Allan Veale / Mbed 2 deprecated heros_leg_readout_torque_addition

HeRoS: read out and log joint angles and force sensor data from the leg test bench. Now with additional features to read pressure sensors and set the null values of the pressure and force sensors

Dependencies:   SPTE_10Bar_5V mbed AS5048 SDFileSystem MODSERIAL PinDetect Valve LCM101

Fork of heros_leg_readout_torque_addition by K K

constants.h

Committer:
cnckiwi31
Date:
2020-02-25
Revision:
11:b0a6faaa5e9f
Parent:
10:77fcbad99a31

File content as of revision 11:b0a6faaa5e9f:

#ifndef _CONSTANTS_HARDWARE_H_
#define _CONSTANTS_HARDWARE_H_

#include "mbed.h"

#ifndef M_PI
#define M_PI 3.14159265359f
#endif

// SPI Communication AS5048 joint encoders
#define AS5048_MOSI         PTD6        // D11
#define AS5048_MISO         PTD7        // D12
#define AS5048_SCLK         PTD5        // D13
#define AS5048_CS           PTD4        // D10

// SPI Communication external SD CARD 
#define SD_MOSI             PTC6        // D7
#define SD_MISO             PTC7        
#define SD_SCK              PTC5        
#define SD_CS               PTC10       

// SPI Communication MAX5322 DAC
#define DAC_MOSI         PTD6        // D11
#define DAC_MISO         PTD7        // D12
#define DAC_SCLK         PTD5        // D13
#define DAC_CSA          D8        
#define DAC_CSB          D1         

// LCM101-100 kgf S-beam force sensor
#define LCM101              A1

// SPTE analog output pressure sensors (0-10bar for 0-5V output)
#define SPTE_0             A0
#define SPTE_1             A5

//Festo digital valve (one for inflate)
#define VALVE_PIN           D0

/**
 * Sensor settings and calibration data
 */
namespace sensors {
    extern const bool use5kN;
    
    // LCM101-100kgf force sensor
    extern const float kLcm101Offset;
    extern const float kLcm101Factor;
    
    // Gen5kN force sensor
    extern const float kGen5kNOffset;
    extern const float kGen5kNFactor;
    
    //SPTE pressure sensors (0-10bar for 0-5V output)
    extern const float kSPTE0Offset;
    extern const float kSPTE0Factor;
    extern const float kSPTE1Offset;
    extern const float kSPTE1Factor;
    
    // AS5048 abs angle sensor chain
    extern const int kNumJoints;

    extern const char *kJointNames[];
    extern const float kOffsetsDegrees[];
    extern const bool kDirections[];
}

namespace timing {
    extern const int LogDataHertz;                      //data log sample rate
    extern const int kTimeControlUs;                    // control loop
    extern const int LogDataHertz;                      // data logging
    extern const int kTimeLogDataUs;                    // data logging
    extern const int TimeControlHertz;                  // control loop sample rate
    extern const int kTimeSerialPrintUs;                // serial printing 

    extern const int kSerialBaudrate;
}

namespace rigStructure {
    extern const bool invertedRig; //indicates if rig is inverted or not (for internal torque calculation)
}

#endif