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139 lines
3 KiB
C
139 lines
3 KiB
C
/*
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* common.h
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*
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* Created on: 18 avr. 2018
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* Author: senaneuc
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*/
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#ifndef OWN_LIB_COMMON_H_
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#define OWN_LIB_COMMON_H_
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/*DUMBY*/
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/*STATE SYSTEM*/
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#define IDLE 0x06
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#define RUN 0x07
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#define DISABLED 0x08
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/*WatchDog*/
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#define WD_ACTIVE 0x55
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#define WD_INACTIVE 0x66
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//Valeur doivent être un multiple de 5ms
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#define WD_WINDOW_LOW 90
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#define WD_WINDOW_HIGH 150
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#define WD_BASE_TIME 1000
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#define WD_TRYING_NUMBER 3
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//Timeout
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#define TIME_OUT 180000 // 3 min
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/*MOTOR*/
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#define MOTOR_RIGHT 0x10
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#define MOTOR_LEFT 0x20
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/*STATE*/
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#define MOTOR_FORWARD 0x01
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#define MOTOR_BACKWARD 0x02
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#define MOTOR_BREAK 0x03
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/*MOTOR_R*/
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/*SPEED*/
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#define SPEED_DEFAULT_R 50
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#define KiR 0 // Integration coef
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#define KpR 0 // Proportional coef
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/*MOTOR_L*/
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/*SPEED*/
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#define SPEED_DEFAULT_L 50
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#define KiL 0 // Integration coef
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#define KpL 0 // Proportional coef
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/*LED*/
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/*LED COLOR*/
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#define LED_RED 0x01
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#define LED_GREEN 0x02
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#define LED_ORANGE 0x03
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#define LED_OFF 0x04
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/*LED DUTY*/
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#define LED_DUTY_IDLE 10
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#define LED_DUTY_RUN 123
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#define LED_DUTY_BLOCK 123
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/*BATTERY*/
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#define VOLTAGE_BUFFER_SIZE 25
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#define BATTERY_LOW 20
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#define BATTERY_HIGH 100
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#define BATTERY_MEDIUM 50
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/*UART*/
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#define EoT '\r'
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/*Config*/
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#define CHECKSUM_ENABLE FALSE
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#define TRAME_PDU 3 //802.15.4 protocol xbee
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#define TRAME_SIZE_RECEIPT 12 // 3 byte of PDU and 9 byte used by 802.15.4
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#define TRAME_SIZE_SEND 11
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#define VERSION_FIRMWARE 2
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/* Activity */
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#define BUSY 0x1
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#define NOT_BUSY 0x0
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/*XBEE*/
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/*SUCCESS*/
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#define XBEE_SUCCESS 0
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/*ERROR*/
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#define XBEE_RECEIVE_INCOMPLETE -1
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#define XBEE_INVALID_FRAME -2
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#define XBEE_SEND_FAILED -3
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#define XBEE_INVALID_ADDRESS -4
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/*MESSAGE*/
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#define MES_PING 'p'
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#define MES_STOP 'r'
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#define MES_START_WD 'W'
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#define MES_RESET_WD 'w'
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#define MES_GET_VERS 'V'
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#define MES_START_WWD 'u'
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#define MES_MOVE 'M'
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#define MES_ROTATE 'T'
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#define MES_BUSY 'b'
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#define MES_GET_VOLTAGE 'v'
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#define MES_TURN_LEFT 'L'
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#define MES_TURN_RIGHT 'R'
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#define MES_UNKNOW_COM 'C'
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#define MES_ERROR_PARAM 'E'
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#define MES_VALID 'O'
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/*WHEEL SPEED - POSITION*/
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#define WHEEL_DIAMETER 32 //mm
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#define IMPULSE_BY_LAPS 80
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#define IMPULSE_BY_CM 7
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#define SPEED_MAX 1100
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#define SPEED_MIN 10000
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#define DEFAULT_SPEED_STRAIGHT 50
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#define DEFAULT_SPEED_ROTATION 50
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#define Kp_position_R 0.2
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#define Kp_position_L 0.2
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#define Ki_position_R 0
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#define Ki_position_L 0
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#define Kd_position_R 0
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#define Kd_position_L 0
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#endif /* OWN_LIB_COMMON_H_ */
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