Diff: ROBOFRIEN_SUB_FUNC/Config.h

Revision:

0:a1ad0eb8b619

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ROBOFRIEN_SUB_FUNC/Config.h	Mon Apr 16 07:16:00 2018 +0000
@@ -0,0 +1,119 @@
+#pragma once
+
+#define MODEL_INFO      "ROBOFRIEN FCC "
+#define FIRMWARE_INFO 1.01
+
+#define interrupts() sei()
+#define noInterrupts() cli()
+#define TO_GCS 255
+#define FROM_FCS 0
+
+#define PIN_ULTRA_TRIG A8
+#define PIN_ULTRA_ECHO A9
+#define AHRS_INTERRUPT_PIN A10  // use pin A10 on Arduino Uno & most boards
+
+
+//// EEPROM //////
+// DPN1 //
+#define EEPROM_MODEL_TYPE1      0
+#define EEPROM_MODEL_TYPE2_UP   1
+#define EEPROM_MODEL_TYPE2_DOWN 2
+
+// DPN3 //
+#define EEPROM_RECV_MIN_1 30
+#define EEPROM_RECV_MIN_2 31
+#define EEPROM_RECV_MIN_3 32
+#define EEPROM_RECV_MIN_4 33
+#define EEPROM_RECV_MIN_5 34
+#define EEPROM_RECV_MIN_6 35
+#define EEPROM_RECV_MIN_7 36
+#define EEPROM_RECV_MIN_8 37
+
+#define EEPROM_RECV_NEU_1 38
+#define EEPROM_RECV_NEU_2 39
+#define EEPROM_RECV_NEU_3 40
+#define EEPROM_RECV_NEU_4 41
+#define EEPROM_RECV_NEU_5 42
+#define EEPROM_RECV_NEU_6 43
+#define EEPROM_RECV_NEU_7 44
+#define EEPROM_RECV_NEU_8 45
+
+#define EEPROM_RECV_MAX_1 46
+#define EEPROM_RECV_MAX_2 47
+#define EEPROM_RECV_MAX_3 48
+#define EEPROM_RECV_MAX_4 49
+#define EEPROM_RECV_MAX_5 50
+#define EEPROM_RECV_MAX_6 51
+#define EEPROM_RECV_MAX_7 52
+#define EEPROM_RECV_MAX_8 53
+
+// DPN 4 //
+#define EEPROM_MOTOR_MIN_1_UP      54
+#define EEPROM_MOTOR_MIN_1_DOWN    55
+#define EEPROM_MOTOR_MIN_2_UP      56
+#define EEPROM_MOTOR_MIN_2_DOWN    57
+#define EEPROM_MOTOR_MIN_3_UP      58
+#define EEPROM_MOTOR_MIN_3_DOWN    59
+#define EEPROM_MOTOR_MIN_4_UP      60
+#define EEPROM_MOTOR_MIN_4_DOWN    61
+#define EEPROM_MOTOR_MIN_5_UP      62
+#define EEPROM_MOTOR_MIN_5_DOWN    63
+#define EEPROM_MOTOR_MIN_6_UP      64
+#define EEPROM_MOTOR_MIN_6_DOWN    65
+#define EEPROM_MOTOR_MIN_7_UP      66
+#define EEPROM_MOTOR_MIN_7_DOWN    67
+#define EEPROM_MOTOR_MIN_8_UP      68
+#define EEPROM_MOTOR_MIN_8_DOWN    69
+
+// DPN 5 //
+#define EEPROM_HEADLIGHT_PERIOD     70
+#define EEPROM_HEADLIGHT_DUTYRATE   71
+#define EEPROM_SIDELIGHT_PERIOD     72
+#define EEPROM_SIDELIGHT_DUTYRATE   73
+
+// DPN 6 //
+#define EEPROM_AHRS_ROLL_GAP_UP      74
+#define EEPROM_AHRS_ROLL_GAP_DOWN    75
+#define EEPROM_AHRS_PITCH_GAP_UP     76
+#define EEPROM_AHRS_PITCH_GAP_DOWN   77
+#define EEPROM_AHRS_YAW_GAP_UP       78
+#define EEPROM_AHRS_YAW_GAP_DOWN     79
+
+
+#define EEPROM_AHRS_YAW_X_GAP_1      80
+#define EEPROM_AHRS_YAW_X_GAP_2      81
+#define EEPROM_AHRS_YAW_Y_GAP_1      82
+#define EEPROM_AHRS_YAW_Y_GAP_2      83
+#define EEPROM_AHRS_YAW_Z_GAP_1      84
+#define EEPROM_AHRS_YAW_Z_GAP_2      85
+
+#define EEPROM_AHRS_DECLINATION_ANGLE_UP    86
+#define EEPROM_AHRS_DECLINATION_ANGLE_DOWN  87
+
+// DPN 7 //
+#define EEPROM_LIMIT_ANGLE_ROLL_UP      88
+#define EEPROM_LIMIT_ANGLE_ROLL_DOWN    89
+#define EEPROM_LIMIT_ANGLE_PITCH_UP     90
+#define EEPROM_LIMIT_ANGLE_PITCH_DOWN   91
+#define EEPROM_LIMIT_RATE_ROLL_UP       92
+#define EEPROM_LIMIT_RATE_ROLL_DOWN     93
+#define EEPROM_LIMIT_RATE_PITCH_UP      94
+#define EEPROM_LIMIT_RATE_PITCH_DOWN    95
+#define EEPROM_LIMIT_RATE_YAW_UP        96
+#define EEPROM_LIMIT_RATE_YAW_DOWN      97
+
+// DPN 8  //
+// --Gain 1 //
+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};
+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};
+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};
+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};
+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};
+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};
+
+
+const int PIN_BLDC_PWM1 = 46;       // PL3 //
+const int PIN_BLDC_PWM2 = 45;       // PL4 //
+const int PIN_BLDC_PWM3 = 44;       // PL5 //
+const int PIN_BLDC_PWM4 = 10;       // PB4 //
+const int PIN_BLDC_PWM5 = 9;        // PH6 //