Diff: definition.h

Revision:

0:4fe08f484460

Child:

2:40528aee5ebe

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/definition.h	Wed Mar 25 11:09:39 2020 +0000
@@ -0,0 +1,47 @@
+#ifndef PARAMETER_DEFINITION_H
+#define PARAMETER_DEFINITION_H
+/***********************************************************************************************
+                                 definition constant vaule
+***********************************************************************************************/
+enum can_pin_number { CAN_TD , CAN_RD , CAN_PIN_NUMNBER};
+enum encoder_pin_number { ENCODER_A , ENCODER_B , ENCODER_PIN_NUMBER};
+enum led_pin_number { CW , CCW, FREE , LED_PIN_NUMBER};
+enum a3921_pin_number { PWMH , PHASE , A3921_PIN_NUMBER};
+enum serial_pin_number { SERIAL_TX , SERIAL_RX , SERIAL_PIN_NUMBER};
+enum id_switch_pin_number { SWITCH1 , SWITCH2 , SWITCH3 , SWITCH4 , SWITCH_PIN_NUMBER};
+
+enum parameter_number { KP , KI , KD , ACCELERATION ,PARAMETER_NUMBER};
+
+namespace communication_baud {
+    const int CAN = 500000;         //CAN通信の通信速度(Hz)
+    const int PC  = 460800;         //Serial通信の通信速度(bps)
+};
+
+const int ENCODER_PPR = 512;        //ロータリーエンコーダのPPR
+
+namespace motor_option {
+    const float FREQUENCY = 20000.0f;   //Motorの動作周波数
+    const float UPPER_LIMIT = 1.0f;     //Dutyの上限
+    const float LOWER_LIMIT = -1.0f;    //Dutyの下限
+};
+
+namespace period {
+    const float CONTROL_CYCLE = 0.01f;  //制御周期
+};
+
+const float TIMEOUT_VALUE = 1.0f;       //CAN通信のTIMEOUT時間
+/************************************************************************************************
+                                     definition pin
+************************************************************************************************/
+const PinName CAN_PIN[CAN_PIN_NUMNBER] = {P0_18,P0_13};                     //{CAN_TD,CAN_RD}
+const PinName ENCODER_PIN[ENCODER_PIN_NUMBER] = {P0_6,P0_5};                //{Encoder_Apulse,Encoder_Bpulse}
+const PinName LED_PIN[LED_PIN_NUMBER] = {P0_14,P0_12,P0_0};                 //{CW,CCW,Free}
+const PinName A3921_PIN[A3921_PIN_NUMBER] = {P0_29,P0_28};                  //{PWMH,PHASE}
+const PinName SERIAL_PIN[SERIAL_PIN_NUMBER] = {P0_2,P0_1};                  //{Serial TX,Serial RX}
+const PinName ID_PIN[SWITCH_PIN_NUMBER] = {P0_25,P0_24,P0_26,P0_27,};       //{Switch pin}
+/***********************************************************************************************
+                                    definition struct union
+***********************************************************************************************/
+union can_flame{float f; int i; char c[4];};
+
+#endif
\ No newline at end of file