settings.h

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/** @file */

#ifndef SETTINGS_H
#define SETTINGS_H

/******************************************************************************/
/*                               Includes                                     */
/******************************************************************************/
#include "ch.h"
#include "coding_wheels.h"
#include "motor.h"

/******************************************************************************/
/*                               Constants                                    */
/******************************************************************************/
/*
 * Datasheet says that this value should be 900 if angles are measured in radians.
 * But the maximum value remains 5760, whatever the unit selected. And
 * 5760 / 2 * pi = 916.73.
 */
#define ANGLE_MULT_RAD 917

#define ANGLE_MULT_DEG 16

/******************************************************************************/
/*                                  Types                                     */
/******************************************************************************/
/**
 * Structure representing PID coefficients.
 */
typedef struct {
    uint16_t p; /**< Proportionnal coeff */
    uint16_t i; /**< Integral coeff */
    uint16_t d; /**< Deriavtion coeff */
} pid_coeffs_t;

/**
 * Structure holding all the configuration values used by this firmware.
*/
typedef struct {
    uint16_t wheels_gap;               /**< Distance between the middle of the 2 coding wheels in mm. */
    uint16_t ticks_per_m;              /**< Number of coding wheel ticks per m. */
    uint16_t angular_trust_threshold;  /**< Threshold for angular speed above which we can't trust the IMU anymore. */
    uint16_t max_linear_acceleration;  /**< Maximum linear acceleration authorized, in cm.s-2 */
    uint16_t max_angular_acceleration; /**< Maximum angular acceleration authorized, in 1/917 radian.s-2 */
    uint16_t cruise_linear_speed;      /**< Target cruise linear speed, in cm.s-1 */
    uint16_t cruise_angular_speed;     /**< Target cruise angular speed, in 1/917 radian.s-1 */
    /* PID coeffs. Value will be divided by DIVISION_FACTOR (see control.c) */
    pid_coeffs_t linear_coeff; /**< PID coeffs for linear control */
    pid_coeffs_t angular_coeff; /**< PID coeffs for angular control */
    coding_wheels_config_t coding_wheels_config; /**< Configuration of the coding wheels */
    motor_sense_t motor_right_forward_sense; /**< Rotation direction of the right
                                             motor corresponding to a "forward" move of the robot */
    motor_sense_t motor_left_forward_sense; /**< Rotation direction of the left
                                             motor corresponding to a "forward" move of the robot */
    uint16_t linear_allowance; /**< Threshold (in coding wheels ticks) below
                               which a linear move is considered as completed */
    uint16_t angular_allowance; /**< Threshold (in coding wheels ticks) below
                                which an angular move is considered as completed */
} robot_settings_t;

/******************************************************************************/
/*                                Variables                                   */
/******************************************************************************/
/**
 * @brief Global variable used to store the configuration in use.
 */
extern volatile robot_settings_t settings;

#endif /* SETTINGS_H */