amiro-os / include / amiro / Constants.h @ 753ccd04
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1 | 58fe0e0b | Thomas Schöpping | #ifndef AMIRO_CONSTANTS_H_
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2 | #define AMIRO_CONSTANTS_H_
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3 | |||
4 | /*! \brief Constants regarding the AMiRo platform
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5 | *
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6 | * This header contains constant variables
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7 | * regarding the AMiRo platform, which means that
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8 | * these values do not change during runtime.
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9 | * Constants are e.g. physical ones like seconds per minute
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10 | * or geometrical ones like the circumference of wheel.
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11 | * All physical constants (therefore all values with a
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12 | * physical unit) are implicitly in µ iff the variable
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13 | * is of type integer, unless it is explicitly named in
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14 | * the variable.
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15 | * All physical constants (therefore all values with a
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16 | * physical unit) are implicitly without prefix (e.g. µ)
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17 | * iff the variable is of type float, unless it is
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18 | * explicitly named in the variable. The SI prefix is
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19 | * used, iff the variable is of type float and therefor
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20 | * in SI units.
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21 | */
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22 | |||
23 | #include <math.h> |
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24 | #include <stdint.h> |
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25 | |||
26 | /* CAN_* defines start */
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27 | |||
28 | /** \brief Controller Area Network specific defines
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29 | *
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30 | * These CAN_* defines are used in ControllerAreaNetworkRx.h
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31 | * and ControllerAreaNetworkTx.h
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32 | */
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33 | |||
34 | /* CAN_* defines end */
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35 | |||
36 | namespace amiro { |
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37 | |||
38 | namespace CAN { |
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39 | |||
40 | dd47d655 | galberding | // const uint32_t UPDATE_PERIOD = US2ST(62500); // 16 Hz
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41 | // const uint32_t UPDATE_PERIOD = US2ST(15625); // 64 Hz
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42 | const uint32_t UPDATE_PERIOD = US2ST(10000); // 100 Hz |
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43 | // const uint32_t UPDATE_PERIOD = US2ST(8000); // 125 Hz
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44 | 58fe0e0b | Thomas Schöpping | |
45 | const uint32_t PERIODIC_TIMER_ID = 1; |
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46 | const uint32_t RECEIVED_ID = 2; |
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47 | |||
48 | const uint32_t BOARD_ID_SHIFT = 0x00u; |
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49 | const uint32_t BOARD_ID_MASK = 0x07u; |
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50 | const uint32_t DEVICE_ID_SHIFT = 0x03u; |
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51 | const uint32_t DEVICE_ID_MASK = 0xFFu; |
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52 | const uint32_t INDEX_ID_SHIFT = 0x03u; |
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53 | const uint32_t INDEX_ID_MASK = 0x07u; |
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54 | |||
55 | const uint32_t DI_WHEEL_DRIVE_ID = 1; |
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56 | const uint32_t POWER_MANAGEMENT_ID = 2; |
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57 | const uint32_t LIGHT_RING_ID = 3; |
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58 | const uint32_t COGNITION = 4; |
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59 | |||
60 | b4885314 | Thomas Schöpping | const uint32_t MAGNETOMETER_X_ID = 0x54; |
61 | const uint32_t MAGNETOMETER_Y_ID = 0x55; |
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62 | const uint32_t MAGNETOMETER_Z_ID = 0x56; |
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63 | const uint32_t GYROSCOPE_ID = 0x58; |
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64 | 58fe0e0b | Thomas Schöpping | const uint32_t PROXIMITY_FLOOR_ID = 0x51; |
65 | const uint32_t ODOMETRY_ID = 0x50; |
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66 | const uint32_t BRIGHTNESS_ID = 0x40; |
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67 | inline constexpr uint32_t COLOR_ID(uint32_t index) {return 0x38 | ((index) & 0x7);} |
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68 | inline constexpr uint32_t PROXIMITY_RING_ID(uint32_t index) {return 0x30 | ((index) & 0x7);} |
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69 | 25388c2f | Georg Alberding | const uint32_t SET_LINE_FOLLOW_SPEED = 0x23; |
70 | 58fe0e0b | Thomas Schöpping | const uint32_t SET_KINEMATIC_CONST_ID = 0x22; |
71 | const uint32_t TARGET_POSITION_ID = 0x21; |
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72 | const uint32_t ACTUAL_SPEED_ID = 0x20; |
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73 | const uint32_t SET_ODOMETRY_ID = 0x12; |
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74 | const uint32_t TARGET_RPM_ID = 0x11; |
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75 | const uint32_t TARGET_SPEED_ID = 0x10; |
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76 | const uint32_t POWER_STATUS_ID = 0x60; |
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77 | const uint32_t ROBOT_ID = 0x48; |
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78 | inline constexpr uint32_t SHELL_QUERY_ID(uint8_t index) {return 0x70 | ((index) & 0x7);} |
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79 | inline constexpr uint32_t SHELL_REPLY_ID(uint8_t index) {return 0x78 | ((index) & 0x7);} |
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80 | const uint32_t BROADCAST_SHUTDOWN = 0x80u; |
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81 | |||
82 | const uint32_t CALIBRATE_PROXIMITY_FLOOR = 0x81u; |
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83 | const uint32_t CALIBRATE_PROXIMITY_RING = 0x82u; |
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84 | |||
85 | const uint32_t SHUTDOWN_MAGIC = 0xAA55u; |
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86 | } |
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87 | |||
88 | namespace constants { |
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89 | |||
90 | /** \brief Amount of seconds per minute */
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91 | const int32_t secondsPerMinute = 60; |
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92 | |||
93 | /** \brief Amount of minutes per hour */
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94 | const int32_t minutesPerHour = 60; |
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95 | |||
96 | /** \brief Amount of milliseconds per second */
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97 | const int32_t millisecondsPerSecond = 1000; |
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98 | |||
99 | /* Several definitions of PI */
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100 | constexpr float PI = float(M_PI); /**< PI approximated with single precision floating point */ |
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101 | constexpr uint32_t PIe9 = (M_PI * 1000000000) + 0.5f; /**< PI approximated with 32-bit integer and multiplied by factor 1e9 */ |
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102 | constexpr uint32_t PIe6 = (M_PI * 1000000) + 0.5f; /**< PI approximated with 32-bit integer and multiplied by factor 1e6 */ |
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103 | constexpr uint16_t PIe3 = (M_PI * 1000) + 0.5f; /**< PI approximated with 16-bit integer and multiplied by factor 1e3 */ |
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104 | constexpr uint16_t PIe2 = (M_PI * 100) + 0.5f; /**< PI approximated with 16-bit integer and multiplied by factor 1e2 */ |
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105 | constexpr uint8_t PIe1 = (M_PI * 10) + 0.5f; /**< PI approximated with 8-bit integer and multiplied by factor 1e1 */ |
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106 | constexpr uint8_t PIe0 = (M_PI * 1) + 0.5f; /**< PI approximated with 8-bit integer and multiplied by factor 1e0 */ |
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107 | |||
108 | namespace LightRing { |
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109 | |||
110 | /** \brief Index of the top LEDs
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111 | *
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112 | * Top view of the AMiRo top LEDs and their indices:
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113 | * _______
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114 | * / 7 F 0 \
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115 | * |6 1|
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116 | * |5 2|
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117 | * \_4_B_3_/
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118 | */
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119 | enum ledIndex : uint8_t {
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120 | LED_BL = 4, LED_BACK_LEFT = 4, LED_SSW = 4, LED_SOUTH_SOUTHWEST = 4, |
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121 | LED_LB = 5, LED_LEFT_BACK = 5, LED_WSW = 5, LED_WEST_SOUTHWEST = 5, |
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122 | LED_LF = 6, LED_LEFT_FRONT = 6, LED_WNW = 6, LED_WEST_NORTHWEST = 6, |
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123 | LED_FL = 7, LED_FRONT_LEFT = 7, LED_NNW = 7, LED_NORTH_NORTHWEST = 7, |
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124 | LED_FR = 0, LED_FRONT_RIGHT = 0, LED_NNE = 0, LED_NORTH_NORTHEAST = 0, |
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125 | LED_RF = 1, LED_RIGHT_FRONT = 1, LED_ENE = 1, LED_EAST_NORTHEAST = 1, |
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126 | LED_RB = 2, LED_RIGHT_BACK = 2, LED_ESE = 2, LED_EAST_SOUTHEAST = 2, |
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127 | LED_BR = 3, LED_BACK_RIGHT = 3, LED_SSE = 3, LED_SOUTH_SOUTHEAST = 3 |
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128 | }; |
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129 | } |
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130 | |||
131 | namespace DiWheelDrive { |
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132 | |||
133 | /** \brief Distance between wheels in meter */
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134 | const float wheelBaseDistanceSI = 0.069f; |
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135 | |||
136 | /** \brief Distance between wheels in micrometer */
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137 | const int32_t wheelBaseDistance = wheelBaseDistanceSI * 1e6; |
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138 | |||
139 | /** \brief Wheel diameter in meter */
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140 | const float wheelDiameterSI = 0.05571f; |
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141 | |||
142 | /** \brief Wheel diameter */
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143 | const int32_t wheelDiameter = wheelDiameterSI * 1e6; |
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144 | |||
145 | /** \brief Wheel circumference in meter */
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146 | const float wheelCircumferenceSI = M_PI * wheelDiameterSI; |
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147 | |||
148 | /** \brief Wheel circumference in micrometer */
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149 | const int32_t wheelCircumference = wheelCircumferenceSI * 1e6; |
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150 | |||
151 | /** \brief Wheel error in meter (topview left:0, right:1) */
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152 | const float wheelErrorSI[2] = {0.1, 0.1}; |
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153 | |||
154 | /** \brief Wheel error in meter (topview left:0, right:1) */
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155 | const int32_t wheelError[2] = {(int32_t) (wheelErrorSI[0] * 1e6), (int32_t) (wheelErrorSI[1] * 1e6)}; |
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156 | |||
157 | /** \brief Motor increments per revolution
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158 | *
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159 | * The increments are produced by 2 channels á 16
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160 | * pulses per revolution with respect to the rising
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161 | * and falling signal => 2*2*16 pulses/revolution.
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162 | * The gearbox is 22:1 => 2*2*16*22 pulses/revolution
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163 | */
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164 | const int32_t incrementsPerRevolution = 2 * 2 * 16 * 22; |
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165 | |||
166 | /** \brief Index of the proximity sensors
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167 | *
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168 | * Bottom view of the AMiRo sensors and their indices (F:Front, B:Back):
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169 | * _____
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170 | * / 0F3 \
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171 | * |1 2|
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172 | * \__B__/
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173 | */
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174 | enum proximitySensorIdx : uint8_t {
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175 | PROX_WL = 2, PROX_LW = 2, PROX_WHEEL_LEFT = 2, PROX_LEFT_WHEEL = 2, |
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176 | PROX_FL = 3, PROX_LF = 3, PROX_FRONT_LEFT = 3, PROX_LEFT_FRONT = 3, |
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177 | PROX_FR = 0, PROX_RF = 0, PROX_FRONT_RIGHT = 0, PROX_RIGHT_FRONT = 0, |
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178 | PROX_WR = 1, PROX_RW = 1, PROX_WHEEL_RIGHT = 1, PROX_RIGHT_WHEEL = 1, |
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179 | }; |
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180 | |||
181 | /** \brief Index of the wheels
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182 | *
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183 | * Top view of the AMiRo wheels and their indices (F:Front, B:Back):
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184 | * ____
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185 | * /| F |\
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186 | * |0 1|
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187 | * \|_B_|/
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188 | */
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189 | enum wheelIdx : uint8_t {
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190 | WHEEL_L = 0, WHEEL_LEFT = 0, LEFT_WHEEL = 0, |
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191 | WHEEL_R = 1, WHEEL_RIGHT = 1, RIGHT_WHEEL = 1, |
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192 | }; |
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193 | } |
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194 | |||
195 | namespace PowerManagement { |
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196 | |||
197 | /** \brief Index of the proximity sensors
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198 | *
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199 | * Top view of the AMiRo sensors and their indices:
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200 | * _______
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201 | * / 3 F 4 \
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202 | * |2 5|
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203 | * |1 6|
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204 | * \_0_B_7_/
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205 | */
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206 | enum proximitySensorIdx : uint8_t {
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207 | PROX_BL = 0, PROX_BACK_LEFT = 0, PROX_SSW = 0, PROX_SOUTH_SOUTHWEST = 0, |
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208 | PROX_LB = 1, PROX_LEFT_BACK = 1, PROX_WSW = 1, PROX_WEST_SOUTHWEST = 1, |
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209 | PROX_LF = 2, PROX_LEFT_FRONT = 2, PROX_WNW = 2, PROX_WEST_NORTHWEST = 2, |
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210 | PROX_FL = 3, PROX_FRONT_LEFT = 3, PROX_NNW = 3, PROX_NORTH_NORTHWEST = 3, |
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211 | PROX_FR = 4, PROX_FRONT_RIGHT = 4, PROX_NNE = 4, PROX_NORTH_NORTHEAST = 4, |
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212 | PROX_RF = 5, PROX_RIGHT_FRONT = 5, PROX_ENE = 5, PROX_EAST_NORTHEAST = 5, |
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213 | PROX_RB = 6, PROX_RIGHT_BACK = 6, PROX_ESE = 6, PROX_EAST_SOUTHEAST = 6, |
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214 | PROX_BR = 7, PROX_BACK_RIGHT = 7, PROX_SSE = 7, PROX_SOUTH_SOUTHEAST = 7 |
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215 | }; |
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216 | |||
217 | /** \brief Index of the batteries.
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218 | *
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219 | * The port names are printed on the PCB.
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220 | */
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221 | enum batteryPortIdx : uint8_t {
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222 | BAT_P7 = 0, BAT_A = 0, |
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223 | BAT_P8 = 1, BAT_B = 1 |
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224 | }; |
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225 | |||
226 | /** \brief Index of the power monitors.
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227 | */
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228 | enum powerMonitorIdx : uint8_t {
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229 | INA_VDD = 0,
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230 | INA_VIO18 = 1,
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231 | INA_VIO33 = 2,
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232 | INA_VIO42 = 3,
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233 | INA_VIO50 = 4
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234 | }; |
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235 | } |
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236 | |||
237 | } |
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238 | |||
239 | } |
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240 | |||
241 | #endif /* AMIRO_CONSTANTS_H_ */ |