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https://github.com/peter-tanner/des-car-2022.git
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Peter
e65b30830e
http://github.com/Alphurious007/DES. Copy of the `peterus` branch which has my code. Original was adapted from MoBot but I have added many changes and replaced many parts so it is almost completely different.
38 lines
859 B
C
38 lines
859 B
C
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#ifndef _UTIL_H
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#define _UTIL_H
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#include <Arduino.h>
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#include <inttypes.h>
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#include "user_config.h"
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#include "parameters.h"
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#include "util.cpp"
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#ifdef FAST_GNSS
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// USE U-Center to get the UBX binary command.
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const unsigned char UBX_UPDATE_5HZ[] PROGMEM =
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{0x06, 0x08, 0x06, 0x00, 200, 0x00, 0x01, 0x00, 0x01, 0x00};
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extern inline void send_ubx(NeoSWSerial *gps_port, const unsigned char *progmemBytes, uint16_t len);
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#endif
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extern inline int16_t normalize_angle(int16_t angle);
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#ifdef DEBUG
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#define DEBUG_PRINTLN(...) Serial.println(__VA_ARGS__)
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#else
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#define DEBUG_PRINTLN(...) ;
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#endif
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#ifdef DEBUG
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#define DEBUG_PRINT(...) Serial.print(__VA_ARGS__)
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#else
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#define DEBUG_PRINT(...) ;
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#endif
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#define INITIALIZE_PWM_PIN(pin_name) \
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pinMode((pin_name), OUTPUT); \
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analogWrite((pin_name), 0);
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#endif |