Mario Bambagini
/
car_chassis
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Dependencies: Servo mbed-rtos mbed
car_config.hpp
- Committer:
- mariob
- Date:
- 2015-10-11
- Revision:
- 3:bfc20ec72b15
- Parent:
- 2:7dfc8dd6aab3
File content as of revision 3:bfc20ec72b15:
#ifndef __CAR_CONFIG_H__
#define __CAR_CONFIG_H__
#include "common_types.h"
/*********************
* THREADS
*********************/
#define CLOCK_THREAD_PERIOD 1000 //milliseconds
#define ENGINE_THREAD_PERIOD 250 //milliseconds
#define BODY_THREAD_PERIOD 500 //milliseconds
#define DIAG_THREAD_PERIOD 500 //milliseconds
#define CAN_THREAD_PERIOD 100 //milliseconds
/*********************
* CAN MSGs
*********************/
//#define NET_TX_CMD_BODY
#define NET_TX_STS_BODY
//#define NET_TX_CMD_ENGINE
//#define NET_TX_CMD_TIME
//#define NET_TX_CMD_DIAG
#define NET_TX_STS_DIAG
//#define NET_TX_CMD_CAMERA
#define NET_RX_CMD_BODY
//#define NET_RX_STS_BODY
#define NET_RX_CMD_ENGINE
#define NET_RX_CMD_TIME
#define NET_RX_CMD_DIAG
//#define NET_RX_STS_DIAG
//#define NET_RX_CMD_CAMERA
/*********************
* HW CONFIG
*********************/
//CAN
#define HW_CAN_TX p9
#define HW_CAN_RX p10
//LED
#define HW_ALIVE_LED LED1
//BODY
#define HW_REAR_RIGHT_EYE p19
#define HW_REAR_LEFT_EYE p20
#define HW_FRONT_EYE_RX p28
#define HW_FRONT_EYE_TX p27
#define HW_HIT_FRONT p14
#define HW_HIT_REAR p15
#define HW_HIT_LEFT p16
#define HW_HIT_RIGHT p17
#define HW_FRONT_EYE_ADDR 0xE0
#define HW_FRONT_EYE_DEFAULT_ADDR 0xF2
//ENGINE
#define HW_STEERING_SERVO p21
#define HW_ENGINE_ENABLER p22
#define HW_ENGINE_DIR_1 p23
#define HW_ENGINE_DIR_2 p24
#define HW_ENGINE_PERIOD (0.100)
#define HW_SERVO_RANGE_INIT (0.0005)
#define HW_SERVO_ANGLE_INIT (45.0)
#endif //__CAR_CONFIG_H__