37#define SPISPEED_IMU 10e6
38#define SPISPEED_MAG 10e6
39#define SPISPEED_DAC 10e6
42#define UART_SPEEDSENS Serial7
43#define BAUD_SPEEDSENS 4e6
44#define UART_GPS Serial2
45#define BAUD_GPS_DEF 9600
47#define GPS_EXTBUFSIZE 128
48#define UART_SBUS Serial8
57#define DAC_THROTTLE_CH 1
97#define RELAY_EN_PIN 33
100#define BR_SLEEP_PIN 23
103#define ONOFF_STATE_PIN 36
119#define SAMPLING_TIME 1e3
120#define SPEED_SAMPLING_FAC 1
121#define IMU_SAMPLING_FAC 1
122#define MAG_SAMPLING_FAC 5
123#define SBUS_SAMPLING_FAC 14
128#define MTPWAIT_LED 100
136#define SPEED_SCALE 1.0e-3F
137#define DIST_SCALE 0.25F
138#define ACC_SCALE (-1.0e-3F*9.806F)
139#define GYRO_SCALE (1.0e-3F*PI/180.0F)
140#define MAG_SCALE 0.1F
141#define GPSSPEED_SCALE 0.5144F
142#define GAIN_RIDERTRQ 0.141F
143#define OFFSET_RIDERTRQ -(324.11*GAIN_RIDERTRQ)
144#define GAIN_STEERPOS 50.9F/180.0F*PI
145#define OFFSET_STEERPOS -30.7F/180.0F*PI
146#define GAIN_STEERVEL (2.0F*1000.0F/60.0F*2.0F*PI)
147#define OFFSET_STEERVEL (-1000.0F/60.0F*2.0F*PI)
148#define GAIN_ACTCURR 2*MAX_REFCUR
149#define OFFSET_ACTCURR -MAX_REFCUR
150#define GAIN_VOLTAGE 3.3F*1.027F*160.0F/10.0F
151#define OFFSET_VOLTAGE 0.0F
152#define GAIN_FORKDISP -152.935F
153#define OFFSET_FORKDISP 0.107F
154#define GYROX_OFFSET +0.0059F/GYRO_SCALE
155#define GYROY_OFFSET -0.0066F/GYRO_SCALE
156#define GYROZ_OFFSET -0.0080F/GYRO_SCALE
163#define TRESHOLD_LOGIC_SBUS 1400
164#define TRESHOLD_POS_SBUS 1400
165#define TRESHOLD_NEG_SBUS 600
166#define MAX_MISSING_SBUS 10*SBUS_SAMPLING_FAC
167#define MAX_REF_INPUT 1
168#define MIN_REF_INPUT -1
169#define SBUS_THROTTLE_CH 2
170#define SBUS_ROLL_CH 1
178#define MAX_REFTHROTTLE 1.0F
179#define MIN_VOLTAGE 15
180#define MAX_VOLTAGE 40
181#define MAX_STEER_ANGLE 0.35
184#define MAX_BR_SPEED 10
187#define BR_SPEED_RATIO 1
188#define MAX_BR_DISP 12.0F
209#define CONVERT_RIDERTRQ_TO_NM(X) (GAIN_RIDERTRQ * X / (powf(2, ADC_RES) - 1) * 3.3F / 5.0F * 1.0e3 + OFFSET_RIDERTRQ)
218#define CONVERT_STEERPOS_TO_RAD(X) (GAIN_STEERPOS * X / (powf(2, ADC_RES) - 1) + OFFSET_STEERPOS)
227#define CONVERT_STEERVEL_TO_RADPS(X) ((GAIN_STEERVEL * X / (powf(2, ADC_RES) - 1) + OFFSET_STEERVEL)/STEERVEL_RATIO)
236#define CONVERT_ACTCURR_TO_A(X) (-(GAIN_ACTCURR * X / (powf(2, ADC_RES) - 1) + OFFSET_ACTCURR))
245#define CONVERT_CURRENT_TO_PWM(X) (PWM_MIN * (powf(2, PWM_RES) - 1) + abs((PWM_MAX - PWM_MIN) * X / MAX_REFCUR * (powf(2, PWM_RES) - 1)))
254#define CONVERT_CURRENT_TO_DAC(X) abs(X / MAX_REFCUR * (powf(2, DAC_RES) - 1))
263#define CONVERT_TRHOTTLE_TO_DAC(X) (X / MAX_REFTHROTTLE * (powf(2, DAC_RES) - 1))
272#define CONVERT_VOLTAGE_TO_V(X) (GAIN_VOLTAGE * X / (powf(2, ADC_RES) - 1) + OFFSET_VOLTAGE)
281#define CONVERT_FORKDISP_TO_MM(X) (GAIN_FORKDISP * X / (powf(2, ADC_RES) - 1) + OFFSET_FORKDISP)
291#define CONVERT_CHANNEL_TO_FLOAT(X, XMIN, XMAX) (float(X)-MIN_SBUS)/(MAX_SBUS-MIN_SBUS)*(XMAX-XMIN) + XMIN
299#define CONVERT_BRLEV_TO_STEPS(X) ((X*BR_STEPS)/BR_SPEED_RATIO)
307#define CONVERT_TRHOTTLE_TO_STEPS(X) CONVERT_BRLEV_TO_STEPS(X / MAX_REFTHROTTLE * MAX_BR_DISP)
309#define USB_CONNECTED (!bitRead(USB1_PORTSC1,7))
312#define MTR_EN_STATE HIGH
313#define RELAY_EN_STATE HIGH
314#define BR_SLEEP_STATE HIGH
315#define MTR_ENABLE digitalWriteFast(MTR_EN_PIN, MTR_EN_STATE), delay(100)
316#define RELAY_ENABLE digitalWriteFast(RELAY_EN_PIN, RELAY_EN_STATE), delay(500)
317#define BR_ENABLE digitalWriteFast(BR_SLEEP_PIN, BR_SLEEP_STATE)
318#define BR_DISABLE digitalWriteFast(BR_SLEEP_PIN, !BR_SLEEP_STATE)
319#define LEDON digitalWriteFast(LED_BUILTIN, HIGH)
320#define LEDOFF digitalWriteFast(LED_BUILTIN, LOW)
323#define POWER_OFF SNVS_LPCR |= (1<<6)
335#define CPU_FREQ 600e6
336#define MTR_CTRL_MODE 1
337#define EN_LONG_CTRL 0
338#define EN_REMOTE_CTRL 0
340#define NUM_ZERO_SAMPLES 500
341#define STEERVEL_RATIO (-36.0*1.25)
342#define FULLEXT_FORKDISP 0
343#define NAN_VAL 0xFFC00000
344#define YINCL_MCUBOX 1.3426
const float imu_rotMat[3][3]
Rotation matrix from IMU frame to SAE body-fixed frame.
Definition config.h:345
#define YINCL_MCUBOX
Pitch iinclination of MCU box (in rad).
Definition config.h:344
const float mag_rotMat[3][3]
Rotation matrix from MAG frame to SAE body-fixed frame.
Definition config.h:348