94 lines
3.0 KiB
C
94 lines
3.0 KiB
C
/**
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* @author Rémi Heredero
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* @version. 0.0.0
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* @date August 2023
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* @file car.h
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*/
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#ifndef CAR_H
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#define CAR_H
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/*************
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* MODULE ID *
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*************/
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#define ID_CONTROL 1 // Control the three-wheeler
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#define ID_JOYSTICK 2 // Inform control avout current joystick state
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#define ID_DISPLAY 3 // User interface to display informations
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#define ID_DRIVE 4 // Drive power motor of the three-wheeler
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#define ID_STEERING 5 // Drive the direction motor og the three-wheeler
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#define ID_SUPPLY 6 // Information about batteries, current, ...
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#define ID_BROADCAST 0 // Message to and from any module
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#define ID_DEBUG 0 // Message to and from any module
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/*******************
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* MEMORY ADRESSES *
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*******************/
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#define MEMADD_CONTROL_STEERING_MODE 0x01
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#define MEMADD_CONTROL_ALIVE_TIME 0x02
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#define MEMADD_CONTROL_SPEED_FACTOR 0x03
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#define MEMADD_CONTROL_POWER_FACTOR 0x07
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#define MEMADD_CONTROL_STEERING_FACTOR 0x0B
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#define MEMADD_CONTROL_MAX_SPEED_FW 0x0F
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#define MEMADD_CONTROL_MAX_SPEED_BW 0x10
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#define MEMADD_JOYSTICK_MODE 0x11
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#define MEMADD_JOYSTICK_PARAM1 0x12
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#define MEMADD_JOYSTICK_PARAM2 0x13
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#define MEMADD_JOYSTICK_ALIVE_TIME 0x14
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#define MEMADD_DISPLAY_ALIVE_TIME 0x15
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#define MEMADD_DRIVE_SPEED_TIME 0x16
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#define MEMADD_DRIVE_STOP_TIME 0x17
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#define MEMADD_DRIVE_ALIVE_TIME 0x18
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#define MEMADD_STEERING_ALIVE_TIME 0x19
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#define MEMADD_BATTERY_VOLT_TIME 0x1A
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#define MEMADD_BATTERY_CURRENT_TIME 0x1B
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#define MEMADD_BATTERY_ENERGY_TIME 0x1C
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#define MEMADD_BATTERY_ALIVE_TIME 0x1D
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#define MEMADD_CONTROL_PARAM_MAX_CHANGE_STEERING 0x1E
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#define MEMADD_CONTROL_PARAM_MAX_CHANGE_DRIVE 0x1F
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const bool ALWAYSTRUE = true;
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const bool ALWAYSFALSE = false;
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const uint8_t ALWAYS0 = 0;
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const uint8_t ALWAYS1 = 1;
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const uint8_t ALWAYS2 = 2;
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const uint8_t ALWAYS3 = 3;
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typedef struct {
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uint8_t CONTROL_STEERING_MODE;
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uint8_t CONTROL_ALIVE_TIME;
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uint32_t CONTROL_SPEED_FACTOR;
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uint32_t CONTROL_POWER_FACTOR;
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uint32_t CONTROL_STEERING_FACTOR;
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uint8_t CONTROL_MAX_SPEED_FW;
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uint8_t CONTROL_MAX_SPEED_BW;
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uint8_t JOYSTICK_MODE;
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uint8_t JOYSTICK_PARAM1;
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uint8_t JOYSTICK_PARAM2;
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uint8_t JOYSTICK_ALIVE_TIME;
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uint8_t DISPLAY_ALIVE_TIME;
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uint8_t DRIVE_SPEED_TIME;
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uint8_t DRIVE_STOP_TIME;
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uint8_t DRIVE_ALIVE_TIME;
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uint8_t STEERING_ALIVE_TIME;
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uint8_t BATTERY_VOLT_TIME;
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uint8_t BATTERY_CURRENT_TIME;
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uint8_t BATTERY_ENERGY_TIME;
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uint8_t BATTERY_ALIVE_TIME;
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uint8_t CONTROL_PARAM_MAX_CHANGE_STEERING;
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uint8_t CONTROL_PARAM_MAX_CHANGE_DRIVE;
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} KART_CST_TYPE;
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KART_CST_TYPE KART_CST;
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typedef struct {
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int16_t torque; //
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uint32_t center; //
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uint32_t position; //
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uint8_t speed; // 100m/h
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} KART_VAR_TYPE;
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KART_VAR_TYPE eKart;
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#endif /* CAR_H */
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