Diff: defines.h

Revision:

0:c86a79c8b787

Child:

2:9c83de2d33ca

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/defines.h	Fri Sep 15 14:54:59 2017 +0000
@@ -0,0 +1,73 @@
+#ifndef __DEFINES_H__
+#define __DEFINES_H__
+
+#include "mbed.h"
+#include "AsyncSerial.hpp"
+
+#include "Lib_DFPlayerMini.h"
+#include "Lib_MPU9250_SPI.h"
+
+//#define USE_SERIAL_DEBUG
+//#define USE_LED_DEBUG
+
+#ifdef USE_SERIAL_DEBUG
+    #define DEBUG_BAUDRATE  115200
+    AsyncSerial  usb_serial( USBTX, USBRX );
+#endif
+
+#ifdef USE_LED_DEBUG
+    DigitalOut myled[4] =   { LED1, LED2, LED3, LED4 };
+#endif
+
+#define PROCESS_INTERVAL_SEC    (0.01f)
+
+#define CAN_RX                  (p30)
+#define CAN_TX                  (p29)
+
+#define MPU9250_CS              p7
+#define MPU9250_MOSI            p11
+#define MPU9250_MISO            p12
+#define MPU9250_SCK             p13
+#define MPU9250_INT             p8
+
+#define DFPLAYER_RX             p27
+#define DFPLAYER_TX             p28
+#define DFPLAYER_BUSY           p18
+
+#define NEOPIXEL_DOUT           (p21)
+
+#define DEVID_LEFT              (0x01)
+#define DEVID_RIGHT             (0x04)
+
+typedef struct _STRUCTSENSOR{
+    float acc[3];
+    float gyro[3];
+    float mag[3];
+} STRUCTSENSOR;
+
+typedef struct _STRUCTPOSTURE{
+    float angle;
+    float angle_vec;
+    float wheel[2];
+    float wheel_vec[2];
+} STRUCTPOSTURE;
+
+typedef struct _STRUCTCONRTOLPARAM{
+  float   K_angle;
+  float   K_angle_vel;
+  float   K_wheel;
+  float   K_wheel_vel;
+  float   K_rot_vel;
+  float   K_trans_vel;
+} STRUCTCONRTOLPARAM;
+
+extern STRUCTSENSOR         sensor;
+extern STRUCTPOSTURE        posture;
+extern STRUCTCONRTOLPARAM   control;
+
+//extern Ticker           tic_sen_ctrl;
+//extern CAN              can_driver;
+//extern MPU9250          imu;
+//extern DFPlayerMini     player;
+
+#endif
\ No newline at end of file