TrekkingPhoenix / Mbed 2 deprecated Trekking_Controller_refac

Refactoring Ironcup 2020

Dependencies:   mbed mbed-rtos MotionSensor EthernetInterface

Protocol/Protocol/protocol.h@0:8f5db5085df7, 2020-09-21 (annotated)

Committer:
starling
Date:
Mon Sep 21 21:42:07 2020 +0000
Revision:
0:8f5db5085df7
12 mar 2020

Who changed what in which revision?

UserRevisionLine numberNew contents of line
starling 0:8f5db5085df7 1 /**
starling 0:8f5db5085df7 2 @file protocol.h
starling 0:8f5db5085df7 3 @brief Protocol definitions.
starling 0:8f5db5085df7 4 */
starling 0:8f5db5085df7 5
starling 0:8f5db5085df7 6 /*
starling 0:8f5db5085df7 7 Copyright 2016 Erik Perillo <erik.perillo@gmail.com>
starling 0:8f5db5085df7 8
starling 0:8f5db5085df7 9 This file is part of piranha-ptc.
starling 0:8f5db5085df7 10
starling 0:8f5db5085df7 11 This is free software: you can redistribute it and/or modify
starling 0:8f5db5085df7 12 it under the terms of the GNU General Public License as published by
starling 0:8f5db5085df7 13 the Free Software Foundation, either version 3 of the License, or
starling 0:8f5db5085df7 14 (at your option) any later version.
starling 0:8f5db5085df7 15
starling 0:8f5db5085df7 16 This is distributed in the hope that it will be useful,
starling 0:8f5db5085df7 17 but WITHOUT ANY WARRANTY; without even the implied warranty of
starling 0:8f5db5085df7 18 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
starling 0:8f5db5085df7 19 See the GNU General Public License for more details.
starling 0:8f5db5085df7 20
starling 0:8f5db5085df7 21 You should have received a copy of the GNU General Public License
starling 0:8f5db5085df7 22 along with this. If not, see <http://www.gnu.org/licenses/>.
starling 0:8f5db5085df7 23 */
starling 0:8f5db5085df7 24
starling 0:8f5db5085df7 25
starling 0:8f5db5085df7 26 #ifndef __PIRANHA_PROTOCOL_H__
starling 0:8f5db5085df7 27 #define __PIRANHA_PROTOCOL_H__
starling 0:8f5db5085df7 28
starling 0:8f5db5085df7 29 //@{
starling 0:8f5db5085df7 30 ///PID parameters range.
starling 0:8f5db5085df7 31 #define PID_PARAMS_MIN 0.0
starling 0:8f5db5085df7 32 #define PID_PARAMS_MAX 100.0
starling 0:8f5db5085df7 33 //@}
starling 0:8f5db5085df7 34
starling 0:8f5db5085df7 35 //@{
starling 0:8f5db5085df7 36 ///Ground velocity range.
starling 0:8f5db5085df7 37 #define GND_VEL_MIN -100.0
starling 0:8f5db5085df7 38 #define GND_VEL_MAX 100.0
starling 0:8f5db5085df7 39 //@}
starling 0:8f5db5085df7 40
starling 0:8f5db5085df7 41 //@{
starling 0:8f5db5085df7 42 ///Angle reference range (in radians).
starling 0:8f5db5085df7 43 #define PI 3.141593
starling 0:8f5db5085df7 44 #define ABS_ANG_REF_MIN -PI
starling 0:8f5db5085df7 45 #define ABS_ANG_REF_MAX PI
starling 0:8f5db5085df7 46 //@}
starling 0:8f5db5085df7 47
starling 0:8f5db5085df7 48 //@{
starling 0:8f5db5085df7 49 ///Angle reference from robot range (in radians).
starling 0:8f5db5085df7 50 #define REL_ANG_REF_MIN -PI
starling 0:8f5db5085df7 51 #define REL_ANG_REF_MAX PI
starling 0:8f5db5085df7 52 //@}
starling 0:8f5db5085df7 53
starling 0:8f5db5085df7 54 //@{
starling 0:8f5db5085df7 55 ///Angle reference from magnetometer range (in radians).
starling 0:8f5db5085df7 56 #define MAG_ANG_REF_MIN -PI
starling 0:8f5db5085df7 57 #define MAG_ANG_REF_MAX PI
starling 0:8f5db5085df7 58 //@}
starling 0:8f5db5085df7 59
starling 0:8f5db5085df7 60 //@{
starling 0:8f5db5085df7 61 ///Break intensity
starling 0:8f5db5085df7 62 #define BRAKE_INTENSITY_MIN 0.0
starling 0:8f5db5085df7 63 #define BRAKE_INTENSITY_MAX 100.0
starling 0:8f5db5085df7 64 //@}
starling 0:8f5db5085df7 65
starling 0:8f5db5085df7 66 //@{
starling 0:8f5db5085df7 67 ///Jogging speed ratio.
starling 0:8f5db5085df7 68 #define BRAKE_PERIOD_MIN 0.0
starling 0:8f5db5085df7 69 #define BRAKE_PERIOD_MAX 100.0
starling 0:8f5db5085df7 70 //@}
starling 0:8f5db5085df7 71
starling 0:8f5db5085df7 72 //@{
starling 0:8f5db5085df7 73 ///Jogging speed period (in seconds).
starling 0:8f5db5085df7 74 #define JOG_VEL_PERIOD_MIN 0.0
starling 0:8f5db5085df7 75 #define JOG_VEL_PERIOD_MAX 300.0
starling 0:8f5db5085df7 76 //@}
starling 0:8f5db5085df7 77
starling 0:8f5db5085df7 78 //@{
starling 0:8f5db5085df7 79 ///Jogging speed ratio.
starling 0:8f5db5085df7 80 #define JOG_VEL_RATIO_MIN 0.0
starling 0:8f5db5085df7 81 #define JOG_VEL_RATIO_MAX 1.0
starling 0:8f5db5085df7 82 //@}
starling 0:8f5db5085df7 83
starling 0:8f5db5085df7 84 //@{
starling 0:8f5db5085df7 85 ///Magnetometer calibration values.
starling 0:8f5db5085df7 86 #define MAG_CALIB_MIN -750.0
starling 0:8f5db5085df7 87 #define MAG_CALIB_MAX 750.0
starling 0:8f5db5085df7 88 //@}
starling 0:8f5db5085df7 89
starling 0:8f5db5085df7 90 ///Messages to send via protocol.
starling 0:8f5db5085df7 91 enum
starling 0:8f5db5085df7 92 {
starling 0:8f5db5085df7 93 ///Do nothing.
starling 0:8f5db5085df7 94 NONE,
starling 0:8f5db5085df7 95
starling 0:8f5db5085df7 96 ///Brake the robot.
starling 0:8f5db5085df7 97 BRAKE,
starling 0:8f5db5085df7 98
starling 0:8f5db5085df7 99 ///Reset gyroscope.
starling 0:8f5db5085df7 100 GYRO_ZERO,
starling 0:8f5db5085df7 101
starling 0:8f5db5085df7 102 ///Set zero axis to current angle measure.
starling 0:8f5db5085df7 103 ANG_SET,
starling 0:8f5db5085df7 104
starling 0:8f5db5085df7 105 ///Reset angle zero axis.
starling 0:8f5db5085df7 106 ANG_RST,
starling 0:8f5db5085df7 107
starling 0:8f5db5085df7 108 ///Turn on leds
starling 0:8f5db5085df7 109 LED_ON,
starling 0:8f5db5085df7 110
starling 0:8f5db5085df7 111 ///Turn off leds
starling 0:8f5db5085df7 112 LED_OFF,
starling 0:8f5db5085df7 113
starling 0:8f5db5085df7 114 ///Set new angle reference relative to zero axis.
starling 0:8f5db5085df7 115 ABS_ANG_REF,
starling 0:8f5db5085df7 116
starling 0:8f5db5085df7 117 ///Set new angle reference relative to robot axis.
starling 0:8f5db5085df7 118 REL_ANG_REF,
starling 0:8f5db5085df7 119
starling 0:8f5db5085df7 120 ///Set new angle reference relative to north using magnetometer.
starling 0:8f5db5085df7 121 MAG_ANG_REF,
starling 0:8f5db5085df7 122
starling 0:8f5db5085df7 123 ///Set new ground velocity for robot.
starling 0:8f5db5085df7 124 GND_VEL,
starling 0:8f5db5085df7 125
starling 0:8f5db5085df7 126 ///Set new jogging speed for robot.
starling 0:8f5db5085df7 127 JOG_VEL,
starling 0:8f5db5085df7 128
starling 0:8f5db5085df7 129 ///Magnetometer calibration (min_x, max_x, min_y, max_y).
starling 0:8f5db5085df7 130 MAG_CALIB,
starling 0:8f5db5085df7 131
starling 0:8f5db5085df7 132 ///Send PID control parameters (P, I, D, N).
starling 0:8f5db5085df7 133 PID_PARAMS
starling 0:8f5db5085df7 134 };
starling 0:8f5db5085df7 135
starling 0:8f5db5085df7 136 #define MSG_HEADER_SIZE 1
starling 0:8f5db5085df7 137 #define MSG_VAL_SIZE 2
starling 0:8f5db5085df7 138 #define MSG_MAX_NUM_VALS 4
starling 0:8f5db5085df7 139 #define MSG_BUF_LEN (MSG_HEADER_SIZE + MSG_VAL_SIZE*MSG_MAX_NUM_VALS)
starling 0:8f5db5085df7 140 #define MSG_HEADER_IDX 0
starling 0:8f5db5085df7 141 #define MSG_VALS_START_IDX (MSG_HEADER_IDX + 1)
starling 0:8f5db5085df7 142
starling 0:8f5db5085df7 143 #define SENDER_PORT 7532
starling 0:8f5db5085df7 144 #define SENDER_IFACE_ADDR "192.168.7.2"
starling 0:8f5db5085df7 145 #define SENDER_NETMASK_ADDR "255.255.255.0"
starling 0:8f5db5085df7 146 #define SENDER_GATEWAY_ADDR "0.0.0.0"
starling 0:8f5db5085df7 147
starling 0:8f5db5085df7 148 #define RECEIVER_PORT 7533
starling 0:8f5db5085df7 149 #define RECEIVER_IFACE_ADDR "192.168.7.3"
starling 0:8f5db5085df7 150 #define RECEIVER_NETMASK_ADDR "255.255.255.0"
starling 0:8f5db5085df7 151 #define RECEIVER_GATEWAY_ADDR "0.0.0.0"
starling 0:8f5db5085df7 152
starling 0:8f5db5085df7 153 #endif
starling 0:8f5db5085df7 154