates the PID controller.
process_commands.h
This file processes the receiver inputs to ensure they are in the correct ranges for further computat...
rotations.h
This file computes the body fixed rotation matrices for the 100 and 500Hz loops.
stm32f7xx_it.h
This file contains the headers of the interrupt handlers.
transition.h
This file allows for the transition between flight modes.
utilities.h
This files contains random useful functions.