User-defined parameters. More...

Macros
#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 1
	Enable the longitudinal control.

#define	EN_REMOTE_CTRL 0
	Enable the remote controller.

#define	EN_BRAKE_CTRL 0
	Enable the brake control.

#define	TEST_THROTTLE 0
	Test the throttle using 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	SBB_SPEED 2.5F
	Cruise speed (m/s)

#define	SBB_ROLL 0.1F
	Turn roll angle (rad)

#define	SBB_T_CRUISE 2.0F
	Cruise time (s)

#define	SBB_T_TURN 6.0F
	Cornering time (s)

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

User-defined parameters.

Definition of the user-defined paramters and other miscellanous constants.

Macro Definition Documentation

◆ CPU_FREQ

#define CPU_FREQ 600e6

CPU clock speed (Hz). /warning Maximum value is 816e6 without cooling.

See also: https://www.pjrc.com/store/teensy40.html

◆ CW

#define CW LOW

Digital pin state for clockwise torque.

◆ EN_BRAKE_CTRL

#define EN_BRAKE_CTRL 0

Enable the brake control.

◆ EN_LONG_CTRL

#define EN_LONG_CTRL 1

Enable the longitudinal control.

◆ EN_REMOTE_CTRL

#define EN_REMOTE_CTRL 0

Enable the remote controller.

◆ FULLEXT_FORKDISP

#define FULLEXT_FORKDISP 0

Fork displacement at full extended suspension (in mm).

◆ MTR_CTRL_MODE

#define MTR_CTRL_MODE 1

Control mode of steer motor (0=PWM or 1=DAC).

Warning: This setting must be consistent with ESCON Studio.

◆ NAN_VAL

#define NAN_VAL 0xFFC00000

NaN value used for invalid data.

◆ NUM_ZERO_SAMPLES

#define NUM_ZERO_SAMPLES 500

Samples used to perform the zero of sensors.

◆ SBB_ROLL

#define SBB_ROLL 0.1F

Turn roll angle (rad)

◆ SBB_SPEED

#define SBB_SPEED 2.5F

Cruise speed (m/s)

◆ SBB_T_CRUISE

#define SBB_T_CRUISE 2.0F

Cruise time (s)

◆ SBB_T_TURN

#define SBB_T_TURN 6.0F

Cornering time (s)

◆ STEERVEL_RATIO

#define STEERVEL_RATIO (-36.0*1.25)

Speed ratio of steer velocity.

Values from Simulink model.

◆ TEST_THROTTLE

#define TEST_THROTTLE 0

Test the throttle using the remote controller.

◆ YINCL_MCUBOX

#define YINCL_MCUBOX 1.3426

Pitch iinclination of MCU box (in rad).

Value of 76.928deg, found from a static calibration with the IMU.

Variable Documentation

◆ imu_rotMat

const float imu_rotMat[3][3]

Initial value:

= { {0, -cosf(YINCL_MCUBOX), -sinf(YINCL_MCUBOX)}, 
                                  {-1, 0, 0},  
                                  {0, sinf(YINCL_MCUBOX), -cosf(YINCL_MCUBOX)} }

Rotation matrix from IMU frame to SAE body-fixed frame.

This is the result of Rz(90deg)*Rx(180deg)*Ry(YINCL_MCUBOX).

See also: YINCL_MCUBOX

◆ mag_rotMat

const float mag_rotMat[3][3]