defines.h

00001 #ifndef __DEFINES_H__
00002 #define __DEFINES_H__
00003 
00004 #include "mbed.h"
00005 #include "AsyncSerial.hpp"
00006 
00007 #include "Lib_DFPlayerMini.h"
00008 #include "Lib_MPU9250.h"
00009 #include "filter_func.h"
00010 
00011 // compile option
00012 //#define USE_SERIAL_DEBUG
00013 #define USE_LED_DEBUG
00014 #define USE_FILESYSTEM
00015 #define USE_FIRST_IMU
00016 #define USE_SECOND_IMU
00017 #define USE_MOTOR_CONTROL
00018 #define USE_STEER_CONTROL
00019 
00020 #ifdef USE_SERIAL_DEBUG
00021     #define DEBUG_BAUDRATE  115200
00022     AsyncSerial  usb_serial( USBTX, USBRX );
00023 #endif
00024 
00025 #ifdef USE_LED_DEBUG
00026     DigitalOut myled[4] =   { LED1, LED2, LED3, LED4 };
00027 #endif
00028 
00029 #define PROCESS_INTERVAL_SEC    (0.01f)
00030 
00031 #define CAN_RX                  (p30)
00032 #define CAN_TX                  (p29)
00033 
00034 #define MPU9250_CS              (p7)
00035 #define MPU9250_MOSI            (p11)
00036 #define MPU9250_MISO            (p12)
00037 #define MPU9250_SCK             (p13)
00038 #define MPU9250_INT             (p8)
00039 
00040 #define MPU9250_SDA             (p9)
00041 #define MPU9250_SCL             (p10)
00042 
00043 #define DFPLAYER_RX             (p27)
00044 #define DFPLAYER_TX             (p28)
00045 #define DFPLAYER_BUSY           (p18)
00046 
00047 #define NEOPIXEL_DOUT           (p21)
00048 
00049 #define DEVID_LEFT              (0x01)
00050 #define DEVID_RIGHT             (0x04)
00051 
00052 typedef struct _STRUCTSENSOR{
00053     float acc[3];
00054     float gyro[3];
00055     float mag[3];
00056 } STRUCTSENSOR;
00057 
00058 typedef struct _STRUCTPOSTURE{
00059     float angle;
00060     float angle_vel;
00061     float wheel[2];
00062     float wheel_vec[2];
00063 } STRUCTPOSTURE;
00064 
00065 typedef struct _STRUCTCONRTOLPARAM{
00066     float   K_angle;
00067     float   K_angle_vel;
00068     float   K_wheel;
00069     float   K_wheel_vel;
00070     float   K_rot_vel;
00071     float   K_trans_vel;
00072     float   C_max_angle;
00073     float   C_offset_angle;
00074 } STRUCTCONRTOLPARAM;
00075 
00076 typedef struct _STRUCTGAMEPAD{
00077     float x_raw;
00078     float y_raw;
00079     float x_filtered;
00080     float y_filtered;
00081     float C_dead_angle;
00082     float C_max_angle;
00083 } STRUCTGAMEPAD;
00084 
00085 extern STRUCTSENSOR         sensor_vehicle;
00086 extern STRUCTSENSOR         sensor_interface;
00087 extern STRUCTPOSTURE        posture;
00088 extern STRUCTCONRTOLPARAM   control;
00089 extern STRUCTGAMEPAD        pad;
00090 
00091 
00092 //extern Ticker           tic_sen_ctrl;
00093 //extern CAN              can_driver;
00094 //extern MPU9250          imu;
00095 //extern DFPlayerMini     player;
00096 
00097 #endif