hardwareSettings.hpp

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#pragma once
 
constexpr int COMPONENT_TIMESTAMP_TIMEOUT = 500;
constexpr int RES_TIMESTAMP_TIMEOUT = 200;
constexpr int DC_VOLTAGE_TIMEOUT = 150;
constexpr int DC_VOLTAGE_HOLD = 1000;
constexpr int EBS_BUZZER_TIMEOUT = 8000;
constexpr int LED_BLINK_INTERVAL = 500;
constexpr int PROCESS_INTERVAL = 200;
constexpr int SLOWER_PROCESS_INTERVAL = 30;
constexpr int INITIAL_CHECKUP_STEP_TIMEOUT = 500;
constexpr unsigned long READY_TIMEOUT_MS = 5000;
constexpr unsigned long RELEASE_EBS_TIMEOUT_MS = 1000;
constexpr unsigned long ENGAGE_EBS_TIMEOUT_MS = 5000;
constexpr int WD_TIMEOUT_MS = 500;
constexpr int BRAKE_PRESSURE_LOWER_THRESHOLD = 170;
constexpr int BRAKE_PRESSURE_UPPER_THRESHOLD = 510;
constexpr int LIMIT_RPM_INTERVAL = 500000;
 
constexpr int ADC_MAX_VALUE = 1023;
constexpr int SOC_PERCENT_MAX = 100;
constexpr int MAX_MISSION = 7;
constexpr int PULSES_PER_ROTATION = 48;
constexpr int SECONDS_IN_MINUTE = 60;
constexpr float MICRO_TO_SECONDS = 1e-6f;
 
// Number of consecutive different values of a digital input to consider change
// (to avoid noise)
constexpr int CHANGE_COUNTER_LIMIT = 5;
constexpr int WD_PULSE_INTERVAL_MS = 50;
constexpr int WATCHDOG_TOGGLE_DURATION = 1000;
constexpr int WATCHDOG_TEST_DURATION = 1000;
 
constexpr float MAX_V_ANALOG = 3.3;     // Volts
constexpr float MIN_HYDRAULIC_V = 0.5;  // Volts
 
// Hydraulic pressure sensor constants
constexpr float HYDRAULIC_PRESSURE_SLOPE = 65.0f;  // bar/V slope from sensor equation
constexpr int HYDRAULIC_PRESSURE_MAX_BAR = 95;     // Maximum pressure in bar
 
// Hydraulic pressure sensor ADC calculations
// Sensor equation: U = (p/65) + 0.5, where 65 is the slope of the linear function
// With 10-bit ADC (0-1023 over 0-3.3 V): U = (N / 1023) x 3.3
constexpr int HYDRAULIC_PRESSURE_ADC_MIN =
    static_cast<int>(MIN_HYDRAULIC_V / MAX_V_ANALOG * ADC_MAX_VALUE);  // 155
constexpr float MAX_HYDRAULIC_V =
    (static_cast<float>(HYDRAULIC_PRESSURE_MAX_BAR) / HYDRAULIC_PRESSURE_SLOPE) +
    MIN_HYDRAULIC_V;  // (95/65) + 0.5 ≈ 1.96V
constexpr int HYDRAULIC_PRESSURE_ADC_MAX =
    static_cast<int>(MAX_HYDRAULIC_V / MAX_V_ANALOG * ADC_MAX_VALUE);  // 607
constexpr int HYDRAULIC_PRESSURE_SPAN_ADC =
    HYDRAULIC_PRESSURE_ADC_MAX - HYDRAULIC_PRESSURE_ADC_MIN;  // 452
/*
 * ===========
 * OUTPUT PINS
 * ===========
 */
 
constexpr int ASSI_BLUE_PIN = 25;
constexpr int ASSI_YELLOW_PIN = 12;
 
constexpr int EBS_VALVE_REAR_PIN = 17;
constexpr int EBS_VALVE_FRONT_PIN = 13;
 
constexpr int CLOSE_SDC = 21;
// #define SDC_LOGIC_WATCHDOG_OUT_PIN 10
constexpr int SDC_BSPD_OUT = 14;
 
constexpr int BRAKE_LIGHT = 2;
constexpr int WD_SDC_CLOSE = 40;  // high if bspd is high (sdc closed)?
constexpr int WD_ALIVE = 15;
 
/*
 * ==========
 * INPUT PINS
 * ==========
 */
 
constexpr int ASMS_IN_PIN = 18;
constexpr int AMI = 19;
 
// When pressure on the line passes the threshold defined, pin is set to HIGH
constexpr int EBS_SENSOR1 = 41;
constexpr int EBS_SENSOR2 = 39;
constexpr int SDC_TSMS_STATE_PIN = 22;
 
constexpr int RL_WSS = 5;
constexpr int RR_WSS = 4;
constexpr int BRAKE_SENSOR = 38;
constexpr int SOC = 24;
constexpr int ATS = 16;
constexpr int ASATS = 20;
constexpr int WD_READY = 37;
constexpr int WD_SDC_RELAY = 33;