amiro-os / include / amiro / Constants.h @ 753ccd04
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#ifndef AMIRO_CONSTANTS_H_
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#define AMIRO_CONSTANTS_H_
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/*! \brief Constants regarding the AMiRo platform
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*
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* This header contains constant variables
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* regarding the AMiRo platform, which means that
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* these values do not change during runtime.
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* Constants are e.g. physical ones like seconds per minute
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* or geometrical ones like the circumference of wheel.
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* All physical constants (therefore all values with a
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* physical unit) are implicitly in µ iff the variable
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* is of type integer, unless it is explicitly named in
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* the variable.
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* All physical constants (therefore all values with a
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* physical unit) are implicitly without prefix (e.g. µ)
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* iff the variable is of type float, unless it is
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* explicitly named in the variable. The SI prefix is
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* used, iff the variable is of type float and therefor
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* in SI units.
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*/
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#include <math.h> |
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#include <stdint.h> |
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/* CAN_* defines start */
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/** \brief Controller Area Network specific defines
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*
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* These CAN_* defines are used in ControllerAreaNetworkRx.h
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* and ControllerAreaNetworkTx.h
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*/
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/* CAN_* defines end */
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namespace amiro { |
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namespace CAN { |
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// const uint32_t UPDATE_PERIOD = US2ST(62500); // 16 Hz
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// const uint32_t UPDATE_PERIOD = US2ST(15625); // 64 Hz
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const uint32_t UPDATE_PERIOD = US2ST(10000); // 100 Hz |
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// const uint32_t UPDATE_PERIOD = US2ST(8000); // 125 Hz
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const uint32_t PERIODIC_TIMER_ID = 1; |
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const uint32_t RECEIVED_ID = 2; |
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const uint32_t BOARD_ID_SHIFT = 0x00u; |
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const uint32_t BOARD_ID_MASK = 0x07u; |
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const uint32_t DEVICE_ID_SHIFT = 0x03u; |
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const uint32_t DEVICE_ID_MASK = 0xFFu; |
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const uint32_t INDEX_ID_SHIFT = 0x03u; |
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const uint32_t INDEX_ID_MASK = 0x07u; |
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const uint32_t DI_WHEEL_DRIVE_ID = 1; |
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const uint32_t POWER_MANAGEMENT_ID = 2; |
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const uint32_t LIGHT_RING_ID = 3; |
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const uint32_t COGNITION = 4; |
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const uint32_t MAGNETOMETER_X_ID = 0x54; |
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const uint32_t MAGNETOMETER_Y_ID = 0x55; |
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const uint32_t MAGNETOMETER_Z_ID = 0x56; |
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const uint32_t GYROSCOPE_ID = 0x58; |
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const uint32_t PROXIMITY_FLOOR_ID = 0x51; |
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const uint32_t ODOMETRY_ID = 0x50; |
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const uint32_t BRIGHTNESS_ID = 0x40; |
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inline constexpr uint32_t COLOR_ID(uint32_t index) {return 0x38 | ((index) & 0x7);} |
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inline constexpr uint32_t PROXIMITY_RING_ID(uint32_t index) {return 0x30 | ((index) & 0x7);} |
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const uint32_t SET_LINE_FOLLOW_SPEED = 0x23; |
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const uint32_t SET_KINEMATIC_CONST_ID = 0x22; |
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const uint32_t TARGET_POSITION_ID = 0x21; |
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const uint32_t ACTUAL_SPEED_ID = 0x20; |
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const uint32_t SET_ODOMETRY_ID = 0x12; |
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const uint32_t TARGET_RPM_ID = 0x11; |
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const uint32_t TARGET_SPEED_ID = 0x10; |
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const uint32_t POWER_STATUS_ID = 0x60; |
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const uint32_t ROBOT_ID = 0x48; |
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inline constexpr uint32_t SHELL_QUERY_ID(uint8_t index) {return 0x70 | ((index) & 0x7);} |
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inline constexpr uint32_t SHELL_REPLY_ID(uint8_t index) {return 0x78 | ((index) & 0x7);} |
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const uint32_t BROADCAST_SHUTDOWN = 0x80u; |
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const uint32_t CALIBRATE_PROXIMITY_FLOOR = 0x81u; |
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const uint32_t CALIBRATE_PROXIMITY_RING = 0x82u; |
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const uint32_t SHUTDOWN_MAGIC = 0xAA55u; |
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} |
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namespace constants { |
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/** \brief Amount of seconds per minute */
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const int32_t secondsPerMinute = 60; |
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/** \brief Amount of minutes per hour */
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const int32_t minutesPerHour = 60; |
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/** \brief Amount of milliseconds per second */
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const int32_t millisecondsPerSecond = 1000; |
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/* Several definitions of PI */
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constexpr float PI = float(M_PI); /**< PI approximated with single precision floating point */ |
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constexpr uint32_t PIe9 = (M_PI * 1000000000) + 0.5f; /**< PI approximated with 32-bit integer and multiplied by factor 1e9 */ |
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constexpr uint32_t PIe6 = (M_PI * 1000000) + 0.5f; /**< PI approximated with 32-bit integer and multiplied by factor 1e6 */ |
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constexpr uint16_t PIe3 = (M_PI * 1000) + 0.5f; /**< PI approximated with 16-bit integer and multiplied by factor 1e3 */ |
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constexpr uint16_t PIe2 = (M_PI * 100) + 0.5f; /**< PI approximated with 16-bit integer and multiplied by factor 1e2 */ |
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constexpr uint8_t PIe1 = (M_PI * 10) + 0.5f; /**< PI approximated with 8-bit integer and multiplied by factor 1e1 */ |
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constexpr uint8_t PIe0 = (M_PI * 1) + 0.5f; /**< PI approximated with 8-bit integer and multiplied by factor 1e0 */ |
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namespace LightRing { |
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/** \brief Index of the top LEDs
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*
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* Top view of the AMiRo top LEDs and their indices:
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* _______
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* / 7 F 0 \
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* |6 1|
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* |5 2|
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* \_4_B_3_/
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*/
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enum ledIndex : uint8_t {
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LED_BL = 4, LED_BACK_LEFT = 4, LED_SSW = 4, LED_SOUTH_SOUTHWEST = 4, |
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LED_LB = 5, LED_LEFT_BACK = 5, LED_WSW = 5, LED_WEST_SOUTHWEST = 5, |
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LED_LF = 6, LED_LEFT_FRONT = 6, LED_WNW = 6, LED_WEST_NORTHWEST = 6, |
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LED_FL = 7, LED_FRONT_LEFT = 7, LED_NNW = 7, LED_NORTH_NORTHWEST = 7, |
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LED_FR = 0, LED_FRONT_RIGHT = 0, LED_NNE = 0, LED_NORTH_NORTHEAST = 0, |
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LED_RF = 1, LED_RIGHT_FRONT = 1, LED_ENE = 1, LED_EAST_NORTHEAST = 1, |
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LED_RB = 2, LED_RIGHT_BACK = 2, LED_ESE = 2, LED_EAST_SOUTHEAST = 2, |
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LED_BR = 3, LED_BACK_RIGHT = 3, LED_SSE = 3, LED_SOUTH_SOUTHEAST = 3 |
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}; |
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} |
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namespace DiWheelDrive { |
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/** \brief Distance between wheels in meter */
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const float wheelBaseDistanceSI = 0.069f; |
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/** \brief Distance between wheels in micrometer */
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const int32_t wheelBaseDistance = wheelBaseDistanceSI * 1e6; |
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/** \brief Wheel diameter in meter */
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const float wheelDiameterSI = 0.05571f; |
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/** \brief Wheel diameter */
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const int32_t wheelDiameter = wheelDiameterSI * 1e6; |
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/** \brief Wheel circumference in meter */
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const float wheelCircumferenceSI = M_PI * wheelDiameterSI; |
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/** \brief Wheel circumference in micrometer */
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const int32_t wheelCircumference = wheelCircumferenceSI * 1e6; |
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/** \brief Wheel error in meter (topview left:0, right:1) */
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const float wheelErrorSI[2] = {0.1, 0.1}; |
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/** \brief Wheel error in meter (topview left:0, right:1) */
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const int32_t wheelError[2] = {(int32_t) (wheelErrorSI[0] * 1e6), (int32_t) (wheelErrorSI[1] * 1e6)}; |
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/** \brief Motor increments per revolution
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*
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* The increments are produced by 2 channels á 16
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* pulses per revolution with respect to the rising
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* and falling signal => 2*2*16 pulses/revolution.
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* The gearbox is 22:1 => 2*2*16*22 pulses/revolution
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*/
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const int32_t incrementsPerRevolution = 2 * 2 * 16 * 22; |
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/** \brief Index of the proximity sensors
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*
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* Bottom view of the AMiRo sensors and their indices (F:Front, B:Back):
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* _____
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* / 0F3 \
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* |1 2|
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* \__B__/
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*/
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enum proximitySensorIdx : uint8_t {
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PROX_WL = 2, PROX_LW = 2, PROX_WHEEL_LEFT = 2, PROX_LEFT_WHEEL = 2, |
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PROX_FL = 3, PROX_LF = 3, PROX_FRONT_LEFT = 3, PROX_LEFT_FRONT = 3, |
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PROX_FR = 0, PROX_RF = 0, PROX_FRONT_RIGHT = 0, PROX_RIGHT_FRONT = 0, |
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PROX_WR = 1, PROX_RW = 1, PROX_WHEEL_RIGHT = 1, PROX_RIGHT_WHEEL = 1, |
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}; |
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/** \brief Index of the wheels
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*
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* Top view of the AMiRo wheels and their indices (F:Front, B:Back):
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* ____
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* /| F |\
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* |0 1|
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* \|_B_|/
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*/
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enum wheelIdx : uint8_t {
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WHEEL_L = 0, WHEEL_LEFT = 0, LEFT_WHEEL = 0, |
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WHEEL_R = 1, WHEEL_RIGHT = 1, RIGHT_WHEEL = 1, |
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}; |
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} |
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namespace PowerManagement { |
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/** \brief Index of the proximity sensors
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*
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* Top view of the AMiRo sensors and their indices:
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* _______
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* / 3 F 4 \
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* |2 5|
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* |1 6|
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* \_0_B_7_/
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*/
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enum proximitySensorIdx : uint8_t {
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PROX_BL = 0, PROX_BACK_LEFT = 0, PROX_SSW = 0, PROX_SOUTH_SOUTHWEST = 0, |
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PROX_LB = 1, PROX_LEFT_BACK = 1, PROX_WSW = 1, PROX_WEST_SOUTHWEST = 1, |
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PROX_LF = 2, PROX_LEFT_FRONT = 2, PROX_WNW = 2, PROX_WEST_NORTHWEST = 2, |
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PROX_FL = 3, PROX_FRONT_LEFT = 3, PROX_NNW = 3, PROX_NORTH_NORTHWEST = 3, |
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PROX_FR = 4, PROX_FRONT_RIGHT = 4, PROX_NNE = 4, PROX_NORTH_NORTHEAST = 4, |
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PROX_RF = 5, PROX_RIGHT_FRONT = 5, PROX_ENE = 5, PROX_EAST_NORTHEAST = 5, |
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PROX_RB = 6, PROX_RIGHT_BACK = 6, PROX_ESE = 6, PROX_EAST_SOUTHEAST = 6, |
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PROX_BR = 7, PROX_BACK_RIGHT = 7, PROX_SSE = 7, PROX_SOUTH_SOUTHEAST = 7 |
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}; |
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/** \brief Index of the batteries.
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*
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* The port names are printed on the PCB.
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*/
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enum batteryPortIdx : uint8_t {
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BAT_P7 = 0, BAT_A = 0, |
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BAT_P8 = 1, BAT_B = 1 |
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}; |
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/** \brief Index of the power monitors.
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*/
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enum powerMonitorIdx : uint8_t {
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INA_VDD = 0,
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INA_VIO18 = 1,
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INA_VIO33 = 2,
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INA_VIO42 = 3,
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INA_VIO50 = 4
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}; |
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} |
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} |
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} |
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#endif /* AMIRO_CONSTANTS_H_ */ |