Diff: include/eposCmd.h

Revision:

3:c16d726670b2

Parent:

2:7ab1d5918efe

Child:

4:396433e30e64

--- a/include/eposCmd.h	Fri Mar 08 17:54:03 2013 +0000
+++ b/include/eposCmd.h	Fri Mar 29 17:00:02 2013 +0000
@@ -11,14 +11,15 @@
 #define NUMBER_MAX_EPOS2_PER_SLAVE  15
 #define NUMBER_MSG_PER_PACKET       45
 #define NUMBER_BYTES_PER_MSG        8
-#define NUMBER_EPOS2_BOARDS         1 //change this depending on the hardware of the body part
+#define NUMBER_EPOS2_BOARDS         15
 #define NB_SAMPLES_MEDIAN           5
 //#define NB_MSG_TO_TRACK             20 //at least 4
 //#define CMD_BUFFER_SIZE             26 //13*2 -> 2 cmdSet of 13 cmds each
 #define PAUSE                       10
 #define EPOS2_OK                    0
 #define EPOS2_ERROR                 -1
-#define LOOP_PERIOD_TIME            20000 //20 ms
+#define LOOP_PERIOD_TIME            25000 //25 ms - 40Hz
+#define TIMEOUT                     10000
 
 enum ActivatedMode
 {
@@ -36,7 +37,7 @@
 extern DigitalOut ledchain[];   //used for debugging
 extern char data[8];
 //extern unsigned int count[12];  //used for debugging
-extern ActivatedMode activMode[NUMBER_EPOS2_BOARDS];
+extern ActivatedMode activMode[NUMBER_MAX_EPOS2_PER_SLAVE];
 
 //ADC variables
 extern AnalogIn an1;
@@ -47,15 +48,15 @@
 extern AnalogIn an6;
 
 //sensor variables
-extern int32_t encPosition[NUMBER_EPOS2_BOARDS];
-//extern int16_t potiPosArray[NUMBER_EPOS2_BOARDS][5];
-extern int16_t potiPosArray[NUMBER_EPOS2_BOARDS];
-extern int16_t medPotiPosition[NUMBER_EPOS2_BOARDS];
-extern int16_t avgCurrent[NUMBER_EPOS2_BOARDS];
-extern int16_t medForce[NUMBER_EPOS2_BOARDS];
-extern int32_t velocity[NUMBER_EPOS2_BOARDS];
+extern int32_t encPosition[NUMBER_MAX_EPOS2_PER_SLAVE];
+//extern int16_t potiPosArray[NUMBER_MAX_EPOS2_PER_SLAVE][5];
+extern int16_t potiPosArray[NUMBER_MAX_EPOS2_PER_SLAVE];
+extern int16_t medPotiPosition[NUMBER_MAX_EPOS2_PER_SLAVE];
+extern int16_t avgCurrent[NUMBER_MAX_EPOS2_PER_SLAVE];
+extern int16_t medForce[NUMBER_MAX_EPOS2_PER_SLAVE];
+extern int32_t velocity[NUMBER_MAX_EPOS2_PER_SLAVE];
 
-extern int8_t boardStatus[NUMBER_EPOS2_BOARDS];
+extern int8_t boardStatus[NUMBER_MAX_EPOS2_PER_SLAVE];
 
 //Multiplexer address lines
 extern DigitalOut A0;