semin ahn / Mbed OS zeta_stm_kinetic

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Dependencies:   BufferedSerial

configurations/pinConfig.h@3:a4677501ae87, 2021-11-30 (annotated)

Committer:
_seminahn
Date:
Tue Nov 30 08:13:05 2021 +0000
Revision:
3:a4677501ae87
Parent:
2:0de4854743f7 
v1.2.5, change imu freq

Who changed what in which revision?

UserRevisionLine numberNew contents of line
_seminahn 3:a4677501ae87 1 #ifndef PINCONFIG_H_
_seminahn 0:4ff8aeb3e4d1 2 #define PINCONFIG_H_
_seminahn 0:4ff8aeb3e4d1 3 #include "mbed.h"
_seminahn 0:4ff8aeb3e4d1 4 #include "mbed_config.h"
_seminahn 0:4ff8aeb3e4d1 5
_seminahn 0:4ff8aeb3e4d1 6 /* PORTA -------------------------------------------------------------------- */
_seminahn 0:4ff8aeb3e4d1 7
_seminahn 0:4ff8aeb3e4d1 8 /* PORTB -------------------------------------------------------------------- */
_seminahn 3:a4677501ae87 9 #define SSR_CON_01 PB_10
_seminahn 3:a4677501ae87 10 #define SSR_CON_02 PB_11
_seminahn 0:4ff8aeb3e4d1 11 /* PORTC -------------------------------------------------------------------- */
_seminahn 1:2594a70c1ddd 12
_seminahn 0:4ff8aeb3e4d1 13 /* PORTD -------------------------------------------------------------------- */
_seminahn 3:a4677501ae87 14 #define EMERGENCY_01 PD_11
_seminahn 0:4ff8aeb3e4d1 15
_seminahn 0:4ff8aeb3e4d1 16 /* PORTE -------------------------------------------------------------------- */
_seminahn 1:2594a70c1ddd 17 #define BT_RX PE_0
_seminahn 1:2594a70c1ddd 18 #define BT_TX PE_1
_seminahn 1:2594a70c1ddd 19 #define IMU_SCK PE_2
_seminahn 3:a4677501ae87 20 #define TRIG PE_3
_seminahn 1:2594a70c1ddd 21 #define IMU_MISO PE_5
_seminahn 1:2594a70c1ddd 22 #define IMU_MOSI PE_6
_seminahn 3:a4677501ae87 23 #define BUMPER_04 PE_9
_seminahn 3:a4677501ae87 24 #define EMERGENCY_02 PE_10
_seminahn 3:a4677501ae87 25 #define BUMPER_03 PE_11
_seminahn 3:a4677501ae87 26 #define EMERGENCY_03 PE_12
_seminahn 3:a4677501ae87 27 #define BUMPER_02 PE_13
_seminahn 3:a4677501ae87 28 #define EMERGENCY_04 PE_14
_seminahn 3:a4677501ae87 29 #define BUMPER_01 PE_15
_seminahn 0:4ff8aeb3e4d1 30 /* PORTF -------------------------------------------------------------------- */
_seminahn 3:a4677501ae87 31 #define RELAY_CTRL1 PF_12
_seminahn 3:a4677501ae87 32 #define RELAY_CTRL2 PF_13
_seminahn 3:a4677501ae87 33 #define RELAY_CTRL3 PF_14
_seminahn 3:a4677501ae87 34 #define RELAY_CTRL4 PF_15
_seminahn 0:4ff8aeb3e4d1 35
_seminahn 0:4ff8aeb3e4d1 36 /* PORTG -------------------------------------------------------------------- */
_seminahn 3:a4677501ae87 37 #define IMU_INT PG_0
_seminahn 3:a4677501ae87 38 #define IMU_NCS PG_1
_seminahn 3:a4677501ae87 39 #define RS_ECH01 PG_2
_seminahn 3:a4677501ae87 40 #define RS_ECH02 PG_3
_seminahn 3:a4677501ae87 41 #define RS_ECH03 PG_4
_seminahn 3:a4677501ae87 42 #define RS_ECH04 PG_5
_seminahn 3:a4677501ae87 43 #define RS_ECH05 PG_6
_seminahn 3:a4677501ae87 44 #define RS_ECH06 PG_7
_seminahn 3:a4677501ae87 45 #define RS_ECH07 PG_8
_seminahn 3:a4677501ae87 46 #define RU_ECH01 PG_9
_seminahn 3:a4677501ae87 47 #define RU_ECH02 PG_10
_seminahn 3:a4677501ae87 48 #define RU_ECH03 PG_11
_seminahn 3:a4677501ae87 49 #define RU_ECH04 PG_12
_seminahn 3:a4677501ae87 50
_seminahn 3:a4677501ae87 51 /* PORTH -------------------------------------------------------------------- */
_seminahn 3:a4677501ae87 52
_seminahn 3:a4677501ae87 53
_seminahn 3:a4677501ae87 54 /* Definition according to the robot model */
_seminahn 3:a4677501ae87 55
_seminahn 3:a4677501ae87 56 #if ((ROBOT_TYPE == MODEL_C) || (ROBOT_TYPE == MODEL_D))
_seminahn 3:a4677501ae87 57 #define CHARGE_RELAYP SSR_CON_01
_seminahn 3:a4677501ae87 58 #define CHARGE_RELAYN SSR_CON_02
_seminahn 3:a4677501ae87 59 #define EMERGENCY_STOP EMERGENCY_01
_seminahn 3:a4677501ae87 60 #endif
_seminahn 3:a4677501ae87 61
_seminahn 3:a4677501ae87 62 #if (ROBOT_TYPE == MODEL_D)
_seminahn 3:a4677501ae87 63 #define LEVEL_SENSE EMERGENCY_04
_seminahn 3:a4677501ae87 64 #endif
_seminahn 1:2594a70c1ddd 65
_seminahn 3:a4677501ae87 66 #if (ROBOT_TYPE == MODEL_I)
_seminahn 3:a4677501ae87 67 #undef IMU_SCK
_seminahn 3:a4677501ae87 68 #undef IMU_MISO
_seminahn 3:a4677501ae87 69 #undef IMU_MOSI
_seminahn 3:a4677501ae87 70 #undef IMU_NCS
_seminahn 3:a4677501ae87 71 #undef IMU_INT
_seminahn 3:a4677501ae87 72 #undef BT_RX
_seminahn 3:a4677501ae87 73 #undef BT_TX
_seminahn 3:a4677501ae87 74 #undef TRIG
_seminahn 3:a4677501ae87 75 #define SPI1_SCK PA_5
_seminahn 3:a4677501ae87 76 #define SPI1_MISO PA_6
_seminahn 3:a4677501ae87 77 #define SPI1_MOSI PA_7
_seminahn 3:a4677501ae87 78 #define SSR_CTRL PB_15
_seminahn 3:a4677501ae87 79 #define SCRUBBER_CTRL PB_1
_seminahn 3:a4677501ae87 80 #define IMU_SCK SPI1_SCK
_seminahn 3:a4677501ae87 81 #define IMU_MISO SPI1_MISO
_seminahn 3:a4677501ae87 82 #define IMU_MOSI SPI1_MOSI
_seminahn 3:a4677501ae87 83 #define LIDAR_DETECT_OBSTACLE PE_6
_seminahn 3:a4677501ae87 84 #define RESERVE_PIN PE_11
_seminahn 3:a4677501ae87 85 #define IMU_NCS PE_12
_seminahn 3:a4677501ae87 86 #define IMU_INT PE_14
_seminahn 3:a4677501ae87 87 #define SONAR_LEFT PF_3
_seminahn 3:a4677501ae87 88 #define BT_RX PF_6
_seminahn 3:a4677501ae87 89 #define BT_TX PF_7
_seminahn 3:a4677501ae87 90 #define SONAR_TRIG PF_11
_seminahn 3:a4677501ae87 91 #define SONAR_RIGHT PF_15
_seminahn 3:a4677501ae87 92 #define LIDAR_WARNING1 PG_9
_seminahn 3:a4677501ae87 93 #define IGNORE_WARNING2 PG_10
_seminahn 3:a4677501ae87 94 #define LIDAR_DUSTSENSING PG_11
_seminahn 3:a4677501ae87 95 #define LIDAR_WARNING2 PG_12
_seminahn 3:a4677501ae87 96 #define EMERGENCY_STOP PG_13
_seminahn 3:a4677501ae87 97 #define IGNORE_WARNING1 PG_15
_seminahn 0:4ff8aeb3e4d1 98
_seminahn 3:a4677501ae87 99
_seminahn 3:a4677501ae87 100
_seminahn 3:a4677501ae87 101 #endif
_seminahn 3:a4677501ae87 102
_seminahn 3:a4677501ae87 103 #endif /* PINCONFIG_H_ */