z ysaito / Mbed 2 deprecated CPro_DemoB1B2_0_Can_Class

2018.07.26

Dependencies:   EthernetInterface TextLCD USBDevice USBHost mbed

common.h@1:fdf87a1a724b, 2018-07-26 (annotated)

Committer:
sayzyas
Date:
Thu Jul 26 00:26:07 2018 +0000
Revision:
1:fdf87a1a724b
Parent:
0:19075177391c 
2018.07.26

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sayzyas 0:19075177391c 1 /*
sayzyas 0:19075177391c 2 DEBUG PRINT MACRO
sayzyas 0:19075177391c 3 http://qiita.com/saltheads/items/e1b0ab54d3d6029c9593
sayzyas 0:19075177391c 4 http://tricky-code.net/nicecode/code10.php
sayzyas 0:19075177391c 5 */
sayzyas 0:19075177391c 6 /* Information */
sayzyas 0:19075177391c 7 #define LatestUpDate "2017.04.27"
sayzyas 0:19075177391c 8 #define ProgramRevision "Rev 1.00"
sayzyas 0:19075177391c 9 #define Author "zNSR"
sayzyas 0:19075177391c 10 #define Company "Revast Co.,Ltd."
sayzyas 0:19075177391c 11
sayzyas 0:19075177391c 12 // ======================================================================
sayzyas 0:19075177391c 13 // For Debugging
sayzyas 0:19075177391c 14 // ======================================================================
sayzyas 0:19075177391c 15 //#define __DEBUG_PRINT_SW__ // Display SW Status to console
sayzyas 0:19075177391c 16 #define __DEBUG_L0__
sayzyas 0:19075177391c 17 //#define __DEBUG_L1__
sayzyas 0:19075177391c 18 //#define __DEBUG_L2__
sayzyas 0:19075177391c 19 #define __DEBUG_L3__
sayzyas 0:19075177391c 20 //#define __DEBUG_L4__
sayzyas 0:19075177391c 21 //#define __DEBUG_L5__
sayzyas 0:19075177391c 22
sayzyas 0:19075177391c 23 #define __DEBUG_WINCH_DATA__
sayzyas 0:19075177391c 24
sayzyas 0:19075177391c 25 #ifdef __DEBUG_WINCH_DATA__
sayzyas 0:19075177391c 26 #define DEBUG_PRINT_WINCH_DATA(...) pc.printf(__VA_ARGS__)
sayzyas 0:19075177391c 27 #else
sayzyas 0:19075177391c 28 #define DEBUG_PRINT_WINCH_DATA(...)
sayzyas 0:19075177391c 29 #endif
sayzyas 0:19075177391c 30
sayzyas 0:19075177391c 31 #ifdef __DEBUG_PRINT_SW__
sayzyas 0:19075177391c 32 #define DEBUG_PRINT_SW(...) pc.printf(__VA_ARGS__)
sayzyas 0:19075177391c 33 #else
sayzyas 0:19075177391c 34 #define DEBUG_PRINT_SW(...)
sayzyas 0:19075177391c 35 #endif
sayzyas 0:19075177391c 36
sayzyas 0:19075177391c 37 #ifdef __DEBUG_L0__
sayzyas 0:19075177391c 38 #define DEBUG_PRINT_L0(...) pc.printf(__VA_ARGS__)
sayzyas 0:19075177391c 39 #else
sayzyas 0:19075177391c 40 #define DEBUG_PRINT_L0(...)
sayzyas 0:19075177391c 41 #endif
sayzyas 0:19075177391c 42 #ifdef __DEBUG_L1__
sayzyas 0:19075177391c 43 #define DEBUG_PRINT_L1(...) pc.printf(__VA_ARGS__)
sayzyas 0:19075177391c 44 #else
sayzyas 0:19075177391c 45 #define DEBUG_PRINT_L1(...)
sayzyas 0:19075177391c 46 #endif
sayzyas 0:19075177391c 47 #ifdef __DEBUG_L2__
sayzyas 0:19075177391c 48 #define DEBUG_PRINT_L2(...) pc.printf(__VA_ARGS__)
sayzyas 0:19075177391c 49 #else
sayzyas 0:19075177391c 50 #define DEBUG_PRINT_L2(...)
sayzyas 0:19075177391c 51 #endif
sayzyas 0:19075177391c 52 #ifdef __DEBUG_L3__
sayzyas 0:19075177391c 53 #define DEBUG_PRINT_L3(...) pc.printf(__VA_ARGS__)
sayzyas 0:19075177391c 54 #else
sayzyas 0:19075177391c 55 #define DEBUG_PRINT_L3(...)
sayzyas 0:19075177391c 56 #endif
sayzyas 0:19075177391c 57 #ifdef __DEBUG_L4__
sayzyas 0:19075177391c 58 #define DEBUG_PRINT_L4(...) pc.printf(__VA_ARGS__)
sayzyas 0:19075177391c 59 #else
sayzyas 0:19075177391c 60 #define DEBUG_PRINT_L4(...)
sayzyas 0:19075177391c 61 #endif
sayzyas 0:19075177391c 62 #ifdef __DEBUG_L5__
sayzyas 0:19075177391c 63 #define DEBUG_PRINT_L5(...) pc.printf(__VA_ARGS__)
sayzyas 0:19075177391c 64 #else
sayzyas 0:19075177391c 65 #define DEBUG_PRINT_L5(...)
sayzyas 0:19075177391c 66 #endif
sayzyas 0:19075177391c 67
sayzyas 0:19075177391c 68 /* ********************************************* */
sayzyas 0:19075177391c 69 /* Platform definition */
sayzyas 0:19075177391c 70 /* ********************************************* */
sayzyas 0:19075177391c 71 #define PLATFORM "B1Demo"
sayzyas 0:19075177391c 72 //#define PLATFORM "B2Demo"
sayzyas 0:19075177391c 73
sayzyas 0:19075177391c 74
sayzyas 0:19075177391c 75 /* ********************************************* */
sayzyas 0:19075177391c 76
sayzyas 0:19075177391c 77 // Motor Controller RoboCAN ID definition
sayzyas 0:19075177391c 78 // --> define at "mtrAccess.cpp"
sayzyas 0:19075177391c 79
sayzyas 0:19075177391c 80 //#define NUMBER_OF_MCCMD 7
sayzyas 0:19075177391c 81 #define WINCH_OFFSET_VALUE 20
sayzyas 0:19075177391c 82
sayzyas 0:19075177391c 83
sayzyas 0:19075177391c 84 enum{
sayzyas 0:19075177391c 85 MOTOR_NO0,
sayzyas 0:19075177391c 86 MOTOR_NO1,
sayzyas 0:19075177391c 87 MOTOR_NO2,
sayzyas 0:19075177391c 88 MOTOR_NO3
sayzyas 0:19075177391c 89 };
sayzyas 0:19075177391c 90
sayzyas 0:19075177391c 91 enum{
sayzyas 0:19075177391c 92 MOTOR_FORWARD,
sayzyas 0:19075177391c 93 MOTOR_REVERSE,
sayzyas 0:19075177391c 94 MOTOR_STOP
sayzyas 0:19075177391c 95 };
sayzyas 0:19075177391c 96
sayzyas 0:19075177391c 97 #define MC_LOCK_COUNT 5
sayzyas 0:19075177391c 98
sayzyas 0:19075177391c 99
sayzyas 0:19075177391c 100
sayzyas 0:19075177391c 101 /* ********************************************* */
sayzyas 0:19075177391c 102
sayzyas 0:19075177391c 103 #define MOTOR_1 '1'
sayzyas 0:19075177391c 104 #define MOTOR_2 '2'
sayzyas 0:19075177391c 105
sayzyas 0:19075177391c 106 #define MOTOR_
sayzyas 0:19075177391c 107
sayzyas 0:19075177391c 108 /* Above is still under construction ..... */
sayzyas 0:19075177391c 109
sayzyas 0:19075177391c 110 #define __DISP_GAMAPAD_STATUS_ALL__
sayzyas 0:19075177391c 111 #define __DISP_WRITE_VALUE__
sayzyas 0:19075177391c 112 #define I2C_ADDRESS_RESOLVER 0x02
sayzyas 0:19075177391c 113
sayzyas 0:19075177391c 114
sayzyas 0:19075177391c 115 #define _OK_ 1
sayzyas 0:19075177391c 116 #define _NG_ 0
sayzyas 0:19075177391c 117 #define _FAIL_ 0
sayzyas 0:19075177391c 118
sayzyas 0:19075177391c 119 #define ON 1
sayzyas 0:19075177391c 120 #define OFF 0
sayzyas 0:19075177391c 121
sayzyas 0:19075177391c 122 #define LFS_READ_COUNT 3
sayzyas 0:19075177391c 123 #define TARGET_CHECK_COUNT 10
sayzyas 0:19075177391c 124
sayzyas 0:19075177391c 125 //#define __DSP_MOTOR_CURRENT_
sayzyas 0:19075177391c 126
sayzyas 0:19075177391c 127 /* Usually this should be comment out */
sayzyas 0:19075177391c 128 //#define _COMMUNCATE_PC_BY_SERIAL_
sayzyas 0:19075177391c 129
sayzyas 0:19075177391c 130 // Should validate this definition when you use DHCP.
sayzyas 0:19075177391c 131 //#define __ETERNET_DHCP__
sayzyas 0:19075177391c 132
sayzyas 0:19075177391c 133 #define NumberOfPcCommand 11
sayzyas 0:19075177391c 134
sayzyas 0:19075177391c 135 enum{
sayzyas 0:19075177391c 136 MOTOR_RFCRW, // RF crawler
sayzyas 0:19075177391c 137 MOTOR_LBCRW, // LB crawler
sayzyas 0:19075177391c 138 MOTOR_RFTFM, // RF Transform
sayzyas 0:19075177391c 139 MOTOR_LBTFM, // LB transform
sayzyas 0:19075177391c 140 MOTOR_WINCH, // Winch
sayzyas 0:19075177391c 141 MOTOR_CMPAN, // Pan/Tilt
sayzyas 0:19075177391c 142 MOTOR_CTILT
sayzyas 0:19075177391c 143 };
sayzyas 0:19075177391c 144
sayzyas 0:19075177391c 145
sayzyas 0:19075177391c 146
sayzyas 0:19075177391c 147
sayzyas 0:19075177391c 148 enum{
sayzyas 0:19075177391c 149 MOTOR_DIR_FWD, // Motor forwaed rotation
sayzyas 0:19075177391c 150 MOTOR_DIR_RVS, // Motor reverse rotation
sayzyas 0:19075177391c 151 MOTOR_DIR_STP // Motor stop
sayzyas 0:19075177391c 152 };
sayzyas 0:19075177391c 153
sayzyas 0:19075177391c 154 /* I2C Command packet to motor controller */
sayzyas 0:19075177391c 155 /* For motor controller */
sayzyas 0:19075177391c 156 #define NumberOfI2CCommand 12
sayzyas 0:19075177391c 157 enum{
sayzyas 0:19075177391c 158 I2C_CP_COMMAND, // instruction command
sayzyas 0:19075177391c 159 I2C_CP_MOTORNO, // motor number
sayzyas 0:19075177391c 160 I2C_CP_M_DIR, // motor rotation direction
sayzyas 0:19075177391c 161 I2C_CP_M_CNTTH_U, // motor current limit detection threshold upper byte
sayzyas 0:19075177391c 162 I2C_CP_M_CNTTH_L, // motor current limit detection threshold lower byte
sayzyas 0:19075177391c 163 I2C_CP_WDRAM_DIA_UPPER, // winch dram motor diameter upper
sayzyas 0:19075177391c 164 I2C_CP_WDRAM_DIA_LOWER, // winch dram motor diameter lower
sayzyas 0:19075177391c 165 I2C_CP_CCABLE_DIA_UPPER, // cable diameter upper byte
sayzyas 0:19075177391c 166 I2C_CP_CCABLE_DIA_LOWER, // cable diameter lower byte
sayzyas 0:19075177391c 167 I2C_CP_RESOLVER_RESO, // resolver resolution (bit)
sayzyas 0:19075177391c 168 I2C_CP_PRESET_CPOS_UPPER, // preset position upper
sayzyas 0:19075177391c 169 I2C_CP_PRESET_CPOS_LOWER // preset position lower
sayzyas 0:19075177391c 170 };
sayzyas 0:19075177391c 171
sayzyas 0:19075177391c 172 /* Winch Operating mode */
sayzyas 0:19075177391c 173 enum{
sayzyas 0:19075177391c 174 WINCH_POSITION_CLEAR,
sayzyas 0:19075177391c 175 WINCH_PRESET_BASEDATA,
sayzyas 0:19075177391c 176 WINCH_MMODE_RELATIVE,
sayzyas 0:19075177391c 177 WINCH_MMODE_ABSOLUTE,
sayzyas 0:19075177391c 178 WINCH_STEPDOWN_BTN_ON,
sayzyas 0:19075177391c 179 WINCH_STEPDOWN_BTN_OFF,
sayzyas 0:19075177391c 180 WINCH_STEPUP_BTN_ON,
sayzyas 0:19075177391c 181 WINCH_STEPUP_BTN_OFF,
sayzyas 0:19075177391c 182 WINCH_U_STEPDOWN_BTN_ON,
sayzyas 0:19075177391c 183 WINCH_U_STEPDOWN_BTN_OFF,
sayzyas 0:19075177391c 184 WINCH_U_STEPUP_BTN_ON,
sayzyas 0:19075177391c 185 WINCH_U_STEPUP_BTN_OFF,
sayzyas 0:19075177391c 186 WINCH_PRESET_POSITION
sayzyas 0:19075177391c 187 };
sayzyas 0:19075177391c 188
sayzyas 0:19075177391c 189 /* Ether net */
sayzyas 0:19075177391c 190 #define TCP_PCCSERVER_PORT 10004
sayzyas 0:19075177391c 191 #define TCP_CMDSERVER_PORT 10002
sayzyas 0:19075177391c 192 #define UDP_SERVER_PORT 10000
sayzyas 0:19075177391c 193
sayzyas 0:19075177391c 194 #define MOTOR_FWD 'F' /* Forward Rotation */
sayzyas 0:19075177391c 195 #define MOTOR_RVS 'R' /* Reverse Rotation */
sayzyas 0:19075177391c 196 #define MOTOR_STP 'S' /* Stop */
sayzyas 0:19075177391c 197
sayzyas 0:19075177391c 198 // =========================================================
sayzyas 0:19075177391c 199 // Setting Values
sayzyas 0:19075177391c 200 // =========================================================
sayzyas 0:19075177391c 201 typedef struct {
sayzyas 0:19075177391c 202 int8_t sv_JS_ShapeMode; // JS Shape: 0=I, 1=KO
sayzyas 0:19075177391c 203 int8_t sv_JS_OpeMode; // JS Operation: 0=single, 1=dual
sayzyas 0:19075177391c 204 int8_t sv_WinchValid; // Winch function valid or not: 0=Tfm, Crawler valid, 1=Winch valid
sayzyas 0:19075177391c 205 int8_t res;
sayzyas 0:19075177391c 206 } basic_operation_t;
sayzyas 0:19075177391c 207
sayzyas 0:19075177391c 208
sayzyas 0:19075177391c 209 typedef struct {
sayzyas 0:19075177391c 210 uint16_t rf_mtr_ithd_f; // 2 Current threshold RF motor ( forward )
sayzyas 0:19075177391c 211 uint16_t rf_mtr_ithd_r; // 2 Current threshold RF motor ( reverse )
sayzyas 0:19075177391c 212 uint16_t lb_mtr_ithd_f; // 2 Current threshold LB motor ( forward )
sayzyas 0:19075177391c 213 uint16_t lb_mtr_ithd_r; // 2 Current threshold LB motor ( reverse )
sayzyas 0:19075177391c 214 uint8_t rf_mtr_hspd_f; // 1 Motor speed RF ( forward )
sayzyas 0:19075177391c 215 uint8_t rf_mtr_hspd_r; // 1 Motor speed RF ( reverse )
sayzyas 0:19075177391c 216 uint8_t lb_mtr_hspd_f; // 1 Motor speed LB ( forward )
sayzyas 0:19075177391c 217 uint8_t lb_mtr_hspd_r; // 1 Motor speed LB ( reverse )
sayzyas 0:19075177391c 218 uint8_t reserved_1; // 1 reserved for future use
sayzyas 0:19075177391c 219 uint8_t reserved_2; // 1 reserved for future use
sayzyas 0:19075177391c 220 uint8_t reserved_3; // 1 reserved for future use
sayzyas 0:19075177391c 221 uint8_t reserved_4; // 1 reserved for future use
sayzyas 0:19075177391c 222 } crawler_SetValue_t; // << 16 byte >>
sayzyas 0:19075177391c 223
sayzyas 0:19075177391c 224 typedef struct {
sayzyas 0:19075177391c 225 uint16_t rf_mtr_ithd_f; // 2 Current threshold RF motor ( forward )
sayzyas 0:19075177391c 226 uint16_t rf_mtr_ithd_r; // 2 Current threshold RF motor ( reverse )
sayzyas 0:19075177391c 227 uint16_t lb_mtr_ithd_f; // 2 Current threshold LB motor ( forward )
sayzyas 0:19075177391c 228 uint16_t lb_mtr_ithd_r; // 2 Current threshold LB motor ( reverse )
sayzyas 0:19075177391c 229 uint8_t rf_mtr_hspd_f; // 1 Motor speed RF ( forward )
sayzyas 0:19075177391c 230 uint8_t rf_mtr_hspd_r; // 1 Motor speed RF ( reverse )
sayzyas 0:19075177391c 231 uint8_t lb_mtr_hspd_f; // 1 Motor speed LB ( forward )
sayzyas 0:19075177391c 232 uint8_t lb_mtr_hspd_r; // 1 Motor speed LB ( reverse )
sayzyas 0:19075177391c 233 uint8_t reserved_1; // 1 reserved for future use
sayzyas 0:19075177391c 234 uint8_t reserved_2; // 1 reserved for future use
sayzyas 0:19075177391c 235 uint8_t reserved_3; // 1 reserved for future use
sayzyas 0:19075177391c 236 uint8_t reserved_4; // 1 reserved for future use
sayzyas 0:19075177391c 237 } tfm_SetValue_t; // << 16 byte >>
sayzyas 0:19075177391c 238
sayzyas 0:19075177391c 239 typedef struct {
sayzyas 0:19075177391c 240 uint16_t pan_mtr_ithd_f; // 2 Current threshold winch dram Motor ( forward )
sayzyas 0:19075177391c 241 uint16_t pan_mtr_ithd_r; // 2 Current threshold winch dram Motor ( reverse )
sayzyas 0:19075177391c 242 uint16_t tlt_mtr_ithd_f; // 2 Current threshold winch No2 Motor ( forward )
sayzyas 0:19075177391c 243 uint16_t tlt_mtr_ithd_r; // 2 Current threshold winch No2 Motor ( reverse )
sayzyas 0:19075177391c 244 uint8_t pan_mtr_hspd_f; // 1 Motor speed winch dram motor high speed ( forward )
sayzyas 0:19075177391c 245 uint8_t pan_mtr_hspd_r; // 1 Motor speed winch dram motor high speed ( reverse )
sayzyas 0:19075177391c 246 uint8_t tlt_mtr_hspd_f; // 1 Motor speed winch No2 motor high speed ( forward )
sayzyas 0:19075177391c 247 uint8_t tlt_mtr_hspd_r; // 1 Motor speed winch No2 motor high speed ( reverse )
sayzyas 0:19075177391c 248 uint8_t reserved_1; // 1 reserved for future use
sayzyas 0:19075177391c 249 uint8_t reserved_2; // 1 reserved for future use
sayzyas 0:19075177391c 250 uint8_t reserved_3; // 1 reserved for future use
sayzyas 0:19075177391c 251 uint8_t reserved_4; // 1 reserved for future use
sayzyas 0:19075177391c 252 } ptl_SetValue_t; // << 24 byte >>
sayzyas 0:19075177391c 253
sayzyas 0:19075177391c 254 typedef struct {
sayzyas 0:19075177391c 255 uint16_t drm_mtr_ithd_f; // 2 Current threshold winch dram Motor ( forward )
sayzyas 0:19075177391c 256 uint16_t drm_mtr_ithd_r; // 2 Current threshold winch dram Motor ( reverse )
sayzyas 0:19075177391c 257 uint16_t no2_mtr_ithd_f; // 2 Current threshold winch No2 Motor ( forward )
sayzyas 0:19075177391c 258 uint16_t no2_mtr_ithd_r; // 2 Current threshold winch No2 Motor ( reverse )
sayzyas 0:19075177391c 259 uint8_t drm_mtr_hspd_f; // 1 Motor speed winch dram motor high speed ( forward )
sayzyas 0:19075177391c 260 uint8_t drm_mtr_hspd_r; // 1 Motor speed winch dram motor high speed ( reverse )
sayzyas 0:19075177391c 261 uint8_t no2_mtr_hspd_f; // 1 Motor speed winch No2 motor high speed ( forward )
sayzyas 0:19075177391c 262 uint8_t no2_mtr_hspd_r; // 1 Motor speed winch No2 motor high speed ( reverse )
sayzyas 0:19075177391c 263 uint16_t dram_dmtr_x100; // 2 Winch dram diameter x 100
sayzyas 0:19075177391c 264 uint16_t adj_val_x10000; // 2 Winch adjust value x 100
sayzyas 0:19075177391c 265 uint8_t res_resolution; // 1 Winch resolver resolution (bit)
sayzyas 0:19075177391c 266 uint8_t reserved_1; // 1 reserved for future use
sayzyas 0:19075177391c 267 uint8_t reserved_2; // 1 reserved for future use
sayzyas 0:19075177391c 268 uint8_t reserved_3; // 1 reserved for future use
sayzyas 0:19075177391c 269 uint8_t reserved_4; // 1 reserved for future use
sayzyas 0:19075177391c 270 uint8_t reserved_5; // 1 reserved for future use
sayzyas 0:19075177391c 271 uint8_t reserved_6; // 1 reserved for future use
sayzyas 0:19075177391c 272 uint8_t reserved_7; // 1 reserved for future use
sayzyas 0:19075177391c 273 } wch_SetValue_t; // << 24 byte >>
sayzyas 0:19075177391c 274
sayzyas 0:19075177391c 275 typedef struct {
sayzyas 0:19075177391c 276 uint8_t rjs_centervalue; // 1 R JoyStick center value
sayzyas 0:19075177391c 277 uint8_t rjs_u_dead_zone; // 1 R Joystick upper dead zone width
sayzyas 0:19075177391c 278 uint8_t rjs_l_dead_zone; // 1 R Joystick lower dead zone width
sayzyas 0:19075177391c 279 uint8_t ljs_centervalue; // 1 L JoyStick center value
sayzyas 0:19075177391c 280 uint8_t ljs_u_dead_zone; // 1 L Joystick upper dead zone width
sayzyas 0:19075177391c 281 uint8_t ljs_l_dead_zone; // 1 L Joystick lower dead zone width
sayzyas 0:19075177391c 282 uint8_t reserved_1; // 1 reserved for future use
sayzyas 0:19075177391c 283 uint8_t reserved_2; // 1 reserved for future use
sayzyas 0:19075177391c 284 } js_SetValue_t; // << 8 byte >>
sayzyas 0:19075177391c 285
sayzyas 0:19075177391c 286 typedef struct SetValue {
sayzyas 0:19075177391c 287 crawler_SetValue_t crwCtrl;
sayzyas 0:19075177391c 288 tfm_SetValue_t tfmCtrl;
sayzyas 0:19075177391c 289 ptl_SetValue_t ptlCtrl;
sayzyas 0:19075177391c 290 wch_SetValue_t wchCtrl;
sayzyas 0:19075177391c 291 } setValue_t;
sayzyas 0:19075177391c 292
sayzyas 0:19075177391c 293 #define SLOWDOWN_DISTANCE 23 // <--10 2016.06.01
sayzyas 0:19075177391c 294 #define SLOWDOWN_NEAR_DISTANCE 3
sayzyas 0:19075177391c 295 /*
sayzyas 0:19075177391c 296 typedef struct {
sayzyas 0:19075177391c 297 int16_t dt_WinchCntPosition; // Current winch posittion
sayzyas 0:19075177391c 298 int16_t dt_WinchRtvValue; // Winch Moving distance
sayzyas 0:19075177391c 299 int16_t dt_WinchDstPosition; // Destination Position
sayzyas 0:19075177391c 300 char operation;
sayzyas 0:19075177391c 301 int8_t dt_WinchMotorCurrent; // Winch motor current
sayzyas 0:19075177391c 302 } winchData_t;
sayzyas 0:19075177391c 303 */
sayzyas 0:19075177391c 304
sayzyas 0:19075177391c 305 typedef struct {
sayzyas 0:19075177391c 306 int16_t dt_WinchCntPosition; // Current winch posittion
sayzyas 0:19075177391c 307 int16_t dt_WinchRtvValue; // Winch Moving distance
sayzyas 0:19075177391c 308 int16_t dt_WinchDstPosition; // Destination Position
sayzyas 0:19075177391c 309 uint8_t operation;
sayzyas 0:19075177391c 310 uint8_t dt_WinchMotor1Current; // Winch motor 1 current
sayzyas 0:19075177391c 311 uint8_t dt_WinchMotor2Current; // Winch motor 2 current
sayzyas 0:19075177391c 312 uint8_t res;
sayzyas 0:19075177391c 313 } winchData_t;
sayzyas 0:19075177391c 314
sayzyas 0:19075177391c 315
sayzyas 0:19075177391c 316 #define ROTATE_PER_RESOLUTION 24
sayzyas 0:19075177391c 317
sayzyas 0:19075177391c 318 #define __READ_CURRENT_AT_CIF_TASK__
sayzyas 0:19075177391c 319
sayzyas 0:19075177391c 320 //mv_WinchMvData