objects.h

Go to the documentation of this file.

 
#ifndef __OBJECTS_H__
#define __OBJECTS_H__


 
//namespaces
namespace LedMode {
    constexpr int8_t DEF = 0; 
    constexpr int8_t LOG = 1; 
    constexpr int8_t MTP = 2; 
    constexpr int8_t ERR = 3; 
    constexpr int8_t MTPWAIT = 4; 
}
 
//strcut def
struct ImuData { //raw acc (g), gyro (mdeg/s), and mag (mG) data
    int32_t accs_mg[3]; 
    int32_t gyros_mdps[3]; 
    int32_t mags_mG[3]; 
    float gyros_offset[3]; 
};

struct Speed { //raw and filtered speed
    int16_t speed; 
    uint16_t dist; 
};

struct GPSData { //raw lat (deg), long (deg), speed (knots), fix
    boolean fix = false; 
    float lat; 
    float lon; 
    float speed; 
};

struct RiderTorque { //raw steer torque and offset
    uint16_t riderTorque; 
    float riderTorque_offset; 
};

struct Steer { //raw steer torque and offset
    uint16_t steerPos; 
    uint16_t steerVel; 
    float steerVel_offset; 
};

struct ForkDisp { //raw front fork displacement
    uint16_t forkDisp; 
    float forkDisp_offset; 
};

struct ActCurr { //raw actual motor current and offset
    uint16_t actCurr; 
    float actCurr_offset; //Actual current offset (in A). \details The value is found from a zero procedure at the startup. \see do_zeros() 
};

struct Voltage {
    uint16_t batVolt; 
    float batVolt_offset = 0; 
};

struct Counter {
    uint16_t speedSensor = 0; 
    uint16_t imu = 0; 
    uint16_t mag = 0; 
    uint16_t debug = 0; 
    uint16_t log = 0; 
    uint16_t LED = 0; 
};

struct Timing {
    uint32_t dt_cycle; 
    uint32_t tet; 
    uint32_t dt_debug; 
    uint32_t dt_logger; 
    uint32_t max_tet = 0; 
    uint32_t min_tet = -1; 
};

struct RemoteCtrl { //controller channels
    int16_t ch[NUM_CH_SBUS] = { ZERO_SBUS }; 
    //bool lost_frame = true; // Lost frame. \details The lost frame is true when a frame is lost from the receiver. It is initialize to true (frame is lost at the begginging).
    uint32_t missing_frame = 0; 
};

struct IOstatus {
    bool imu, accen, gyroen;
    bool mag, magen;
    bool dac;
    bool speedsens;
    bool gps;
    bool sbus;
};
 
//global variables
uint32_t sampling_timer = 0; 
uint8_t GPSserial_extra_buffer[GPS_EXTBUFSIZE];
uint32_t nanVal = NAN_VAL; 
int8_t LEDmode = LedMode::DEF; 
boolean LEDstate = false; 
Timing timing; 
Counter counters; 
ImuData imuData_raw; 
Speed speed_raw; 
GPSData gpsData_raw; 
RiderTorque riderTorque_raw; 
ActCurr actCurr_raw; 
Steer steer_raw; 
ForkDisp forkDisp_raw; 
Voltage voltage_raw; 
RemoteCtrl remote_raw; 
IOstatus iostatus; 
 
//global objects
ISM330DHCXSensor imu(&USED_SPI, CS_IMU, SPISPEED_IMU); 
LIS3MDLSensor mag(&USED_SPI, CS_MAG, SPISPEED_MAG); 
ADC *adc = new ADC(); 
Adafruit_GPS gps(&UART_GPS); 
MCP492X dac(&USED_SPI, SPISPEED_DAC, CS_DAC); 
ControlClass ctrl; 
SerialTransfer speedSensor; 
SbusRx sbus(&UART_SBUS); 
TS4::Stepper brakeMotor(BR_STEP_PIN, BR_DIR_PIN); 
 
//other user vars
int8_t enable_old = 0;
int8_t enable_new = 0;
uint32_t test_timer = 0, test_start = 0;
 

 
#endif