/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : Config.c
  * @brief          : Configuare the Robot Functions 
  * @author         : Yan Yuanbin
  * @date           : 2023/05/21
  * @version        : v1.0
  ******************************************************************************
  * @attention      : To be perfected
  ******************************************************************************
  */
/* USER CODE END Header */

/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef ROBOT_CONFIG_H
#define ROBOT_CONFIG_H

/* Includes ------------------------------------------------------------------*/
#include "stdint.h"
#include "stdbool.h"
#include "stdlib.h"
#include "string.h"
#include "math.h"

/* General physics and mathematics constants ---------------------------------*/

/**
 * @brief the value of local gravity acceleration
 */
 
 #define VAL_LIMIT(x,min,max)  do{ \
                                    if ((x) > (max)) {(x) = (max);} \
                                    else if ((x) < (min)) {(x) = (min);} \
                                }while(0U)
 
#define GravityAccel  9.718f

#define Angle_to_rad  0.01745329f

#define Rad_to_angle  57.2957732f

/**
  * @brief Euler's Number
  */
#define Euler_Number 2.718281828459045f

/**
 * @brief radian system rotation degrees system , 180.f/PI
 */
#define RadiansToDegrees 57.295779513f

/**
 * @brief degrees system rotation radian system , PI/180.f
 */
#define DegreesToRadians 0.01745329251f

/* Vision reslove constants -------------------------------------------------*/

/**
 * @brief  Decision Marking mode
 *         0: select the minimum yaw armor
 *         1: select the minimum distance armor
 */
#define Yaw_Distance_Decision  0

/**
 * @brief ballistic coefficient
 * @note  17mm: 0.038
 *        42mm: 0.019
 */
#define Bullet_Coefficient  0.038f

/**
 * @brief the half width of little armor
 */
#define LittleArmor_HalfWidth   0.07f

/**
 * @brief the half width of Large armor
 */
#define LargeArmor_HalfWidth   0.1175f

/* IMU reslove constants ---------------------------------------------------*/
/**
 * @brief the flag of bmi088 Calibration
 *        0: DISABLE
 *        1: ENABLE
 */
#define IMU_Calibration_ENABLE  0U

/**
 * @brief the index of pitch angle update
 */
#define IMU_ANGLE_INDEX_PITCH  2U
/**
 * @brief the index of yaw angle update
 */
#define IMU_ANGLE_INDEX_YAW   0U
/**
 * @brief the index of roll angle update
 */
#define IMU_ANGLE_INDEX_ROLL   1U

/**
 * @brief the index of pitch gyro update
 */
#define IMU_GYRO_INDEX_PITCH  0U
/**
 * @brief the index of yaw gyro update
 */
#define IMU_GYRO_INDEX_YAW   2U
/**
 * @brief the index of roll gyro update
 */
#define IMU_GYRO_INDEX_ROLL   1U

/**
 * @brief the index of pitch accel update
 */
#define IMU_ACCEL_INDEX_PITCH  0U
/**
 * @brief the index of yaw accel update
 */
#define IMU_ACCEL_INDEX_YAW   2U
/**
 * @brief the index of roll accel update
 */
#define IMU_ACCEL_INDEX_ROLL   1U

/* Remote reslove constants -----------------------------------------------*/
/**
 * @brief the flag of remote control receive frame data
 * @note  0: CAN
 *        1: USART
 */
#define REMOTE_FRAME_USART_CAN   0U

#endif //ROBOT_CONFIG_H