config.h File Reference

General configurations for the source code. More...

Go to the source code of this file.

Macros
#define	USED_SPI   SPI1
	Used SPI for sensor IO bus.
#define	SPISPEED_IMU   10e6
	Speed of IMU SPI, max is 10e6.
#define	SPISPEED_MAG   10e6
	Speed of MAG SPI, max is 10e6.
#define	SPISPEED_DAC   10e6
	Speed of MAG SPI, max is 20e6.
#define	UART_SPEEDSENS   Serial7
	Used UART for speed sensor bus.
#define	BAUD_SPEEDSENS   4e6
	Baudrate of the UART for speed sensor bus.
#define	UART_GPS   Serial2
	Used UART for GPS sensor bus.
#define	BAUD_GPS_DEF   9600
	Default baudrate of GPS sensor (for init only).
#define	BAUD_GPS   57600
	Actual baudrate of GPS sensor.
#define	GPS_EXTBUFSIZE   128
	Extra buffer size for GPS sensor UART.
#define	UART_SBUS   Serial8
	Used UART for SBUS communication. /details The UART used for the SBUS receiver. This runs with a baudrate of 100000. Initialization and setting is performed by the SBUS library.
#define	ADC_RES   12
	ADC resolution (in bits).
#define	ADC_AVERAGE   8
	ADC averaging 1/2/8/16 (samples). The more the averaging, the less the noise, but the more the reading time.
#define	DAC_RES   12
	DAC resolution (in bits).
#define	DAC_MTR_CH   0
	DAC channel for motor control.
#define	DAC_THROTTLE_CH   1
	DAC channel for throttle control.
#define	PWM_RES   12
	PWM resolution in bit (max is 14).
#define	PWM_FREQ   5e3
	PWM frequency (max is 5kHz).
#define	PWM_MIN   0.1F
	Minimum PWM value for motor current reference.
#define	PWM_MAX   0.9F
	Maximum PWM value for motor current reference.
#define	CS_IMU   0
	Chip select pin of IMU.
#define	CS_MAG   2
	Chip select pin of MAG.
#define	CS_DAC   3
	Chip select pin of DAC.
#define	STEER_POS   A16
	Steer position analog input pin.
#define	STEER_SPEED   A0
	Steer speed analog input pin.
#define	ACT_CURR   A1
	Actual current analog input pin.
#define	RIDER_TRQ   A17
	Rider torque analog input pin.
#define	VOLTAGE   A15
	Battery voltage analog input pin.
#define	FORK_DISP   A14
	Front fork displacement analog input pin.
#define	PWM_PIN   18
	PWM pin for motor current reference.
#define	MTR_EN_PIN   16
	Digital out for motor enable.
#define	MTR_DIR_PIN   17
	Digital out for motor direction.
#define	RELAY_EN_PIN   33
	Digital out for relay enable.
#define	BR_DIR_PIN   21
	Digital out for brake motor direction.
#define	BR_STEP_PIN   22
	Digital out for brake motor step.
#define	BR_SLEEP_PIN   23
	Digital out for brake motor sleep.
#define	ONOFF_STATE_PIN   36
	Digital in for on/off buttun state (diode between onoff and this).
#define	SAMPLING_TIME   1e3
	Sampling time of the control loop (us).
#define	SPEED_SAMPLING_FAC   1
	Sampling factor of speed sensor (expressed in units of SAMPLING_TIME).
#define	IMU_SAMPLING_FAC   1
	Sampling factor of IMU (expressed in units of SAMPLING_TIME).
#define	MAG_SAMPLING_FAC   5
	Sampling factor of magnetometer (expressed in units of SAMPLING_TIME).
#define	SBUS_SAMPLING_FAC   14
	Sampling factor of the SBUSr receiver.
#define	DEF_LED   500
	Sampling factor of led in default mode (expressed in units of SAMPLING_TIME).
#define	LOG_LED   500
	Sampling factor of led in log mode (expressed in units of SAMPLING_TIME).
#define	MTP_LED   250
	Sampling factor of led in mtp mode (expressed in units of SAMPLING_TIME).
#define	ERR_LED   10000
	Sampling factor of led in error mode (expressed in units of SAMPLING_TIME).
#define	MTPWAIT_LED   100
	Sampling factor of led in mtp wait mode (expressed in units of SAMPLING_TIME).
#define	ACC_ODR   3333
	Output data rate of accelerometer (sps).
#define	GYRO_ODR   3333
	Output data rate of gyrometer (sps).
#define	MAG_ODR   200
	Output data rate of magnetometer (sps).
#define	SPEED_SCALE   1.0e-3F
	Speed scale.
#define	DIST_SCALE   0.25F
	Distance scale.
#define	ACC_SCALE   (-1.0e-3F*9.806F)
	Acceleration scale.
#define	GYRO_SCALE   (1.0e-3F*PI/180.0F)
	Gyrometer scale.
#define	MAG_SCALE   0.1F
	Magnetometer scale.
#define	GPSSPEED_SCALE   0.5144F
	GPS speed scale.
#define	GAIN_RIDERTRQ   0.141F
	Gain of rider torque (Nm/(mV/V), with 5V supply).
#define	OFFSET_RIDERTRQ   -(324.11*GAIN_RIDERTRQ)
	Offset of rider torque (mV/V).
#define	GAIN_STEERPOS   50.9F/180.0F*PI
	Fain of steer position.
#define	OFFSET_STEERPOS   -30.7F/180.0F*PI
	Offset of steer position.
#define	GAIN_STEERVEL   (2.0F*1000.0F/60.0F*2.0F*PI)
	Gain of steer velocity.
#define	OFFSET_STEERVEL   (-1000.0F/60.0F*2.0F*PI)
	Offset of steer velocity.
#define	GAIN_ACTCURR   2*MAX_REFCUR
	Gain of actual motor current.
#define	OFFSET_ACTCURR   -MAX_REFCUR
	Offset of actual motor current.
#define	GAIN_VOLTAGE   3.3F*1.027F*160.0F/10.0F
	Gain of voltage.
#define	OFFSET_VOLTAGE   0.0F
	Offset of voltage.
#define	GAIN_FORKDISP   -152.935F
	Fain of front fork displacement.
#define	OFFSET_FORKDISP   0.107F
	Offset of front fork displacement.
#define	GYROX_OFFSET   +0.0059F/GYRO_SCALE
	Offset of gyro x.
#define	GYROY_OFFSET   -0.0066F/GYRO_SCALE
	Offset of gyro y.
#define	GYROZ_OFFSET   -0.0080F/GYRO_SCALE
	Offset of gyro z.
#define	NUM_CH_SBUS   7
	Number channels from SBUS.
#define	MAX_SBUS   1811
	Maximum value from SBUS.
#define	MIN_SBUS   172
	Minimum value from SBUS.
#define	ZERO_SBUS   992
	Zero-value for SBUS.
#define	TRESHOLD_LOGIC_SBUS   1400
	Treshold for SBUS logic channels.
#define	TRESHOLD_POS_SBUS   1400
	Treshold for positive value.
#define	TRESHOLD_NEG_SBUS   600
	Treshold for negative value.
#define	MAX_MISSING_SBUS   10*SBUS_SAMPLING_FAC
	Maximum missing packets for SBUS.
#define	MAX_REF_INPUT   1
	Maximum value for input reference.
#define	MIN_REF_INPUT   -1
	Minimum value for input reference.
#define	SBUS_THROTTLE_CH   2
	Throttle channel in SBUS.
#define	SBUS_ROLL_CH   1
	Roll channel in SBUS.
#define	SBUS_EN_CH   5
	Enable channel in SBUS.
#define	SBUS_BR_CH   6
	brake channel in SBUS.
#define	SBUS_THR_OR   3
	Direct throttle channel in SBUS.
#define	SBUS_SEL_CH   7
	3 selector channel in SBUS.
#define	MAX_REFCUR   10
	Maximum reference current.
#define	MAX_REFTHROTTLE   1.0F
	Maximum throttle value.
#define	MIN_VOLTAGE   15
	Minimum battery voltage (undervoltage) (V).
#define	MAX_VOLTAGE   40
	Maximum battery voltage (overvoltage) (V).
#define	MAX_STEER_ANGLE   0.35
	Maximum steering angle.
#define	MAX_BR_SPEED   10
	Maximum brake motor speed (mm/s).
#define	MAX_BR_ACC   25
	Maximum brake motor acceleration (mm/s2).
#define	BR_STEPS   200
	Number of steps of the brake motor.
#define	BR_SPEED_RATIO   1
	Speed ratio of the brake motor to brake lever (mm/revolution).
#define	MAX_BR_DISP   12.0F
	Maximum brake lever displacement (mm).
#define	CONVERT_RIDERTRQ_TO_NM(X)
	Convert rider torque to Nm.
#define	CONVERT_STEERPOS_TO_RAD(X)
	Convert steer position to radiants.
#define	CONVERT_STEERVEL_TO_RADPS(X)
	Convert steer rate to rad/s.
#define	CONVERT_ACTCURR_TO_A(X)
	Convert steer rate to rad/s.
#define	CONVERT_CURRENT_TO_PWM(X)
	Convert reference current to PWM value.
#define	CONVERT_CURRENT_TO_DAC(X)
	Convert reference current to DAC value.
#define	CONVERT_TRHOTTLE_TO_DAC(X)
	Convert reference throttle to DAC value.
#define	CONVERT_VOLTAGE_TO_V(X)
	Convert battery voltage to volts.
#define	CONVERT_FORKDISP_TO_MM(X)
	Convert fork displacement to millimiters.
#define	CONVERT_CHANNEL_TO_FLOAT(X, XMIN, XMAX)
	Convert SBUS channel to float.
#define	CONVERT_BRLEV_TO_STEPS(X)
	Convert brake lever position to motor steps.
#define	CONVERT_TRHOTTLE_TO_STEPS(X)
	Convert throttle to motor steps.
#define	USB_CONNECTED   (!bitRead(USB1_PORTSC1,7))
	Macro for checking the USB connection status-.
#define	MTR_EN_STATE   HIGH
	Enable state for steer motor.
#define	RELAY_EN_STATE   HIGH
	Enable state for relay.
#define	BR_SLEEP_STATE   HIGH
	Enable state for brake motor.
#define	MTR_ENABLE   digitalWriteFast(MTR_EN_PIN, MTR_EN_STATE), delay(100)
	Macro for motor enable.
#define	RELAY_ENABLE   digitalWriteFast(RELAY_EN_PIN, RELAY_EN_STATE), delay(500)
	Macro for relay enable.
#define	BR_ENABLE   digitalWriteFast(BR_SLEEP_PIN, BR_SLEEP_STATE)
	Macro for brake motor enable.
#define	BR_DISABLE   digitalWriteFast(BR_SLEEP_PIN, !BR_SLEEP_STATE)
	Macro for brake motor enable.
#define	LEDON   digitalWriteFast(LED_BUILTIN, HIGH)
	Macro for LED on.
#define	LEDOFF   digitalWriteFast(LED_BUILTIN, LOW)
	Macro for LED off.
#define	POWER_OFF   SNVS_LPCR |= (1<<6)
	Macro for turning off the microcontroller.
#define	CPU_FREQ   600e6
	CPU clock speed (Hz). /warning Maximum value is 816e6 without cooling.
#define	MTR_CTRL_MODE   1
	Control mode of steer motor (0=PWM or 1=DAC).
#define	EN_LONG_CTRL   0
	Enable the longitudinal control.
#define	EN_REMOTE_CTRL   0
	Enable the remote controller.
#define	CW   LOW
	Digital pin state for clockwise torque.
#define	NUM_ZERO_SAMPLES   500
	Samples used to perform the zero of sensors.
#define	STEERVEL_RATIO   (-36.0*1.25)
	Speed ratio of steer velocity.
#define	FULLEXT_FORKDISP   0
	Fork displacement at full extended suspension (in mm).
#define	NAN_VAL   0xFFC00000
	NaN value used for invalid data.
#define	YINCL_MCUBOX   1.3426
	Pitch iinclination of MCU box (in rad).
#define	IMP_DUR   100
	Impulse duration (ms).
#define	IMP_AMP   -10.0
	Impulse amplitude (A).

Variables
const float	imu_rotMat [3][3]
	Rotation matrix from IMU frame to SAE body-fixed frame.
const float	mag_rotMat [3][3]
	Rotation matrix from MAG frame to SAE body-fixed frame.

Detailed Description

General configurations for the source code.

Configuration file with defines and macros for the source code of the SBB Micro code. This includes PIN definitions, BUS settings, DAC settings, definitions of constants and factors, conversions of raw data, and other user-defined parameters.

Note

Building is necessary for changes to take effect.

See also

Configurations Bus settings Pin settings Constants Macros User paramters