Kim Youngsik / Mbed 2 deprecated 0SAS_FCC_V12

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   MPU6050 mbed

Fork of 0SAS_FCC_V11 by Kim Youngsik

ROBOFRIEN_SUB_FUNC/Config.h@0:a1ad0eb8b619, 2018-04-16 (annotated)

Committer:
skyyoungsik
Date:
Mon Apr 16 07:16:00 2018 +0000
Revision:
0:a1ad0eb8b619
zg

Who changed what in which revision?

UserRevisionLine numberNew contents of line
skyyoungsik 0:a1ad0eb8b619 1 #pragma once
skyyoungsik 0:a1ad0eb8b619 2
skyyoungsik 0:a1ad0eb8b619 3 #define MODEL_INFO "ROBOFRIEN FCC "
skyyoungsik 0:a1ad0eb8b619 4 #define FIRMWARE_INFO 1.01
skyyoungsik 0:a1ad0eb8b619 5
skyyoungsik 0:a1ad0eb8b619 6 #define interrupts() sei()
skyyoungsik 0:a1ad0eb8b619 7 #define noInterrupts() cli()
skyyoungsik 0:a1ad0eb8b619 8 #define TO_GCS 255
skyyoungsik 0:a1ad0eb8b619 9 #define FROM_FCS 0
skyyoungsik 0:a1ad0eb8b619 10
skyyoungsik 0:a1ad0eb8b619 11 #define PIN_ULTRA_TRIG A8
skyyoungsik 0:a1ad0eb8b619 12 #define PIN_ULTRA_ECHO A9
skyyoungsik 0:a1ad0eb8b619 13 #define AHRS_INTERRUPT_PIN A10 // use pin A10 on Arduino Uno & most boards
skyyoungsik 0:a1ad0eb8b619 14
skyyoungsik 0:a1ad0eb8b619 15
skyyoungsik 0:a1ad0eb8b619 16 //// EEPROM //////
skyyoungsik 0:a1ad0eb8b619 17 // DPN1 //
skyyoungsik 0:a1ad0eb8b619 18 #define EEPROM_MODEL_TYPE1 0
skyyoungsik 0:a1ad0eb8b619 19 #define EEPROM_MODEL_TYPE2_UP 1
skyyoungsik 0:a1ad0eb8b619 20 #define EEPROM_MODEL_TYPE2_DOWN 2
skyyoungsik 0:a1ad0eb8b619 21
skyyoungsik 0:a1ad0eb8b619 22 // DPN3 //
skyyoungsik 0:a1ad0eb8b619 23 #define EEPROM_RECV_MIN_1 30
skyyoungsik 0:a1ad0eb8b619 24 #define EEPROM_RECV_MIN_2 31
skyyoungsik 0:a1ad0eb8b619 25 #define EEPROM_RECV_MIN_3 32
skyyoungsik 0:a1ad0eb8b619 26 #define EEPROM_RECV_MIN_4 33
skyyoungsik 0:a1ad0eb8b619 27 #define EEPROM_RECV_MIN_5 34
skyyoungsik 0:a1ad0eb8b619 28 #define EEPROM_RECV_MIN_6 35
skyyoungsik 0:a1ad0eb8b619 29 #define EEPROM_RECV_MIN_7 36
skyyoungsik 0:a1ad0eb8b619 30 #define EEPROM_RECV_MIN_8 37
skyyoungsik 0:a1ad0eb8b619 31
skyyoungsik 0:a1ad0eb8b619 32 #define EEPROM_RECV_NEU_1 38
skyyoungsik 0:a1ad0eb8b619 33 #define EEPROM_RECV_NEU_2 39
skyyoungsik 0:a1ad0eb8b619 34 #define EEPROM_RECV_NEU_3 40
skyyoungsik 0:a1ad0eb8b619 35 #define EEPROM_RECV_NEU_4 41
skyyoungsik 0:a1ad0eb8b619 36 #define EEPROM_RECV_NEU_5 42
skyyoungsik 0:a1ad0eb8b619 37 #define EEPROM_RECV_NEU_6 43
skyyoungsik 0:a1ad0eb8b619 38 #define EEPROM_RECV_NEU_7 44
skyyoungsik 0:a1ad0eb8b619 39 #define EEPROM_RECV_NEU_8 45
skyyoungsik 0:a1ad0eb8b619 40
skyyoungsik 0:a1ad0eb8b619 41 #define EEPROM_RECV_MAX_1 46
skyyoungsik 0:a1ad0eb8b619 42 #define EEPROM_RECV_MAX_2 47
skyyoungsik 0:a1ad0eb8b619 43 #define EEPROM_RECV_MAX_3 48
skyyoungsik 0:a1ad0eb8b619 44 #define EEPROM_RECV_MAX_4 49
skyyoungsik 0:a1ad0eb8b619 45 #define EEPROM_RECV_MAX_5 50
skyyoungsik 0:a1ad0eb8b619 46 #define EEPROM_RECV_MAX_6 51
skyyoungsik 0:a1ad0eb8b619 47 #define EEPROM_RECV_MAX_7 52
skyyoungsik 0:a1ad0eb8b619 48 #define EEPROM_RECV_MAX_8 53
skyyoungsik 0:a1ad0eb8b619 49
skyyoungsik 0:a1ad0eb8b619 50 // DPN 4 //
skyyoungsik 0:a1ad0eb8b619 51 #define EEPROM_MOTOR_MIN_1_UP 54
skyyoungsik 0:a1ad0eb8b619 52 #define EEPROM_MOTOR_MIN_1_DOWN 55
skyyoungsik 0:a1ad0eb8b619 53 #define EEPROM_MOTOR_MIN_2_UP 56
skyyoungsik 0:a1ad0eb8b619 54 #define EEPROM_MOTOR_MIN_2_DOWN 57
skyyoungsik 0:a1ad0eb8b619 55 #define EEPROM_MOTOR_MIN_3_UP 58
skyyoungsik 0:a1ad0eb8b619 56 #define EEPROM_MOTOR_MIN_3_DOWN 59
skyyoungsik 0:a1ad0eb8b619 57 #define EEPROM_MOTOR_MIN_4_UP 60
skyyoungsik 0:a1ad0eb8b619 58 #define EEPROM_MOTOR_MIN_4_DOWN 61
skyyoungsik 0:a1ad0eb8b619 59 #define EEPROM_MOTOR_MIN_5_UP 62
skyyoungsik 0:a1ad0eb8b619 60 #define EEPROM_MOTOR_MIN_5_DOWN 63
skyyoungsik 0:a1ad0eb8b619 61 #define EEPROM_MOTOR_MIN_6_UP 64
skyyoungsik 0:a1ad0eb8b619 62 #define EEPROM_MOTOR_MIN_6_DOWN 65
skyyoungsik 0:a1ad0eb8b619 63 #define EEPROM_MOTOR_MIN_7_UP 66
skyyoungsik 0:a1ad0eb8b619 64 #define EEPROM_MOTOR_MIN_7_DOWN 67
skyyoungsik 0:a1ad0eb8b619 65 #define EEPROM_MOTOR_MIN_8_UP 68
skyyoungsik 0:a1ad0eb8b619 66 #define EEPROM_MOTOR_MIN_8_DOWN 69
skyyoungsik 0:a1ad0eb8b619 67
skyyoungsik 0:a1ad0eb8b619 68 // DPN 5 //
skyyoungsik 0:a1ad0eb8b619 69 #define EEPROM_HEADLIGHT_PERIOD 70
skyyoungsik 0:a1ad0eb8b619 70 #define EEPROM_HEADLIGHT_DUTYRATE 71
skyyoungsik 0:a1ad0eb8b619 71 #define EEPROM_SIDELIGHT_PERIOD 72
skyyoungsik 0:a1ad0eb8b619 72 #define EEPROM_SIDELIGHT_DUTYRATE 73
skyyoungsik 0:a1ad0eb8b619 73
skyyoungsik 0:a1ad0eb8b619 74 // DPN 6 //
skyyoungsik 0:a1ad0eb8b619 75 #define EEPROM_AHRS_ROLL_GAP_UP 74
skyyoungsik 0:a1ad0eb8b619 76 #define EEPROM_AHRS_ROLL_GAP_DOWN 75
skyyoungsik 0:a1ad0eb8b619 77 #define EEPROM_AHRS_PITCH_GAP_UP 76
skyyoungsik 0:a1ad0eb8b619 78 #define EEPROM_AHRS_PITCH_GAP_DOWN 77
skyyoungsik 0:a1ad0eb8b619 79 #define EEPROM_AHRS_YAW_GAP_UP 78
skyyoungsik 0:a1ad0eb8b619 80 #define EEPROM_AHRS_YAW_GAP_DOWN 79
skyyoungsik 0:a1ad0eb8b619 81
skyyoungsik 0:a1ad0eb8b619 82
skyyoungsik 0:a1ad0eb8b619 83 #define EEPROM_AHRS_YAW_X_GAP_1 80
skyyoungsik 0:a1ad0eb8b619 84 #define EEPROM_AHRS_YAW_X_GAP_2 81
skyyoungsik 0:a1ad0eb8b619 85 #define EEPROM_AHRS_YAW_Y_GAP_1 82
skyyoungsik 0:a1ad0eb8b619 86 #define EEPROM_AHRS_YAW_Y_GAP_2 83
skyyoungsik 0:a1ad0eb8b619 87 #define EEPROM_AHRS_YAW_Z_GAP_1 84
skyyoungsik 0:a1ad0eb8b619 88 #define EEPROM_AHRS_YAW_Z_GAP_2 85
skyyoungsik 0:a1ad0eb8b619 89
skyyoungsik 0:a1ad0eb8b619 90 #define EEPROM_AHRS_DECLINATION_ANGLE_UP 86
skyyoungsik 0:a1ad0eb8b619 91 #define EEPROM_AHRS_DECLINATION_ANGLE_DOWN 87
skyyoungsik 0:a1ad0eb8b619 92
skyyoungsik 0:a1ad0eb8b619 93 // DPN 7 //
skyyoungsik 0:a1ad0eb8b619 94 #define EEPROM_LIMIT_ANGLE_ROLL_UP 88
skyyoungsik 0:a1ad0eb8b619 95 #define EEPROM_LIMIT_ANGLE_ROLL_DOWN 89
skyyoungsik 0:a1ad0eb8b619 96 #define EEPROM_LIMIT_ANGLE_PITCH_UP 90
skyyoungsik 0:a1ad0eb8b619 97 #define EEPROM_LIMIT_ANGLE_PITCH_DOWN 91
skyyoungsik 0:a1ad0eb8b619 98 #define EEPROM_LIMIT_RATE_ROLL_UP 92
skyyoungsik 0:a1ad0eb8b619 99 #define EEPROM_LIMIT_RATE_ROLL_DOWN 93
skyyoungsik 0:a1ad0eb8b619 100 #define EEPROM_LIMIT_RATE_PITCH_UP 94
skyyoungsik 0:a1ad0eb8b619 101 #define EEPROM_LIMIT_RATE_PITCH_DOWN 95
skyyoungsik 0:a1ad0eb8b619 102 #define EEPROM_LIMIT_RATE_YAW_UP 96
skyyoungsik 0:a1ad0eb8b619 103 #define EEPROM_LIMIT_RATE_YAW_DOWN 97
skyyoungsik 0:a1ad0eb8b619 104
skyyoungsik 0:a1ad0eb8b619 105 // DPN 8 //
skyyoungsik 0:a1ad0eb8b619 106 // --Gain 1 //
skyyoungsik 0:a1ad0eb8b619 107 int EEPROM_GAIN_P_UP[20] = {100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119};
skyyoungsik 0:a1ad0eb8b619 108 int EEPROM_GAIN_P_DOWN[20] = {120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139};
skyyoungsik 0:a1ad0eb8b619 109 int EEPROM_GAIN_D_UP[20] = {140,141,142,143,144,145,146,147,148,149,150,151,152,153,154,155,156,157,158,159};
skyyoungsik 0:a1ad0eb8b619 110 int EEPROM_GAIN_D_DOWN[20] = {160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179};
skyyoungsik 0:a1ad0eb8b619 111 int EEPROM_GAIN_I_UP[20] = {180,181,182,183,184,185,186,187,188,189,190,191,192,193,194,195,196,197,198,199};
skyyoungsik 0:a1ad0eb8b619 112 int EEPROM_GAIN_I_DOWN[20] = {200,201,202,203,204,205,206,207,208,209,210,211,212,213,214,215,216,217,218,219};
skyyoungsik 0:a1ad0eb8b619 113
skyyoungsik 0:a1ad0eb8b619 114
skyyoungsik 0:a1ad0eb8b619 115 const int PIN_BLDC_PWM1 = 46; // PL3 //
skyyoungsik 0:a1ad0eb8b619 116 const int PIN_BLDC_PWM2 = 45; // PL4 //
skyyoungsik 0:a1ad0eb8b619 117 const int PIN_BLDC_PWM3 = 44; // PL5 //
skyyoungsik 0:a1ad0eb8b619 118 const int PIN_BLDC_PWM4 = 10; // PB4 //
skyyoungsik 0:a1ad0eb8b619 119 const int PIN_BLDC_PWM5 = 9; // PH6 //