95 lines
2.2 KiB
C
95 lines
2.2 KiB
C
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#ifndef MOTOR_CONFIG_H
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#define MOTOR_CONFIG_H
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// ENA and ENB on the L298N
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#define PWM_PIN_RIGHT 1U // chanel B
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#define PWM_PIN_LEFT 0U // chanel A
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// IN1, IN2, IN3, IN4 on the L298N
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#define DIRECTION_PIN_RIGHT_IN1 11U
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#define DIRECTION_PIN_RIGHT_IN2 12U
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#define DIRECTION_PIN_LEFT_IN3 19U
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#define DIRECTION_PIN_LEFT_IN4 20U
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#define DIRECTION_RIGHT_FORWARD (1U << DIRECTION_PIN_RIGHT_IN2)
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#define DIRECTION_RIGHT_BACKWARD (1U << DIRECTION_PIN_RIGHT_IN1)
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#define DIRECTION_LEFT_FORWARD (1U << DIRECTION_PIN_LEFT_IN4)
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#define DIRECTION_LEFT_BACKWARD (1U << DIRECTION_PIN_LEFT_IN3)
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#define SPEED_PIN_RIGHT 15U
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#define SPEED_PIN_LEFT 16U
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#define PWM_CLK_DIV 50.f
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#define PWM_WRAP 100U
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#define MAX_PWM_LEVEL 99U
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#define MIN_PWM_LEVEL 0U
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#define WHEEL_SPEED_PRIO (tskIDLE_PRIORITY + 1UL)
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#define WHEEL_CONTROL_PRIO (tskIDLE_PRIORITY + 1UL)
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#define WHEEL_PID_PRIO (tskIDLE_PRIORITY + 1UL)
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/*!
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* @brief Structure for the motor speed parameters
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* @param current_speed_cms Current speed in cm/s
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* @param distance_cm Distance travelled in cm
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*/
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typedef struct
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{
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float current_cms;
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float distance_cm;
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} motor_speed_t;
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/*!
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* @brief Structure for the motor PWM parameters
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* @param slice_num PWM slice number
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* @param pwm_channel PWM channel, either A or B
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* @param pwm_level PWM level, from 0 to 5000
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*/
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typedef struct
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{
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uint slice_num;
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uint channel;
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uint16_t level;
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} motor_pwm_t;
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/*!
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* @brief Structure for the motor PID parameters
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* @param pid_kp Proportional gain
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* @param pid_ki Integral gain
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* @param pid_kd Derivative gain
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*/
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typedef struct
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{
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float kp_value;
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float ki_value;
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float kd_value;
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} motor_pid_t;
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/*!
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* @brief Structure for the motor parameters
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* @param speed Motor speed parameters
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* @param sem Semaphore for the motor speed
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* @param pwm Motor PWM parameters
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* @param pid Motor PID parameters
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*/
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typedef struct
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{
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motor_speed_t speed;
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SemaphoreHandle_t sem;
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motor_pwm_t pwm;
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motor_pid_t pid;
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} motor_t;
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typedef struct
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{
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float starting_distance_cm;
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float distance_to_travel_cm;
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volatile bool is_running;
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} distance_to_stop_t;
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volatile bool g_use_pid = true;
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#endif /* MOTOR_CONFIG_H */ |