z ysaito / Mbed OS APro_B2DTst_0_Can_Class

2018.07.26

Dependencies:   WebSocketClient

common.h@0:b3376afd10d8, 2018-07-26 (annotated)

Committer:
sayzyas
Date:
Thu Jul 26 00:20:04 2018 +0000
Revision:
0:b3376afd10d8
2018.07.26

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sayzyas 0:b3376afd10d8 1 /* Information */
sayzyas 0:b3376afd10d8 2 #define LatestUpDate "2017.08.30"
sayzyas 0:b3376afd10d8 3 #define ProgramRevision "Rev 2.30"
sayzyas 0:b3376afd10d8 4 #define Author "Y.Saito(zinsor)"
sayzyas 0:b3376afd10d8 5 #define Company "Revast Co.,Ltd"
sayzyas 0:b3376afd10d8 6
sayzyas 0:b3376afd10d8 7
sayzyas 0:b3376afd10d8 8 /* ****************************************** */
sayzyas 0:b3376afd10d8 9 /* Motor */
sayzyas 0:b3376afd10d8 10 /* ****************************************** */
sayzyas 0:b3376afd10d8 11 enum{
sayzyas 0:b3376afd10d8 12 MOTOR_RFCRW, // RF crawler
sayzyas 0:b3376afd10d8 13 MOTOR_LBCRW, // LB crawler
sayzyas 0:b3376afd10d8 14 MOTOR_RFTFM, // RF Transform
sayzyas 0:b3376afd10d8 15 MOTOR_LBTFM, // LB transform
sayzyas 0:b3376afd10d8 16 MOTOR_WINCH, // Winch
sayzyas 0:b3376afd10d8 17 MOTOR_CMPAN, // Pan
sayzyas 0:b3376afd10d8 18 MOTOR_CTILT, // Tilt
sayzyas 0:b3376afd10d8 19 MOTOR_CABLE // Cable transfar
sayzyas 0:b3376afd10d8 20 };
sayzyas 0:b3376afd10d8 21
sayzyas 0:b3376afd10d8 22 enum{
sayzyas 0:b3376afd10d8 23 MOTOR_DIR_FWD, // Motor forwaed rotation
sayzyas 0:b3376afd10d8 24 MOTOR_DIR_RVS, // Motor reverse rotation
sayzyas 0:b3376afd10d8 25 MOTOR_DIR_STP // Motor stop
sayzyas 0:b3376afd10d8 26 };
sayzyas 0:b3376afd10d8 27
sayzyas 0:b3376afd10d8 28
sayzyas 0:b3376afd10d8 29 enum{
sayzyas 0:b3376afd10d8 30 MOTOR_NO0,
sayzyas 0:b3376afd10d8 31 MOTOR_NO1,
sayzyas 0:b3376afd10d8 32 MOTOR_NO2,
sayzyas 0:b3376afd10d8 33 MOTOR_NO3
sayzyas 0:b3376afd10d8 34 };
sayzyas 0:b3376afd10d8 35
sayzyas 0:b3376afd10d8 36 /* ****************************************** */
sayzyas 0:b3376afd10d8 37 /* I2C */
sayzyas 0:b3376afd10d8 38 /* ****************************************** */
sayzyas 0:b3376afd10d8 39 #define NumberOfI2CCommand 12
sayzyas 0:b3376afd10d8 40 enum{
sayzyas 0:b3376afd10d8 41 I2C_CP_COMMAND, // instruction command
sayzyas 0:b3376afd10d8 42 I2C_CP_MOTORNO, // motor number
sayzyas 0:b3376afd10d8 43 I2C_CP_M_DIR, // motor rotation direction
sayzyas 0:b3376afd10d8 44 I2C_CP_M_CNTTH_U, // motor current limit detection threshold upper byte
sayzyas 0:b3376afd10d8 45 I2C_CP_M_CNTTH_L, // motor current limit detection threshold lower byte
sayzyas 0:b3376afd10d8 46 I2C_CP_WDRAM_DIA_X100_UPPER, // winch dram motor diameter upper
sayzyas 0:b3376afd10d8 47 I2C_CP_WDRAM_DIA_X100_LOWER, // winch dram motor diameter lower
sayzyas 0:b3376afd10d8 48 I2C_CP_ADJUST_VALUE_X10000_UPPER, // cable diameter upper byte
sayzyas 0:b3376afd10d8 49 I2C_CP_ADJUST_VALUE_X10000_LOWER, // cable diameter lower byte
sayzyas 0:b3376afd10d8 50 I2C_CP_RESOLVER_RESO, // resolver resolution (bit)
sayzyas 0:b3376afd10d8 51 I2C_CP_PRESET_CPOS_UPPER, // preset position upper
sayzyas 0:b3376afd10d8 52 I2C_CP_PRESET_CPOS_LOWER // preset position lower
sayzyas 0:b3376afd10d8 53 };
sayzyas 0:b3376afd10d8 54
sayzyas 0:b3376afd10d8 55 #define I2C_ADDRESS_RESOLVER 0x02
sayzyas 0:b3376afd10d8 56
sayzyas 0:b3376afd10d8 57
sayzyas 0:b3376afd10d8 58 /* ****************************************** */
sayzyas 0:b3376afd10d8 59 /* Parameters */
sayzyas 0:b3376afd10d8 60 /* ****************************************** */
sayzyas 0:b3376afd10d8 61 #define MAX_DROP_AMOUNT 3495 /* Maxmun dropping distance : ex 3500 (mm) */
sayzyas 0:b3376afd10d8 62
sayzyas 0:b3376afd10d8 63 #define CALIBRATION_COUNT 300 /* Joystick calibration count */
sayzyas 0:b3376afd10d8 64 #define DEAD_BAND 5 /* Joystick dead band wide */
sayzyas 0:b3376afd10d8 65
sayzyas 0:b3376afd10d8 66 #define ROTATE_PER_RESOLUTION 24 /* For QEI */
sayzyas 0:b3376afd10d8 67 #define PAI 3.14159265359
sayzyas 0:b3376afd10d8 68
sayzyas 0:b3376afd10d8 69 #define LED_ON 0
sayzyas 0:b3376afd10d8 70 #define LED_OFF 1
sayzyas 0:b3376afd10d8 71
sayzyas 0:b3376afd10d8 72 #define __NETWORK_ACCESS__
sayzyas 0:b3376afd10d8 73 #define TCP_CMDSERVER_PORT 10000
sayzyas 0:b3376afd10d8 74
sayzyas 0:b3376afd10d8 75 /* ****************************************** */
sayzyas 0:b3376afd10d8 76 /* Structure */
sayzyas 0:b3376afd10d8 77 /* ****************************************** */
sayzyas 0:b3376afd10d8 78 /* Winch setting value */
sayzyas 0:b3376afd10d8 79 typedef struct {
sayzyas 0:b3376afd10d8 80 uint16_t cth_dram_mtr_f; // 2 Current threshold: winch dram Motor ( forward )
sayzyas 0:b3376afd10d8 81 uint16_t cth_dram_mtr_r; // 2 Current threshold: winch dram Motor ( reverse )
sayzyas 0:b3376afd10d8 82 uint16_t cth_cabl_mtr_f; // 2 Current threshold: winch cable Motor ( forward )
sayzyas 0:b3376afd10d8 83 uint16_t cth_cabl_mtr_r; // 2 Current threshold: winch cable Motor ( reverse )
sayzyas 0:b3376afd10d8 84 uint16_t dram_dmtr_x100; // 2 Winch dram diameter x 100
sayzyas 0:b3376afd10d8 85 uint16_t adj_val_x10000; // 2 Winch adjust value x 100
sayzyas 0:b3376afd10d8 86 uint8_t res_resolution; // 1 Winch resolver resolution (bit)
sayzyas 0:b3376afd10d8 87 uint8_t reserved_1; // 1 reserved for future use
sayzyas 0:b3376afd10d8 88 int16_t move_interval_cw; // 2 motor moving interval between m1 and m2 at CW rotation
sayzyas 0:b3376afd10d8 89 int16_t move_interval_ccw; // 2 motor moving interval between m1 and m2 at CCW rotation
sayzyas 0:b3376afd10d8 90 } wch_SetValue_t;
sayzyas 0:b3376afd10d8 91
sayzyas 0:b3376afd10d8 92 typedef struct SetValue {
sayzyas 0:b3376afd10d8 93 wch_SetValue_t wchCtrl;
sayzyas 0:b3376afd10d8 94 } setValue_t;
sayzyas 0:b3376afd10d8 95