For coursework of group 3 in SOFT564Z
Dependencies: Motordriver ros_lib_kinetic
Pins.h@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 | /* Pins */ |
Jonathan738 | 4:8afc50a3e4ac | 3 | /******************************************************************************/ |
Jonathan738 | 4:8afc50a3e4ac | 4 | |
Jonathan738 | 4:8afc50a3e4ac | 5 | /*----------------------------------------------------------------------------*/ |
Jonathan738 | 4:8afc50a3e4ac | 6 | /* ToF Sensors */ |
Jonathan738 | 4:8afc50a3e4ac | 7 | /*----------------------------------------------------------------------------*/ |
Jonathan738 | 4:8afc50a3e4ac | 8 | #define SHDN_1 D43 |
Jonathan738 | 4:8afc50a3e4ac | 9 | #define SHDN_2 D44 |
Jonathan738 | 4:8afc50a3e4ac | 10 | #define SHDN_3 D45 |
Jonathan738 | 4:8afc50a3e4ac | 11 | #define SHDN_4 D46 |
Jonathan738 | 4:8afc50a3e4ac | 12 | #define SHDN_5 D47 |
Jonathan738 | 4:8afc50a3e4ac | 13 | #define SHDN_6 D48 |
Jonathan738 | 4:8afc50a3e4ac | 14 | #define SHDN_7 D49 |
Jonathan738 | 4:8afc50a3e4ac | 15 | #define SHDN_8 D50 |
Jonathan738 | 4:8afc50a3e4ac | 16 | |
Jonathan738 | 4:8afc50a3e4ac | 17 | #define SCL D15 |
Jonathan738 | 4:8afc50a3e4ac | 18 | #define SDA D14 |
Jonathan738 | 4:8afc50a3e4ac | 19 | |
Jonathan738 | 4:8afc50a3e4ac | 20 | /*----------------------------------------------------------------------------*/ |
Jonathan738 | 4:8afc50a3e4ac | 21 | /* Motors */ |
Jonathan738 | 4:8afc50a3e4ac | 22 | /*----------------------------------------------------------------------------*/ |
Jonathan738 | 4:8afc50a3e4ac | 23 | #define Motor_1_IN_1 D16 //PC_6 |
Jonathan738 | 4:8afc50a3e4ac | 24 | #define Motor_1_IN_2 D17 //PB_15 |
Jonathan738 | 4:8afc50a3e4ac | 25 | #define Motor_1_PWM D18 //PB_13 |
Jonathan738 | 4:8afc50a3e4ac | 26 | #define Motor_1_A D24 //PA_4 |
Jonathan738 | 4:8afc50a3e4ac | 27 | #define Motor_1_B D19 //PB_12 |
Jonathan738 | 4:8afc50a3e4ac | 28 | |
Jonathan738 | 4:8afc50a3e4ac | 29 | #define Motor_2_IN_1 D20 //PA_15 |
Jonathan738 | 4:8afc50a3e4ac | 30 | #define Motor_2_IN_2 D21 //PC_7 |
Jonathan738 | 4:8afc50a3e4ac | 31 | #define Motor_2_PWM D25 //PB_4 |
Jonathan738 | 4:8afc50a3e4ac | 32 | #define Motor_2_A D22 //PB_5 |
Jonathan738 | 4:8afc50a3e4ac | 33 | #define Motor_2_B D23 //PB_3 |
Jonathan738 | 4:8afc50a3e4ac | 34 | |
Jonathan738 | 4:8afc50a3e4ac | 35 | /*----------------------------------------------------------------------------*/ |
Jonathan738 | 4:8afc50a3e4ac | 36 | /* Power Monitor */ |
Jonathan738 | 4:8afc50a3e4ac | 37 | /*----------------------------------------------------------------------------*/ |
Jonathan738 | 4:8afc50a3e4ac | 38 | #define MON_VBATT A6 | ADC_VBAT |
Jonathan738 | 4:8afc50a3e4ac | 39 | #define MON_5V0 A7 |
Jonathan738 | 4:8afc50a3e4ac | 40 | #define MON_3V3 A8 |
Jonathan738 | 4:8afc50a3e4ac | 41 | |
Jonathan738 | 4:8afc50a3e4ac | 42 | /*----------------------------------------------------------------------------*/ |
Jonathan738 | 4:8afc50a3e4ac | 43 | /* UART to RPi */ |
Jonathan738 | 4:8afc50a3e4ac | 44 | /*----------------------------------------------------------------------------*/ |
Jonathan738 | 4:8afc50a3e4ac | 45 | #define SP_TX D1 |
Jonathan738 | 4:8afc50a3e4ac | 46 | #define SP_RX D0 |
Jonathan738 | 4:8afc50a3e4ac | 47 | |
Jonathan738 | 4:8afc50a3e4ac | 48 | /*----------------------------------------------------------------------------*/ |
Jonathan738 | 4:8afc50a3e4ac | 49 | /* Extra UART */ |
Jonathan738 | 4:8afc50a3e4ac | 50 | /*----------------------------------------------------------------------------*/ |
Jonathan738 | 4:8afc50a3e4ac | 51 | #define UART1_RX D52 |
Jonathan738 | 4:8afc50a3e4ac | 52 | #define UART1_TX D53 |
Jonathan738 | 4:8afc50a3e4ac | 53 | #define UART1_RTS D54 |
Jonathan738 | 4:8afc50a3e4ac | 54 | #define UART1_CTS D55 |
Jonathan738 | 4:8afc50a3e4ac | 55 | |
Jonathan738 | 4:8afc50a3e4ac | 56 | /*----------------------------------------------------------------------------*/ |
Jonathan738 | 4:8afc50a3e4ac | 57 | /* SPI */ |
Jonathan738 | 4:8afc50a3e4ac | 58 | /*----------------------------------------------------------------------------*/ |
Jonathan738 | 4:8afc50a3e4ac | 59 | #define INT1 D7 |
Jonathan738 | 4:8afc50a3e4ac | 60 | #define INT2 D6 |
Jonathan738 | 4:8afc50a3e4ac | 61 | |
Jonathan738 | 4:8afc50a3e4ac | 62 | #define INTM D4 |
Jonathan738 | 4:8afc50a3e4ac | 63 | #define MISO D3 |
Jonathan738 | 4:8afc50a3e4ac | 64 | #define DEN D2 |
Jonathan738 | 4:8afc50a3e4ac | 65 | |
Jonathan738 | 4:8afc50a3e4ac | 66 | #define CS_M D42 |
Jonathan738 | 4:8afc50a3e4ac | 67 | #define CS_AG D41 |
Jonathan738 | 4:8afc50a3e4ac | 68 | |
Jonathan738 | 4:8afc50a3e4ac | 69 | #define DRDY D40 |
Jonathan738 | 4:8afc50a3e4ac | 70 | #define CLK D39 |
Jonathan738 | 4:8afc50a3e4ac | 71 | #define MOSI D38 |
Jonathan738 | 4:8afc50a3e4ac | 72 | #define SPR_SPI_CS D37 |
Jonathan738 | 4:8afc50a3e4ac | 73 | |
Jonathan738 | 4:8afc50a3e4ac | 74 | /*----------------------------------------------------------------------------*/ |
Jonathan738 | 4:8afc50a3e4ac | 75 | /* Other Stuff */ |
Jonathan738 | 4:8afc50a3e4ac | 76 | /*----------------------------------------------------------------------------*/ |
Jonathan738 | 4:8afc50a3e4ac | 77 | #define BUZZER D13 |
Jonathan738 | 4:8afc50a3e4ac | 78 | |
Jonathan738 | 4:8afc50a3e4ac | 79 | #define RED D8 |
Jonathan738 | 4:8afc50a3e4ac | 80 | #define GRN D9 |
Jonathan738 | 4:8afc50a3e4ac | 81 | #define BLU D10 |
Jonathan738 | 4:8afc50a3e4ac | 82 | |
Jonathan738 | 4:8afc50a3e4ac | 83 | #define LINE_OUT1 A0 |
Jonathan738 | 4:8afc50a3e4ac | 84 | #define LINE_OUT2 A1 |
Jonathan738 | 4:8afc50a3e4ac | 85 | #define LINE_OUT3 A2 |
Jonathan738 | 4:8afc50a3e4ac | 86 | #define LINE_OUT4 A3 |
Jonathan738 | 4:8afc50a3e4ac | 87 | #define LINE_OUT5 A4 |
Jonathan738 | 4:8afc50a3e4ac | 88 | |
Jonathan738 | 4:8afc50a3e4ac | 89 | /*----------------------------------------------------------------------------*/ |
Jonathan738 | 4:8afc50a3e4ac | 90 | /* Spare I/O */ |
Jonathan738 | 4:8afc50a3e4ac | 91 | /*----------------------------------------------------------------------------*/ |
Jonathan738 | 4:8afc50a3e4ac | 92 | #define PE_4 D57 |
Jonathan738 | 4:8afc50a3e4ac | 93 | #define PE_5 D58 |
Jonathan738 | 4:8afc50a3e4ac | 94 | #define PE_6 D59 |
Jonathan738 | 4:8afc50a3e4ac | 95 | #define PE_3 D60 |
Jonathan738 | 4:8afc50a3e4ac | 96 | #define PF_8 D61 |
Jonathan738 | 4:8afc50a3e4ac | 97 | #define PF_7 D62 |
Jonathan738 | 4:8afc50a3e4ac | 98 | #define PF_9 D63 |
Jonathan738 | 4:8afc50a3e4ac | 99 | |
Jonathan738 | 4:8afc50a3e4ac | 100 | /******************************************************************************/ |