Miya Miyagawa / Mbed 2 deprecated AutoMaster_si-tu

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Dependencies:   mbed TrapezoidControl Pulse QEI

Communication/RS485/ActuatorHub/ActuatorHub.h@25:d367d1e7a153, 2019-09-27 (annotated)

Committer:
Ryosei
Date:
Fri Sep 27 05:19:58 2019 +0000
Revision:
25:d367d1e7a153
Parent:
11:028a150943b5 
dskb

Who changed what in which revision?

UserRevisionLine numberNew contents of line
t_yamamoto 0:669ef71cba68 1 #ifndef ACTUATORHUB_H_
t_yamamoto 0:669ef71cba68 2 #define ACTUATORHUB_H_
t_yamamoto 0:669ef71cba68 3
t_yamamoto 0:669ef71cba68 4 #include "../../../CommonLibraries/RingBuffer/RingBuffer.h"
t_yamamoto 0:669ef71cba68 5
t_yamamoto 0:669ef71cba68 6 extern RINGBUFFER::RingBuffer RS485SendBuffer;
t_yamamoto 0:669ef71cba68 7 extern RINGBUFFER::RingBuffer BluetoothSendBuffer;
t_yamamoto 0:669ef71cba68 8
t_yamamoto 0:669ef71cba68 9 namespace ACTUATORHUB {
t_yamamoto 0:669ef71cba68 10 #define MOTOR_ADDR 'M'
t_yamamoto 0:669ef71cba68 11 #define MOTOR2_ADDR 'N'
t_yamamoto 0:669ef71cba68 12 #define MOTOR3_ADDR 'O'
t_yamamoto 0:669ef71cba68 13 #define SOLENOID_ADDR 'S'
t_yamamoto 0:669ef71cba68 14 #define BLUETOOTH_ADDR 'B'
kishibekairohan 11:028a150943b5 15 #define TAPELED_ADDR 'L'
t_yamamoto 0:669ef71cba68 16
t_yamamoto 0:669ef71cba68 17 namespace MOTOR {
t_yamamoto 0:669ef71cba68 18 #define FREE 0
t_yamamoto 0:669ef71cba68 19 #define BACK 1
t_yamamoto 0:669ef71cba68 20 #define FOR 2
t_yamamoto 0:669ef71cba68 21 #define BRAKE 3
t_yamamoto 0:669ef71cba68 22
t_yamamoto 0:669ef71cba68 23 typedef struct {
t_yamamoto 0:669ef71cba68 24 uint8_t dir;
t_yamamoto 0:669ef71cba68 25 uint8_t pwm;
t_yamamoto 0:669ef71cba68 26 }MotorStatus;
t_yamamoto 0:669ef71cba68 27
t_yamamoto 0:669ef71cba68 28 typedef union {
t_yamamoto 0:669ef71cba68 29 struct {
t_yamamoto 0:669ef71cba68 30 int data3 : 2;
t_yamamoto 0:669ef71cba68 31 int data2 : 2;
t_yamamoto 0:669ef71cba68 32 int data1 : 2;
t_yamamoto 0:669ef71cba68 33 int data0 : 2;
t_yamamoto 0:669ef71cba68 34 };
t_yamamoto 0:669ef71cba68 35 uint8_t all;
t_yamamoto 0:669ef71cba68 36 }MotorDirectionData;
t_yamamoto 0:669ef71cba68 37
t_yamamoto 0:669ef71cba68 38 typedef struct {
t_yamamoto 0:669ef71cba68 39 MotorDirectionData direction0to3;
t_yamamoto 0:669ef71cba68 40 MotorDirectionData direction4to7;
t_yamamoto 0:669ef71cba68 41 MotorDirectionData direction8to9;
t_yamamoto 0:669ef71cba68 42
t_yamamoto 0:669ef71cba68 43 uint8_t pwm0;
t_yamamoto 0:669ef71cba68 44 uint8_t pwm1;
t_yamamoto 0:669ef71cba68 45 uint8_t pwm2;
t_yamamoto 0:669ef71cba68 46 uint8_t pwm3;
t_yamamoto 0:669ef71cba68 47 uint8_t pwm4;
t_yamamoto 0:669ef71cba68 48 uint8_t pwm5;
t_yamamoto 0:669ef71cba68 49 uint8_t pwm6;
t_yamamoto 0:669ef71cba68 50 uint8_t pwm7;
t_yamamoto 0:669ef71cba68 51 uint8_t pwm8;
t_yamamoto 0:669ef71cba68 52 uint8_t pwm9;
t_yamamoto 0:669ef71cba68 53 uint8_t pwm10;
t_yamamoto 0:669ef71cba68 54 uint8_t pwm11;
t_yamamoto 0:669ef71cba68 55 uint8_t pwm12;
t_yamamoto 0:669ef71cba68 56 }AllMotorData;
t_yamamoto 0:669ef71cba68 57
t_yamamoto 0:669ef71cba68 58 class Motor {
t_yamamoto 0:669ef71cba68 59 public:
t_yamamoto 0:669ef71cba68 60 static void Initialize();
t_yamamoto 0:669ef71cba68 61 static void Update(MotorStatus *status);
t_yamamoto 0:669ef71cba68 62 static void SetDefault();
t_yamamoto 0:669ef71cba68 63 };
t_yamamoto 0:669ef71cba68 64 }
t_yamamoto 0:669ef71cba68 65
t_yamamoto 0:669ef71cba68 66 namespace SOLENOID {
t_yamamoto 0:669ef71cba68 67 #define SOLENOID_ON 1
t_yamamoto 0:669ef71cba68 68 #define SOLENOID_OFF 0
t_yamamoto 0:669ef71cba68 69
t_yamamoto 0:669ef71cba68 70 #define ALL_SOLENOID_ON 0xffff
t_yamamoto 0:669ef71cba68 71 #define ALL_SOLENOID_OFF 0
t_yamamoto 0:669ef71cba68 72
t_yamamoto 0:669ef71cba68 73 typedef union {
t_yamamoto 0:669ef71cba68 74 struct {
t_yamamoto 0:669ef71cba68 75 int : 4;
t_yamamoto 0:669ef71cba68 76 int solenoid11 : 1;
t_yamamoto 0:669ef71cba68 77 int solenoid10 : 1;
t_yamamoto 0:669ef71cba68 78 int solenoid9 : 1;
t_yamamoto 0:669ef71cba68 79 int solenoid8 : 1;
t_yamamoto 0:669ef71cba68 80 int solenoid7 : 1;
t_yamamoto 0:669ef71cba68 81 int solenoid6 : 1;
t_yamamoto 0:669ef71cba68 82 int solenoid5 : 1;
t_yamamoto 0:669ef71cba68 83 int solenoid4 : 1;
t_yamamoto 0:669ef71cba68 84 int solenoid3 : 1;
t_yamamoto 0:669ef71cba68 85 int solenoid2 : 1;
t_yamamoto 0:669ef71cba68 86 int solenoid1 : 1;
t_yamamoto 0:669ef71cba68 87 int solenoid0 : 1;
t_yamamoto 0:669ef71cba68 88 };
t_yamamoto 0:669ef71cba68 89 uint16_t all;
t_yamamoto 0:669ef71cba68 90 }SolenoidStatus;
t_yamamoto 0:669ef71cba68 91
t_yamamoto 0:669ef71cba68 92 class Solenoid {
t_yamamoto 0:669ef71cba68 93 public:
t_yamamoto 0:669ef71cba68 94 static void Initialize();
t_yamamoto 0:669ef71cba68 95 static void Update(SolenoidStatus status);
t_yamamoto 0:669ef71cba68 96 };
t_yamamoto 0:669ef71cba68 97 }
t_yamamoto 0:669ef71cba68 98
t_yamamoto 0:669ef71cba68 99 class ActuatorHub {
t_yamamoto 0:669ef71cba68 100 public:
t_yamamoto 0:669ef71cba68 101 static void Update();
t_yamamoto 0:669ef71cba68 102 };
t_yamamoto 0:669ef71cba68 103 }
t_yamamoto 0:669ef71cba68 104
t_yamamoto 0:669ef71cba68 105 #endif