Code for a quadrapod robot.
Dependencies: ArthropodIK MMA8451Q MODSERIAL TSI TextLCD mbed-rtos mbed PolyServo
quadrapod_defs.h@9:6c86118bb219, 2015-07-04 (annotated)
- Committer:
- ikrase
- Date:
- Sat Jul 04 20:24:54 2015 +0000
- Revision:
- 9:6c86118bb219
- Parent:
- 3:9916f013d978
Added most pin definitions;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ikrase | 0:838403674a8f | 1 | #ifndef QUADRAPOD_DEFS_H |
ikrase | 0:838403674a8f | 2 | #define QUADRAPOD_DEFS_H |
ikrase | 0:838403674a8f | 3 | |
ikrase | 0:838403674a8f | 4 | /* This header file defines pin names and similar stuff. */ |
ikrase | 0:838403674a8f | 5 | #include "mbed.h" |
ikrase | 0:838403674a8f | 6 | |
ikrase | 0:838403674a8f | 7 | /* Constant definitions. */ |
ikrase | 0:838403674a8f | 8 | #define RAD2DEG 57.2957795 |
ikrase | 0:838403674a8f | 9 | |
ikrase | 9:6c86118bb219 | 10 | #ifndef PI |
ikrase | 9:6c86118bb219 | 11 | #define PI 3.14159265359 |
ikrase | 9:6c86118bb219 | 12 | #endif |
ikrase | 9:6c86118bb219 | 13 | |
ikrase | 9:6c86118bb219 | 14 | |
ikrase | 9:6c86118bb219 | 15 | |
ikrase | 0:838403674a8f | 16 | /* Management and control lines */ |
ikrase | 0:838403674a8f | 17 | |
ikrase | 0:838403674a8f | 18 | #define BATTSENSE PTC1 |
ikrase | 0:838403674a8f | 19 | #define PWR_GOOD PTD6 |
ikrase | 0:838403674a8f | 20 | #define BUZZER PTE31 |
ikrase | 9:6c86118bb219 | 21 | |
ikrase | 9:6c86118bb219 | 22 | #define RADIO_UART_TX PTE22 |
ikrase | 9:6c86118bb219 | 23 | #define RADIO_UART_RX PTE23 |
ikrase | 9:6c86118bb219 | 24 | |
ikrase | 9:6c86118bb219 | 25 | /* UI (LCD and button) Lines */ |
ikrase | 9:6c86118bb219 | 26 | |
ikrase | 9:6c86118bb219 | 27 | #define LED_BL_RED PTE20 |
ikrase | 9:6c86118bb219 | 28 | #define LED_BL_GRN PTE21 |
ikrase | 9:6c86118bb219 | 29 | #define LED_BL_BLU PTE29 |
ikrase | 9:6c86118bb219 | 30 | |
ikrase | 9:6c86118bb219 | 31 | #define LCD_RS PTD7 |
ikrase | 9:6c86118bb219 | 32 | #define LCD_RW PTE2 |
ikrase | 9:6c86118bb219 | 33 | #define LCD_EN PTE3 |
ikrase | 9:6c86118bb219 | 34 | #define LCD_D4 PTB9 |
ikrase | 9:6c86118bb219 | 35 | #define LCD_D5 PTE4 |
ikrase | 9:6c86118bb219 | 36 | #define LCD_D6 PTE5 |
ikrase | 9:6c86118bb219 | 37 | #define LCD_D7 PTE30 |
ikrase | 9:6c86118bb219 | 38 | |
ikrase | 9:6c86118bb219 | 39 | |
ikrase | 9:6c86118bb219 | 40 | |
ikrase | 9:6c86118bb219 | 41 | #define SEL_BUTTON PTA16 |
ikrase | 9:6c86118bb219 | 42 | #define ENTER_BUTON PTA17 |
ikrase | 9:6c86118bb219 | 43 | |
ikrase | 9:6c86118bb219 | 44 | /* External IO connection lines */ |
ikrase | 9:6c86118bb219 | 45 | |
ikrase | 9:6c86118bb219 | 46 | #define AUX_IN PTC3 |
ikrase | 9:6c86118bb219 | 47 | |
ikrase | 9:6c86118bb219 | 48 | #define EXT_SDA PTC11 |
ikrase | 9:6c86118bb219 | 49 | #define EXT_SCL PTC10 |
ikrase | 9:6c86118bb219 | 50 | |
ikrase | 9:6c86118bb219 | 51 | #define EXT_CS PTD0 |
ikrase | 9:6c86118bb219 | 52 | #define EXT_SCK PTD1 |
ikrase | 9:6c86118bb219 | 53 | #define EXT_MOSI PTD2 |
ikrase | 9:6c86118bb219 | 54 | #define EXT_MISO PTD3 |
ikrase | 9:6c86118bb219 | 55 | |
ikrase | 9:6c86118bb219 | 56 | #define EXT_UART_TX PTE0 |
ikrase | 9:6c86118bb219 | 57 | #define EXT_UART_RX PTE1 |
ikrase | 9:6c86118bb219 | 58 | |
ikrase | 9:6c86118bb219 | 59 | |
ikrase | 9:6c86118bb219 | 60 | |
ikrase | 9:6c86118bb219 | 61 | /* Servo Block Lines */ |
ikrase | 9:6c86118bb219 | 62 | |
ikrase | 9:6c86118bb219 | 63 | |
ikrase | 9:6c86118bb219 | 64 | #define SA1 PTC0 |
ikrase | 9:6c86118bb219 | 65 | #define SA2 PTC2 |
ikrase | 9:6c86118bb219 | 66 | #define SA3 PTC4 |
ikrase | 9:6c86118bb219 | 67 | |
ikrase | 9:6c86118bb219 | 68 | #define SB1 PTC5 |
ikrase | 9:6c86118bb219 | 69 | #define SB2 PTC6 |
ikrase | 9:6c86118bb219 | 70 | #define SB3 PTC7 |
ikrase | 9:6c86118bb219 | 71 | |
ikrase | 9:6c86118bb219 | 72 | #define SC1 PTC8 |
ikrase | 9:6c86118bb219 | 73 | #define SC2 PTC9 |
ikrase | 9:6c86118bb219 | 74 | #define SC3 PTC12 |
ikrase | 9:6c86118bb219 | 75 | |
ikrase | 9:6c86118bb219 | 76 | #define SD1 PTC13 |
ikrase | 9:6c86118bb219 | 77 | #define SD2 PTC16 |
ikrase | 9:6c86118bb219 | 78 | #define SD3 PTC17 |
ikrase | 9:6c86118bb219 | 79 | |
ikrase | 9:6c86118bb219 | 80 | /* Leg sensor lines, in case I ever get that working */ |
ikrase | 9:6c86118bb219 | 81 | |
ikrase | 9:6c86118bb219 | 82 | #define SNA PTB0 |
ikrase | 9:6c86118bb219 | 83 | #define SNB PTB1 |
ikrase | 9:6c86118bb219 | 84 | #define SNC PTB2 |
ikrase | 9:6c86118bb219 | 85 | #define SCD PTB3 |
ikrase | 9:6c86118bb219 | 86 | |
ikrase | 9:6c86118bb219 | 87 | |
ikrase | 9:6c86118bb219 | 88 | |
ikrase | 9:6c86118bb219 | 89 | //#define PI 3.14159265359 |
ikrase | 0:838403674a8f | 90 | |
ikrase | 0:838403674a8f | 91 | |
ikrase | 0:838403674a8f | 92 | |
ikrase | 0:838403674a8f | 93 | |
ikrase | 0:838403674a8f | 94 | |
ikrase | 0:838403674a8f | 95 | |
ikrase | 0:838403674a8f | 96 | #endif |