Diff: constants.h

Revision:

0:3855d4588f76

Child:

4:1cdce6c6c94e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/constants.h	Fri Dec 01 11:14:38 2017 +0000
@@ -0,0 +1,53 @@
+#ifndef _CONSTANTS_HARDWARE_H_
+#define _CONSTANTS_HARDWARE_H_
+
+#include "mbed.h"
+
+#ifndef M_PI
+#define M_PI 3.14159265359f
+#endif
+
+// SPI Communication AS5048 joint encoders
+#define AS5048_MOSI         PTD6        // D11
+#define AS5048_MISO         PTD7        // D12
+#define AS5048_SCLK         PTD5        // D13
+#define AS5048_CS           PTD4        // D10
+
+// SPI Communication external SD CARD 
+#define SD_MOSI             PTC6        // D7
+#define SD_MISO             PTC7        
+#define SD_SCK              PTC5        
+#define SD_CS               PTC10       
+
+// LCM101-100 kgf S-beam force sensor
+#define LCM101              A3
+
+/**
+ * Sensor settings and calibration data
+ */
+namespace sensors {
+    
+    // LCM101-100kgf force sensor
+    extern const float kLcm101Offset;
+    extern const float kLcm101Factor;
+    
+    // AS5048 abs angle sensor chain
+    extern const int kNumJoints;
+
+    extern const char *kJointNames[];
+    extern const float kOffsetsDegrees[];
+    extern const bool kDirections[];
+    
+    
+}
+
+namespace timing {
+    extern const int kTimeControlUs;                    // control loop
+    extern const int kTimeLogDataUs;                    // data logging
+    extern const int kTimeSerialPrintUs;                // serial printing
+
+    extern const int kSerialBaudrate;
+}
+
+
+#endif
\ No newline at end of file