AMiRo-OS

#ifndef AMIRO_CONSTANTS_H_

#define AMIRO_CONSTANTS_H_

/*! \brief Constants regarding the AMiRo platform

 *

 *  This header contains constant variables

 *  regarding the AMiRo platform, which means that

 *  these values do not change during runtime.

 *  Constants are e.g. physical ones like seconds per minute

 *  or geometrical ones like the circumference of wheel.

 *  All physical constants (therefore all values with a

 *  physical unit) are implicitly in µ iff the variable

 *  is of type integer, unless it is explicitly named in

 *  the variable.

 *  All physical constants (therefore all values with a

 *  physical unit) are implicitly without prefix (e.g. µ)

 *  iff the variable is of type float, unless it is

 *  explicitly named in the variable. The SI prefix is

 *  used, iff the variable is of type float and therefor

 *  in SI units.

 */

#include <math.h>

#include <stdint.h>

/* CAN_* defines start */

/** \brief Controller Area Network specific defines

 *

 * These CAN_* defines are used in ControllerAreaNetworkRx.h

 * and ControllerAreaNetworkTx.h

 */

/* CAN_* defines end */

namespace amiro {

struct map_state {

  // 0 - left, 1- right

  uint8_t strategy;

  // Node ID of last detected fixpoint

  uint8_t current;

  // Next node ID

  uint8_t next;

  // Traveled Distance between current and next in %

  uint32_t dist;

  // True if the current loaded map is valid

  bool valid;

  // Length of the currently traveled edge

  uint32_t eLength;

};

enum msg_content : uint8_t {

  MSG_STOP = 0,

  MSG_START = 1,

  MSG_EDGE_LEFT = 2,

  MSG_EDGE_RIGHT = 3,

  MSG_FUZZY = 4,

  MSG_DOCK = 5,

  MSG_UNDOCK = 6,

  MSG_CHARGE = 7,

  MSG_RESET_ODOMETRY = 8,

  MSG_CALIBRATE_BLACK = 9,

  MSG_CALIBRATE_WHITE = 10,

  MSG_TEST_MAP_STATE = 11,

  MSG_SET_DIST_THRESH = 12,

  MSG_GET_MAP_INFO = 13

};

enum ut_states : int8_t {

  UT_IDLE = 0,

  UT_FOLLOW_LINE = 1,

  UT_DETECT_STATION = 2,

  UT_REVERSE = 3,

  UT_PUSH_BACK = 4,

  UT_CHECK_POSITIONING = 5,

  UT_CHECK_VOLTAGE = 6,

  UT_CHARGING = 7,

  UT_RELEASE = 8,

  UT_RELEASE_TO_CORRECT = 9,

  UT_CORRECT_POSITIONING = 10,

  UT_TURN = 12,

  UT_INACTIVE = 13,

  UT_CALIBRATION = 14,

  UT_CALIBRATION_CHECK = 15,

  UT_DEVIATION_CORRECTION = 16,

  UT_TEST_MAP_STATE = 17,

  UT_TEST_MAP_AUTO_STATE = 18,

  UT_DOCKING_ERROR = -1,

  UT_REVERSE_TIMEOUT_ERROR = -2,

  UT_CALIBRATION_ERROR = -3,

  UT_WHITE_DETECTION_ERROR = -4,

  UT_PROXY_DETECTION_ERROR = -5,

  UT_NO_CHARGING_POWER_ERROR = -6,

  UT_UNKNOWN_STATE_ERROR = -7

};

namespace CAN {

  const uint32_t UPDATE_PERIOD        = US2ST(10000);  // 100 Hz

  const uint32_t PERIODIC_TIMER_ID         = 1;

  const uint32_t RECEIVED_ID               = 2;

  const uint32_t BOARD_ID_SHIFT            = 0x00u;

  const uint32_t BOARD_ID_MASK             = 0x07u;

  const uint32_t DEVICE_ID_SHIFT           = 0x03u;

  const uint32_t DEVICE_ID_MASK            = 0xFFu;

  const uint32_t INDEX_ID_SHIFT            = 0x03u;

  const uint32_t INDEX_ID_MASK             = 0x07u;

  const uint32_t DI_WHEEL_DRIVE_ID         = 1;

  const uint32_t POWER_MANAGEMENT_ID       = 2;

  const uint32_t LIGHT_RING_ID             = 3;

  const uint32_t COGNITION                 = 4;

  const uint32_t MAGNETOMETER_X_ID         = 0x54;

  const uint32_t MAGNETOMETER_Y_ID         = 0x55;

  const uint32_t MAGNETOMETER_Z_ID         = 0x56;

  const uint32_t GYROSCOPE_ID              = 0x58;

  const uint32_t PROXIMITY_FLOOR_ID        = 0x51;

  const uint32_t ODOMETRY_ID               = 0x50;

  const uint32_t BRIGHTNESS_ID             = 0x40;

  inline constexpr uint32_t COLOR_ID(uint32_t index)             {return 0x38 | ((index) & 0x7);}

  inline constexpr uint32_t PROXIMITY_RING_ID(uint32_t index)    {return 0x30 | ((index) & 0x7);}

  // Charging

  const uint32_t REQUEST_CHARGING_OVER_PIN = 0x25;

  // Line following

  const uint32_t TRANSMIT_LINE_FOLLOW_STATE= 0x19;

  const uint32_t SET_LINE_FOLLOW_MSG       = 0x24;

  const uint32_t SET_LINE_FOLLOW_SPEED     = 0x23;

  const uint32_t SET_KINEMATIC_CONST_ID    = 0x22;

  const uint32_t TARGET_POSITION_ID        = 0x21;

  const uint32_t ACTUAL_SPEED_ID           = 0x20;

  const uint32_t SET_ODOMETRY_ID           = 0x12;

  const uint32_t TARGET_RPM_ID             = 0x11;

  const uint32_t TARGET_SPEED_ID           = 0x10;

  const uint32_t POWER_STATUS_ID           = 0x60;

  const uint32_t ROBOT_ID                  = 0x48;

  inline constexpr uint32_t SHELL_QUERY_ID(uint8_t index)        {return 0x70 | ((index) & 0x7);}

  inline constexpr uint32_t SHELL_REPLY_ID(uint8_t index)        {return 0x78 | ((index) & 0x7);}

  const uint32_t BROADCAST_SHUTDOWN        = 0x80u;

  const uint32_t CALIBRATE_PROXIMITY_FLOOR = 0x81u;

  const uint32_t CALIBRATE_PROXIMITY_RING  = 0x82u;

  const uint32_t SHUTDOWN_MAGIC            = 0xAA55u;

}

namespace constants {

  /** \brief Amount of seconds per minute */

  const int32_t secondsPerMinute = 60;

  /** \brief Amount of minutes per hour */

  const int32_t minutesPerHour = 60;

  /** \brief Amount of milliseconds per second */

  const int32_t millisecondsPerSecond = 1000;

  /* Several definitions of PI */

  constexpr float    PI   = float(M_PI);                /**< PI approximated with single precision floating point */

  constexpr uint32_t PIe9 = (M_PI * 1000000000) + 0.5f; /**< PI approximated with 32-bit integer and multiplied by factor 1e9 */

  constexpr uint32_t PIe6 = (M_PI * 1000000) + 0.5f;    /**< PI approximated with 32-bit integer and multiplied by factor 1e6 */

  constexpr uint16_t PIe3 = (M_PI * 1000) + 0.5f;       /**< PI approximated with 16-bit integer and multiplied by factor 1e3 */

  constexpr uint16_t PIe2 = (M_PI * 100) + 0.5f;        /**< PI approximated with 16-bit integer and multiplied by factor 1e2 */

  constexpr uint8_t  PIe1 = (M_PI * 10) + 0.5f;         /**< PI approximated with 8-bit integer and multiplied by factor 1e1 */

  constexpr uint8_t  PIe0 = (M_PI * 1) + 0.5f;          /**< PI approximated with 8-bit integer and multiplied by factor 1e0 */

namespace LightRing {

  /** \brief Index of the top LEDs

   *

   * Top view of the AMiRo top LEDs and their indices:

   *   _______

   *  / 7 F 0 \

   * |6       1|

   * |5       2|

   *  \_4_B_3_/

   */

  enum ledIndex : uint8_t {

    LED_BL = 4, LED_BACK_LEFT = 4, LED_SSW = 4, LED_SOUTH_SOUTHWEST = 4,

    LED_LB = 5, LED_LEFT_BACK = 5, LED_WSW = 5, LED_WEST_SOUTHWEST = 5,

    LED_LF = 6, LED_LEFT_FRONT = 6, LED_WNW = 6, LED_WEST_NORTHWEST = 6,

    LED_FL = 7, LED_FRONT_LEFT = 7, LED_NNW = 7, LED_NORTH_NORTHWEST = 7,

    LED_FR = 0, LED_FRONT_RIGHT = 0, LED_NNE = 0, LED_NORTH_NORTHEAST = 0,

    LED_RF = 1, LED_RIGHT_FRONT = 1, LED_ENE = 1, LED_EAST_NORTHEAST = 1,

    LED_RB = 2, LED_RIGHT_BACK = 2, LED_ESE = 2, LED_EAST_SOUTHEAST = 2,

    LED_BR = 3, LED_BACK_RIGHT = 3, LED_SSE = 3, LED_SOUTH_SOUTHEAST = 3

  };

}

namespace DiWheelDrive {

  /** \brief Distance between wheels in meter */

  const float wheelBaseDistanceSI = 0.069f;

  /** \brief Distance between wheels in micrometer */

  const int32_t wheelBaseDistance = wheelBaseDistanceSI * 1e6;

  /** \brief Wheel diameter in meter */

  const float wheelDiameterSI = 0.05571f;

  /** \brief Wheel diameter */

  const int32_t wheelDiameter = wheelDiameterSI * 1e6;

  /** \brief Wheel circumference in meter */

  const float wheelCircumferenceSI = M_PI * wheelDiameterSI;

  /** \brief Wheel circumference in micrometer */

  const int32_t wheelCircumference = wheelCircumferenceSI * 1e6;

  /** \brief Wheel error in meter (topview left:0, right:1) */

  const float wheelErrorSI[2] = {0.1, 0.1};

  /** \brief Wheel error in meter (topview left:0, right:1) */

  const int32_t wheelError[2] = {(int32_t) (wheelErrorSI[0] * 1e6), (int32_t) (wheelErrorSI[1] * 1e6)};

  /** \brief Motor increments per revolution

   *

   *  The increments are produced by 2 channels á 16

   *  pulses per revolution with respect to the rising

   *  and falling signal => 2*2*16 pulses/revolution.

   *  The gearbox is 22:1 => 2*2*16*22 pulses/revolution

   */

  const int32_t incrementsPerRevolution = 2 * 2 * 16 * 22;

  /** \brief Index of the proximity sensors

   *

   * Bottom view of the AMiRo sensors and their indices (F:Front, B:Back):

   *  _____

   * / 0F3 \

   * |1   2|

   * \__B__/

   */

  enum proximitySensorIdx : uint8_t {

    PROX_WL = 2, PROX_LW = 2, PROX_WHEEL_LEFT = 2, PROX_LEFT_WHEEL = 2,

    PROX_FL = 3, PROX_LF = 3, PROX_FRONT_LEFT = 3, PROX_LEFT_FRONT = 3,

    PROX_FR = 0, PROX_RF = 0, PROX_FRONT_RIGHT = 0, PROX_RIGHT_FRONT = 0,

    PROX_WR = 1, PROX_RW = 1, PROX_WHEEL_RIGHT = 1, PROX_RIGHT_WHEEL = 1,

  };

  /** \brief Index of the wheels

   *

   * Top view of the AMiRo wheels and their indices (F:Front, B:Back):

   *   ____

   * /| F |\

   * |0   1|

   * \|_B_|/

   */

  enum wheelIdx : uint8_t {

    WHEEL_L = 0, WHEEL_LEFT = 0, LEFT_WHEEL = 0,

    WHEEL_R = 1, WHEEL_RIGHT = 1, RIGHT_WHEEL = 1,

  };

}

namespace PowerManagement {

  /** \brief Index of the proximity sensors

   *

   * Top view of the AMiRo sensors and their indices:

   *   _______

   *  / 3 F 4 \

   * |2       5|

   * |1       6|

   *  \_0_B_7_/

   */

  enum proximitySensorIdx : uint8_t {

    PROX_BL = 0, PROX_BACK_LEFT = 0, PROX_SSW = 0, PROX_SOUTH_SOUTHWEST = 0,

    PROX_LB = 1, PROX_LEFT_BACK = 1, PROX_WSW = 1, PROX_WEST_SOUTHWEST = 1,

    PROX_LF = 2, PROX_LEFT_FRONT = 2, PROX_WNW = 2, PROX_WEST_NORTHWEST = 2,

    PROX_FL = 3, PROX_FRONT_LEFT = 3, PROX_NNW = 3, PROX_NORTH_NORTHWEST = 3,

    PROX_FR = 4, PROX_FRONT_RIGHT = 4, PROX_NNE = 4, PROX_NORTH_NORTHEAST = 4,

    PROX_RF = 5, PROX_RIGHT_FRONT = 5, PROX_ENE = 5, PROX_EAST_NORTHEAST = 5,

    PROX_RB = 6, PROX_RIGHT_BACK = 6, PROX_ESE = 6, PROX_EAST_SOUTHEAST = 6,

    PROX_BR = 7, PROX_BACK_RIGHT = 7, PROX_SSE = 7, PROX_SOUTH_SOUTHEAST = 7

  };

  /** \brief Index of the batteries.

   *

   * The port names are printed on the PCB.

   */

  enum batteryPortIdx : uint8_t {

    BAT_P7 = 0, BAT_A = 0,

    BAT_P8 = 1, BAT_B = 1

  };

  /** \brief Index of the power monitors.

   */

  enum powerMonitorIdx : uint8_t {

    INA_VDD = 0,

    INA_VIO18 = 1,

    INA_VIO33 = 2,

    INA_VIO42 = 3,

    INA_VIO50 = 4

  };

}

}

}

#endif /* AMIRO_CONSTANTS_H_ */