File content as of revision 44:d433bb5f77c0:

#ifndef GLOBAL_H
#define GLOBAL_H

//制御周期
const float CONTROL_CYCLE_S = 0.01f;
const int CONTROL_CYCLE_MS  = (int)(CONTROL_CYCLE_S * 1000.0f);
const int CONTROL_CYCLE_US  = (int)(CONTROL_CYCLE_S * 1000000.0f);

const float RPS_MEAS_CYCLE_S  = 0.01f;
const int RPS_MEAS_CYCLE_US  = (int)(RPS_MEAS_CYCLE_S * 1000000);

const float LSB_MOTORSPEED      = 0.01f;     //[(m/s) / bit]
const float LSB_RPS             = 0.0004f;    //[rps / bit]

//エラーカウンタ型
struct errCounter_t {
    int apsUnderVolt;       //aps電圧不足
    int apsExceedVolt;      //aps電圧超過
    int apsErrorTolerance;  //aps偏差超過
    int apsStick;           //aps固着
    int brakeUnderVolt;     //brake電圧不足
    int brakeExceedVolt;    //brake電圧超過
    int brakeFuzzyVolt;     //brake曖昧な電圧(ONでもOFFでもない)
    int brakeOverRide;      //accel-brake同時踏み
};

typedef enum {
    FR_WHEEL = 0, FL_WHEEL, RR_MOTOR, RL_MOTOR, SELECT_T_NUM
}select_t;

const float M_PI            =3.1415f;   //[-]

const double ratioLPF       =0.67;           //各センサLPF:CutOff:20Hz
const float ratioLPF_RPS    =0.27f;           //各センサLPF:CutOff:5Hz

#define myAbs(x)    (((x)>0)?(x):(-(x)))

const float GEAR_RATIO      =13.0f;     //[-]
const float TIRE_DIAMETER   =0.533f;    //[m]
const float WHEEL_BASE      =1.760f;    //[m]
const float TREAD           =1.3f;      //[m]
const float A               =0.005f;    //[s^2/m^2]
const float STEER_RATIO     =0.32f;     //[-]
const float ALPHA           =5.0f;      //[-]増幅率α

#endif