For coursework of group 3 in SOFT564Z
Dependencies: Motordriver ros_lib_kinetic
General.hpp@12:82b8fe254222, 2020-01-05 (annotated)
- Committer:
- Jonathan738
- Date:
- Sun Jan 05 15:42:22 2020 +0000
- Revision:
- 12:82b8fe254222
- Parent:
- 4:8afc50a3e4ac
Added working version of TOF code
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Jonathan738 | 4:8afc50a3e4ac | 1 | /******************************************************************************/ |
Jonathan738 | 4:8afc50a3e4ac | 2 | /* General definitions */ |
Jonathan738 | 4:8afc50a3e4ac | 3 | /******************************************************************************/ |
Jonathan738 | 4:8afc50a3e4ac | 4 | // define all datatypes to make data sizes more understandable |
Jonathan738 | 4:8afc50a3e4ac | 5 | #define S_BYTE signed char |
Jonathan738 | 4:8afc50a3e4ac | 6 | #define BYTE char |
Jonathan738 | 4:8afc50a3e4ac | 7 | #define U_BYTE unsigned char |
Jonathan738 | 4:8afc50a3e4ac | 8 | #define INT_16 short int |
Jonathan738 | 4:8afc50a3e4ac | 9 | #define UINT_16 unsigned short int |
Jonathan738 | 4:8afc50a3e4ac | 10 | #define INT_32 int |
Jonathan738 | 4:8afc50a3e4ac | 11 | #define UINT_32 unsigned int |
Jonathan738 | 4:8afc50a3e4ac | 12 | #define INT_64 long int |
Jonathan738 | 4:8afc50a3e4ac | 13 | #define UINT_64 unsigned long int |
Jonathan738 | 4:8afc50a3e4ac | 14 | #define FLOAT_32 float |
Jonathan738 | 4:8afc50a3e4ac | 15 | #define FLOAT_64 double |
Jonathan738 | 4:8afc50a3e4ac | 16 | #define FLOAT_96 long double |
Jonathan738 | 0:3dfee562823a | 17 | |
Jonathan738 | 4:8afc50a3e4ac | 18 | // define ERROR levels |
Jonathan738 | 4:8afc50a3e4ac | 19 | #define criticalFAILURE 0 // critical FAILURE shows full system broken |
Jonathan738 | 4:8afc50a3e4ac | 20 | #define criticalERROR 1 // critical ERROR means atleast one system failed |
Jonathan738 | 4:8afc50a3e4ac | 21 | #define fault 2 // FAULT means atleast one system is not working properly |
Jonathan738 | 4:8afc50a3e4ac | 22 | #define warning 3 // warning means atleast one system may be functioning incorecctly |
Jonathan738 | 0:3dfee562823a | 23 | /******************************************************************************/ |
Jonathan738 | 0:3dfee562823a | 24 | |
Jonathan738 | 0:3dfee562823a | 25 | |
Jonathan738 | 0:3dfee562823a | 26 | /******************************************************************************/ |
Jonathan738 | 0:3dfee562823a | 27 | /* Defentions of Pins and Topics for ROS and attached peripherals */ |
Jonathan738 | 0:3dfee562823a | 28 | /******************************************************************************/ |
Jonathan738 | 12:82b8fe254222 | 29 | #define Control_Topic "/Nucleo/cmd_vel" |
Jonathan738 | 12:82b8fe254222 | 30 | #define TOF_Topic "/Nucleo/TOF_Ranges" |
Jonathan738 | 12:82b8fe254222 | 31 | #define Status_Topic "/Nucleo/Status" |
Jonathan738 | 0:3dfee562823a | 32 | |
Jonathan738 | 0:3dfee562823a | 33 | #define Serial_Error_Tx SERIAL_TX |
Jonathan738 | 0:3dfee562823a | 34 | #define Serial_Error_Rx SERIAL_RX |
Jonathan738 | 0:3dfee562823a | 35 | |
Jonathan738 | 0:3dfee562823a | 36 | #define ROS_Tx PD_5 |
Jonathan738 | 0:3dfee562823a | 37 | #define ROS_Rx PD_6 |
Jonathan738 | 12:82b8fe254222 | 38 | #define ROS_BaudRate 115200 |
Jonathan738 | 0:3dfee562823a | 39 | /******************************************************************************/ |
Jonathan738 | 0:3dfee562823a | 40 | |
Jonathan738 | 0:3dfee562823a | 41 | |
Jonathan738 | 3:7da9888ac8dc | 42 | #ifndef Define_ONCE_General |
Jonathan738 | 3:7da9888ac8dc | 43 | #define Define_ONCE_General |
Jonathan738 | 3:7da9888ac8dc | 44 | |
Jonathan738 | 0:3dfee562823a | 45 | #endif |