car_config.hpp

00001 #ifndef __CAR_CONFIG_H__
00002 #define __CAR_CONFIG_H__
00003 
00004 #include "common_types.h"
00005 
00006 /*********************
00007  * THREADS
00008  *********************/ 
00009 
00010 #define CLOCK_THREAD_PERIOD     1000  //milliseconds
00011 #define ENGINE_THREAD_PERIOD    250   //milliseconds
00012 #define BODY_THREAD_PERIOD      500   //milliseconds
00013 #define DIAG_THREAD_PERIOD      500   //milliseconds
00014 #define CAN_THREAD_PERIOD       100   //milliseconds
00015 
00016 /*********************
00017  * CAN MSGs
00018  *********************/
00019 
00020 //#define NET_TX_CMD_BODY
00021 #define NET_TX_STS_BODY
00022 //#define NET_TX_CMD_ENGINE
00023 //#define NET_TX_CMD_TIME
00024 //#define NET_TX_CMD_DIAG
00025 #define NET_TX_STS_DIAG
00026 //#define NET_TX_CMD_CAMERA
00027 #define NET_RX_CMD_BODY
00028 //#define NET_RX_STS_BODY
00029 #define NET_RX_CMD_ENGINE
00030 #define NET_RX_CMD_TIME
00031 #define NET_RX_CMD_DIAG
00032 //#define NET_RX_STS_DIAG
00033 //#define NET_RX_CMD_CAMERA
00034 
00035 /*********************
00036  * HW CONFIG
00037  *********************/
00038 
00039 //CAN
00040 #define HW_CAN_TX                    p9
00041 #define HW_CAN_RX                    p10
00042 
00043 //LED
00044 #define HW_ALIVE_LED                 LED1
00045 
00046 //BODY
00047 #define HW_REAR_RIGHT_EYE            p19
00048 #define HW_REAR_LEFT_EYE             p20
00049 #define HW_FRONT_EYE_RX              p28
00050 #define HW_FRONT_EYE_TX              p27
00051 #define HW_HIT_FRONT                 p14
00052 #define HW_HIT_REAR                  p15
00053 #define HW_HIT_LEFT                  p16
00054 #define HW_HIT_RIGHT                 p17
00055 #define HW_FRONT_EYE_ADDR            0xE0
00056 #define HW_FRONT_EYE_DEFAULT_ADDR    0xF2
00057 
00058 //ENGINE
00059 #define HW_STEERING_SERVO            p21
00060 #define HW_ENGINE_ENABLER            p22
00061 #define HW_ENGINE_DIR_1              p23
00062 #define HW_ENGINE_DIR_2              p24
00063 #define HW_ENGINE_PERIOD             (0.100)
00064 #define HW_SERVO_RANGE_INIT          (0.0005)
00065 #define HW_SERVO_ANGLE_INIT          (45.0)
00066 
00067 #endif //__CAR_CONFIG_H__