definitions.h

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#ifndef definitions_h
#define definitions_h
 
// Main loop timings
#define DT_BAT 1000   // 1000ms / 1000 = 1 Hz
#define DT_PID 10     // 1000ms / 100   = 100 Hz
#define DT_TEL 10     // 1000ms / 10   = 100 Hz
#define DT_ENC 20     // 1000ms / 20   = 50 Hz
 
// Timeouts
#define CAN_TIMEOUT 1000
 
// PWM configuration
#define PWM_MAX_VALUE 1023
#define PWM_FREQUENCY 15000
 
// I²C configuration
#define I2C_SENS_SDA   18
#define I2C_SENS_SCL   19
 
#define ABSOLUTE_ENCODER_ADDRESS 0x40
 
// Battery configuration
#define BAT_LOW 11.1f
#define BAT_NOM 12.6f
#define BAT_PIN 28
#define BAT_R1 10000
#define BAT_R2 3300
 
// Motors pins
#define DRV_TR_LEFT_DIR  15
#define DRV_TR_LEFT_PWM 14
 
#define DRV_TR_RIGHT_DIR  9
#define DRV_TR_RIGHT_PWM  8
 
// Motor configuration
#define MAX_SPEED 65.f
 
// Encoder pins
#define ENC_TR_LEFT_A   12
#define ENC_TR_LEFT_B   13
 
#define ENC_TR_RIGHT_A  10
#define ENC_TR_RIGHT_B  11
 
// Encoder conversion constant
// K = 100          *       10^6        *       60      / (     48   *             74,83                    *       2 )
//      centiRPM           microsecToSec        SecToMin       intPerRotation        transmissionRatio             transmissionRatio2
#define ENC_TR_CONVERSION (835226)
 
// Traction encoder filter samples
#define ENC_TR_SAMPLES 10
 
// Display
#define DISPLAY_ADDR 0x3c
#define DISPLAY_WIDTH 128
#define DISPLAY_HEIGHT 64
 
// Interface definitions
#define NMENUS 4
#define MENUTIMEOUT 18
#define BTNOK 16
#define BTNNAV 17
#define DEBOUNCE 300
 
// Versioning
#ifndef VERSION
  #define VERSION "testing"
#endif
 
// OTA configuration
#define OTA_PWD "ciaociao"
#define WIFI_SSID "iswifi"
#define WIFI_PWD "ciaociao"
#define WIFI_HOSTBASE "picow-"
#define CONF_PATH "/config.txt"
 
#endif