config.h

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#ifndef __CONFIG_H__
#define __CONFIG_H__
 

//....................................BUSES....................................

 
//SPI
#define USED_SPI        SPI1 
#define SPISPEED_IMU    10e6 
#define SPISPEED_MAG    10e6 
#define SPISPEED_DAC    10e6 
 
//UART
#define UART_SPEEDSENS  Serial7 
#define BAUD_SPEEDSENS  4e6 
#define UART_GPS        Serial2 
#define BAUD_GPS_DEF    9600 
#define BAUD_GPS        57600 
#define GPS_EXTBUFSIZE  128 
#define UART_SBUS       Serial8 
 
//ADC
#define ADC_RES         12 
#define ADC_AVERAGE     8 
 
//DAC
#define DAC_RES         12 
#define DAC_MTR_CH      0 
#define DAC_THROTTLE_CH 1 
 
//PWM
#define PWM_RES         12 
#define PWM_FREQ        5e3 
#define PWM_MIN         0.1F 
#define PWM_MAX         0.9F 
 
 
//.....................................PINS....................................

 
//SPI CS PINS
#define CS_IMU          0 
#define CS_MAG          2 
#define CS_DAC          3 
 
//ANALOG PINS
#define STEER_POS       A16 
#define STEER_SPEED     A0 
#define ACT_CURR        A1 
#define RIDER_TRQ       A17 
#define VOLTAGE         A15 
#define FORK_DISP       A14 
 
//PWM
#define PWM_PIN         18 
 
//DIGITAL OUT
#define MTR_EN_PIN      16 
#define MTR_DIR_PIN     17 
#define RELAY_EN_PIN    33 
#define BR_DIR_PIN      21 
#define BR_STEP_PIN     22 
#define BR_SLEEP_PIN    23 
 
//DIGITAL IN 
#define ONOFF_STATE_PIN 36 
 
 
//.............................CONSTANTS & FACTORS.............................

 
//TIMES
#define SAMPLING_TIME       1e3 
#define SPEED_SAMPLING_FAC  1 
#define IMU_SAMPLING_FAC    1 
#define MAG_SAMPLING_FAC    5 
#define SBUS_SAMPLING_FAC   14 
#define DEF_LED             2500 
#define LOG_LED             500 
#define MTP_LED             250 
#define ERR_LED             10000 
#define MTPWAIT_LED         100 
 
//OUTPUT DATA RATE
#define ACC_ODR         3333 
#define GYRO_ODR        3333 
#define MAG_ODR         200 
 
//GAINS & CONVERSION
#define SPEED_SCALE     1.0e-3F 
#define DIST_SCALE      0.25F 
#define ACC_SCALE       (-1.0e-3F*9.806F) 
#define GYRO_SCALE      (1.0e-3F*PI/180.0F) 
#define MAG_SCALE       0.1F 
#define GPSSPEED_SCALE  0.5144F 
#define GAIN_RIDERTRQ   0.141F 
#define OFFSET_RIDERTRQ -(324.11*GAIN_RIDERTRQ) 
#define GAIN_STEERPOS   50.9F/180.0F*PI 
#define OFFSET_STEERPOS -30.7F/180.0F*PI 
#define GAIN_STEERVEL   (2.0F*1000.0F/60.0F*2.0F*PI) 
#define OFFSET_STEERVEL (-1000.0F/60.0F*2.0F*PI) 
#define GAIN_ACTCURR    2*MAX_REFCUR 
#define OFFSET_ACTCURR  -MAX_REFCUR 
#define GAIN_VOLTAGE    3.3F*1.027F*160.0F/10.0F 
#define OFFSET_VOLTAGE  0.0F 
#define GAIN_FORKDISP   -152.935F 
#define OFFSET_FORKDISP 0.107F 
#define GYROX_OFFSET    +0.0059F/GYRO_SCALE 
#define GYROY_OFFSET    -0.0066F/GYRO_SCALE 
#define GYROZ_OFFSET    -0.0080F/GYRO_SCALE 
 
//SBUS
#define NUM_CH_SBUS     7 
#define MAX_SBUS        1811 
#define MIN_SBUS        172 
#define ZERO_SBUS       992 
#define TRESHOLD_LOGIC_SBUS 1400 
#define TRESHOLD_POS_SBUS   1400 
#define TRESHOLD_NEG_SBUS   600 
#define MAX_MISSING_SBUS    10*SBUS_SAMPLING_FAC 
#define MAX_REF_INPUT1  1.0F 
#define MIN_REF_INPUT1  0.0F 
#define MAX_REF_INPUT2  1.0F 
#define MIN_REF_INPUT2  -1.0F 
#define SBUS_THROTTLE_CH 1 
#define SBUS_ROLL_CH    2 
#define SBUS_EN_CH      5 
#define SBUS_PB_CH      6 
#define SBUS_THR_OR     3 
#define SBUS_SEL_CH     7 
 
//LIMITS
#define MAX_REFCUR      10 
#define MAX_REFTHROTTLE 1.0F 
#define MIN_VOLTAGE     15 
#define MAX_VOLTAGE     40 
#define MAX_STEER_ANGLE 0.35 
 
//BRAKE MOTOR
#define MAX_BR_SPEED    10 
#define MAX_BR_ACC      25 
#define BR_STEPS        200 
#define BR_SPEED_RATIO  1 
#define MAX_BR_DISP     12.0F 

 
//....................................MACROS....................................

 
//CONVERSIONS
#define CONVERT_RIDERTRQ_TO_NM(X)       (GAIN_RIDERTRQ * X / (powf(2, ADC_RES) - 1) * 3.3F / 5.0F * 1.0e3 + OFFSET_RIDERTRQ) //macro for conversion of rider torque to Nm

#define CONVERT_STEERPOS_TO_RAD(X)      (GAIN_STEERPOS * X / (powf(2, ADC_RES) - 1) + OFFSET_STEERPOS) //macro for conversion of steer position to rad

#define CONVERT_STEERVEL_TO_RADPS(X)    ((GAIN_STEERVEL * X / (powf(2, ADC_RES) - 1) + OFFSET_STEERVEL)/STEERVEL_RATIO) //macro for conversion of steer velocity to rad/s

#define CONVERT_ACTCURR_TO_A(X)         (-(GAIN_ACTCURR * X / (powf(2, ADC_RES) - 1) + OFFSET_ACTCURR)) //macro for conversion of actual motor current to A

#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))) // convert the motor current to PWM value

#define CONVERT_CURRENT_TO_DAC(X)       abs(X / MAX_REFCUR * (powf(2, DAC_RES) - 1)) //convert the motor current to DAC value

#define CONVERT_TRHOTTLE_TO_DAC(X)      (X / MAX_REFTHROTTLE * (powf(2, DAC_RES) - 1)) //convert the throttle to DAC value

#define CONVERT_VOLTAGE_TO_V(X)         (GAIN_VOLTAGE * X / (powf(2, ADC_RES) - 1) + OFFSET_VOLTAGE) //macro for conversion of battery voltage to V

#define CONVERT_FORKDISP_TO_MM(X)       (GAIN_FORKDISP * X / (powf(2, ADC_RES) - 1) + OFFSET_FORKDISP) //macro for conversion of front fork displacement to mm

#define CONVERT_CHANNEL_TO_FLOAT(X, XMIN, XMAX) (float(X)-MIN_SBUS)/(MAX_SBUS-MIN_SBUS)*(XMAX-XMIN) + XMIN //macro for conversion of SBUS channels to floats

#define CONVERT_BRLEV_TO_STEPS(X) ((X*BR_STEPS)/BR_SPEED_RATIO)

#define CONVERT_TRHOTTLE_TO_STEPS(X) CONVERT_BRLEV_TO_STEPS(X / MAX_REFTHROTTLE * MAX_BR_DISP)
 
#define USB_CONNECTED       (!bitRead(USB1_PORTSC1,7)) 
 
//ENABLES
#define MTR_EN_STATE    HIGH 
#define RELAY_EN_STATE  HIGH 
#define BR_SLEEP_STATE  HIGH 
#define MTR_ENABLE      digitalWriteFast(MTR_EN_PIN, MTR_EN_STATE), delay(100) 
#define RELAY_ENABLE    digitalWriteFast(RELAY_EN_PIN, RELAY_EN_STATE), delay(500) 
#define BR_ENABLE       digitalWriteFast(BR_SLEEP_PIN, BR_SLEEP_STATE) 
#define BR_DISABLE      digitalWriteFast(BR_SLEEP_PIN, !BR_SLEEP_STATE) 
#define LEDON           digitalWriteFast(LED_BUILTIN, HIGH) 
#define LEDOFF          digitalWriteFast(LED_BUILTIN, LOW) 
 
//POWER MANAGEMENT
#define POWER_OFF       SNVS_LPCR |= (1<<6) 

 
//...................................USER PARAMS.................................

 
#define CPU_FREQ            600e6 
#define MTR_CTRL_MODE       1 
#define EN_LONG_CTRL        1 
#define EN_REMOTE_CTRL      0 
#define EN_BRAKE_CTRL       0 
#define TEST_THROTTLE       0 
#define CW                  LOW 
#define NUM_ZERO_SAMPLES    500 
#define STEERVEL_RATIO      (-36.0*1.25) 
#define FULLEXT_FORKDISP    0 
#define NAN_VAL             0xFFC00000 
#define YINCL_MCUBOX        1.3426 
const float imu_rotMat[3][3] = { {0, -cosf(YINCL_MCUBOX), -sinf(YINCL_MCUBOX)}, 
                                  {-1, 0, 0},  
                                  {0, sinf(YINCL_MCUBOX), -cosf(YINCL_MCUBOX)} }; 
const float mag_rotMat[3][3] = { {cosf(YINCL_MCUBOX), 0, sinf(YINCL_MCUBOX)},
                                  {0, -1, 0}, 
                                  {-sinf(YINCL_MCUBOX), 0, cosf(YINCL_MCUBOX)} }; 
 
//#define SWEEP_TEST
//#define SIN_TEST
//#define TEST_DURATION 10e3
//#define SIN_WAVE 4
//#define IMP_TEST  //!< Flag for impulse test. \details Impulse test consists of a cosine-shaped impulse with amplitude #IMP_AMP and duration #IMP_DUR. 
//#define IMP_DUR   100     //!< Impulse duration (ms). \see IMP_TEST
//#define IMP_AMP   -10.0   //!< Impulse amplitude (A). \see IMP_TEST
 
// SBB test params
// #define SBB_TEST //!< Flag to enable the SBB test
#define SBB_SPEED 2.5F 
#define SBB_ROLL 0.1F 
#define SBB_T_CRUISE 2.0F 
#define SBB_T_TURN 6.0F 

 
//.......................................EOF.....................................
 
 
#endif