File content as of revision 15:a84d54e25775:

/*  Copyright 2020 Allan Joshua Veale
 
    Licensed under the Apache License, Version 2.0 (the "License");
    you may not use this file except in compliance with the License.
    You may obtain a copy of the License at
 
        http://www.apache.org/licenses/LICENSE-2.0
 
    Unless required by applicable law or agreed to in writing, software
    distributed under the License is distributed on an "AS IS" BASIS,
    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    See the License for the specific language governing permissions and
    limitations under the License.
*/

#ifndef _CONSTANTS_HARDWARE_H_
#define _CONSTANTS_HARDWARE_H_

#include "mbed.h"

#ifndef M_PI
#define M_PI 3.14159265359f
#endif

/**
 * Hardware connections to the mbed
 */

// SPI Communication AS5048 joint encoders
#define AS5048_MOSI         PTD6        // D11
#define AS5048_MISO         PTD7        // D12
#define AS5048_SCLK         PTD5        // D13
#define AS5048_CS           PTD4        // D10

// SPI Communication external SD CARD 
#define SD_MOSI             PTC6        // D7
#define SD_MISO             PTC7        
#define SD_SCK              PTC5        
#define SD_CS               PTC10       

// SPI Communication MAX5322 DAC
#define DAC_MOSI         PTD6        // D11
#define DAC_MISO         PTD7        // D12
#define DAC_SCLK         PTD5        // D13
#define DAC_CSA          D8        
#define DAC_CSB          D1         

// LCM101-100 kgf S-beam force sensor
#define LCM101              A1

// SPTE analog output pressure sensors (0-10bar for 0-5V output)
#define SPTE_0             A0 //this is the one currently in use
#define SPTE_1             A5 //this one is not used, and its use on this pin needs to be tested - hence not in schematics

//Festo digital valve (one for inflate)
#define VALVE_PIN           D0

//Linear actuator
#define LINACT_DIR_PIN      D5
#define LINACT_PWM_PIN      D6

/**
 * Sensor settings and calibration data
 */
namespace sensors {
    extern const bool use5kN;
    
    // LCM101-100kgf force sensor
    extern const float kLcm101Offset;
    extern const float kLcm101Factor;
    
    // Gen5kN force sensor
    extern const float kGen5kNOffset;
    extern const float kGen5kNFactor;
    
    //SPTE pressure sensors (0-10bar for 0-5V output)
    extern const float kSPTE0Offset;
    extern const float kSPTE0Factor;
    extern const float kSPTE1Offset;
    extern const float kSPTE1Factor;
    
    // AS5048 abs angle sensor chain
    extern const int kNumJoints;

    extern const char *kJointNames[];
    extern const float kOffsetsDegrees[];
    extern const bool kDirections[];
}

namespace timing {
    extern const int LogDataHertz;                      //data log sample rate
    extern const int kTimeControlUs;                    // control loop
    extern const int LogDataHertz;                      // data logging
    extern const int kTimeLogDataUs;                    // data logging
    extern const int TimeControlHertz;                  // control loop sample rate
    extern const int kTimeSerialPrintUs;                // serial printing 
    extern const int minKeyInt;                         //key interval time out value
    
    extern const int kSerialBaudrate;                   //frequency of serial port
    
    extern const int PWMHertz;                          //Linear actuator frequency for pwm
}

namespace rigStructure {
    extern const bool invertedRig; //indicates if rig is inverted or not (for internal torque calculation)
}

#endif