Diff: common.h

Revision:

0:19075177391c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/common.h	Thu Jul 26 00:18:49 2018 +0000
@@ -0,0 +1,320 @@
+/* 
+   DEBUG PRINT MACRO
+   http://qiita.com/saltheads/items/e1b0ab54d3d6029c9593
+   http://tricky-code.net/nicecode/code10.php
+*/
+/* Information */
+#define LatestUpDate    "2017.04.27"
+#define ProgramRevision "Rev 1.00" 
+#define Author          "zNSR"
+#define Company         "Revast Co.,Ltd."
+
+// ======================================================================
+// For Debugging
+// ======================================================================
+//#define __DEBUG_PRINT_SW__  // Display SW Status to console
+#define __DEBUG_L0__
+//#define __DEBUG_L1__
+//#define __DEBUG_L2__
+#define __DEBUG_L3__
+//#define __DEBUG_L4__
+//#define __DEBUG_L5__
+
+#define __DEBUG_WINCH_DATA__
+
+#ifdef __DEBUG_WINCH_DATA__
+    #define DEBUG_PRINT_WINCH_DATA(...)  pc.printf(__VA_ARGS__)
+#else
+    #define DEBUG_PRINT_WINCH_DATA(...) 
+#endif
+
+#ifdef __DEBUG_PRINT_SW__
+    #define DEBUG_PRINT_SW(...)  pc.printf(__VA_ARGS__)
+#else
+    #define DEBUG_PRINT_SW(...) 
+#endif
+
+#ifdef __DEBUG_L0__
+    #define DEBUG_PRINT_L0(...)  pc.printf(__VA_ARGS__)
+#else
+    #define DEBUG_PRINT_L0(...) 
+#endif
+#ifdef __DEBUG_L1__
+    #define DEBUG_PRINT_L1(...)  pc.printf(__VA_ARGS__)
+#else
+    #define DEBUG_PRINT_L1(...) 
+#endif
+#ifdef __DEBUG_L2__
+    #define DEBUG_PRINT_L2(...)  pc.printf(__VA_ARGS__)
+#else
+    #define DEBUG_PRINT_L2(...) 
+#endif
+#ifdef __DEBUG_L3__
+    #define DEBUG_PRINT_L3(...)  pc.printf(__VA_ARGS__)
+#else
+    #define DEBUG_PRINT_L3(...) 
+#endif
+#ifdef __DEBUG_L4__
+    #define DEBUG_PRINT_L4(...)  pc.printf(__VA_ARGS__)
+#else
+    #define DEBUG_PRINT_L4(...) 
+#endif
+#ifdef __DEBUG_L5__
+    #define DEBUG_PRINT_L5(...)  pc.printf(__VA_ARGS__)
+#else
+    #define DEBUG_PRINT_L5(...) 
+#endif
+
+/* ********************************************* */
+/* Platform definition                           */
+/* ********************************************* */
+#define PLATFORM "B1Demo"
+//#define PLATFORM "B2Demo"
+
+
+/* ********************************************* */
+
+// Motor Controller RoboCAN ID definition
+// --> define at "mtrAccess.cpp"
+
+//#define NUMBER_OF_MCCMD 7
+#define WINCH_OFFSET_VALUE 20
+
+
+enum{
+    MOTOR_NO0,
+    MOTOR_NO1,
+    MOTOR_NO2,
+    MOTOR_NO3
+};
+
+enum{
+    MOTOR_FORWARD,
+    MOTOR_REVERSE,
+    MOTOR_STOP
+};
+
+#define MC_LOCK_COUNT     5
+
+
+
+/* ********************************************* */
+
+#define MOTOR_1     '1'
+#define MOTOR_2     '2'
+
+#define MOTOR_
+
+/* Above is still under construction ..... */
+
+#define __DISP_GAMAPAD_STATUS_ALL__
+#define __DISP_WRITE_VALUE__
+#define I2C_ADDRESS_RESOLVER    0x02
+
+
+#define _OK_ 1
+#define _NG_ 0
+#define _FAIL_ 0
+
+#define ON 1
+#define OFF 0
+
+#define LFS_READ_COUNT 3
+#define TARGET_CHECK_COUNT 10
+
+//#define __DSP_MOTOR_CURRENT_
+
+/* Usually this should be comment out */
+//#define _COMMUNCATE_PC_BY_SERIAL_
+
+// Should validate this definition when you use DHCP.
+//#define __ETERNET_DHCP__
+
+#define NumberOfPcCommand 11
+
+enum{
+    MOTOR_RFCRW,        // RF crawler
+    MOTOR_LBCRW,        // LB crawler
+    MOTOR_RFTFM,        // RF Transform
+    MOTOR_LBTFM,        // LB transform
+    MOTOR_WINCH,        // Winch
+    MOTOR_CMPAN,        // Pan/Tilt
+    MOTOR_CTILT
+};
+
+
+
+
+enum{
+    MOTOR_DIR_FWD,      // Motor forwaed rotation
+    MOTOR_DIR_RVS,      // Motor reverse rotation
+    MOTOR_DIR_STP      // Motor stop
+};
+
+/* I2C Command packet to motor controller */
+/* For motor controller */
+#define NumberOfI2CCommand 12
+enum{
+    I2C_CP_COMMAND,             // instruction command
+    I2C_CP_MOTORNO,             // motor number
+    I2C_CP_M_DIR,               // motor rotation direction   
+    I2C_CP_M_CNTTH_U,       // motor current limit detection threshold upper byte 
+    I2C_CP_M_CNTTH_L,       // motor current limit detection threshold lower byte 
+    I2C_CP_WDRAM_DIA_UPPER,     // winch dram motor diameter upper   
+    I2C_CP_WDRAM_DIA_LOWER,     // winch dram motor diameter lower    
+    I2C_CP_CCABLE_DIA_UPPER,    // cable diameter upper byte 
+    I2C_CP_CCABLE_DIA_LOWER,    // cable diameter lower byte 
+    I2C_CP_RESOLVER_RESO,       // resolver resolution (bit)
+    I2C_CP_PRESET_CPOS_UPPER,   // preset position upper
+    I2C_CP_PRESET_CPOS_LOWER   // preset position lower 
+};
+    
+/* Winch Operating mode */
+enum{
+    WINCH_POSITION_CLEAR,
+    WINCH_PRESET_BASEDATA,
+    WINCH_MMODE_RELATIVE,
+    WINCH_MMODE_ABSOLUTE,
+    WINCH_STEPDOWN_BTN_ON,
+    WINCH_STEPDOWN_BTN_OFF,
+    WINCH_STEPUP_BTN_ON,
+    WINCH_STEPUP_BTN_OFF,
+    WINCH_U_STEPDOWN_BTN_ON,
+    WINCH_U_STEPDOWN_BTN_OFF,
+    WINCH_U_STEPUP_BTN_ON,
+    WINCH_U_STEPUP_BTN_OFF,
+    WINCH_PRESET_POSITION
+};
+
+/* Ether net */
+#define TCP_PCCSERVER_PORT   10004
+#define TCP_CMDSERVER_PORT   10002
+#define UDP_SERVER_PORT      10000
+
+#define MOTOR_FWD   'F'     /* Forward Rotation */
+#define MOTOR_RVS   'R'     /* Reverse Rotation */
+#define MOTOR_STP   'S'     /* Stop */
+
+// =========================================================
+// Setting Values
+// =========================================================
+typedef struct {
+    int8_t  sv_JS_ShapeMode;    // JS Shape: 0=I, 1=KO
+    int8_t  sv_JS_OpeMode;      // JS Operation: 0=single, 1=dual
+    int8_t  sv_WinchValid;      // Winch function valid or not: 0=Tfm, Crawler valid, 1=Winch valid
+    int8_t  res;
+} basic_operation_t;
+
+
+typedef struct {
+    uint16_t    rf_mtr_ithd_f;       // 2 Current threshold RF motor ( forward )
+    uint16_t    rf_mtr_ithd_r;       // 2 Current threshold RF motor ( reverse )
+    uint16_t    lb_mtr_ithd_f;       // 2 Current threshold LB motor ( forward )
+    uint16_t    lb_mtr_ithd_r;       // 2 Current threshold LB motor ( reverse )
+    uint8_t     rf_mtr_hspd_f;       // 1 Motor speed RF ( forward )
+    uint8_t     rf_mtr_hspd_r;       // 1 Motor speed RF ( reverse )
+    uint8_t     lb_mtr_hspd_f;       // 1 Motor speed LB ( forward )     
+    uint8_t     lb_mtr_hspd_r;       // 1 Motor speed LB ( reverse )
+    uint8_t     reserved_1;          // 1 reserved for future use
+    uint8_t     reserved_2;          // 1 reserved for future use
+    uint8_t     reserved_3;          // 1 reserved for future use
+    uint8_t     reserved_4;          // 1 reserved for future use
+} crawler_SetValue_t;                // << 16 byte >>
+
+typedef struct {
+    uint16_t    rf_mtr_ithd_f;       // 2 Current threshold RF motor ( forward ) 
+    uint16_t    rf_mtr_ithd_r;       // 2 Current threshold RF motor ( reverse )
+    uint16_t    lb_mtr_ithd_f;       // 2 Current threshold LB motor ( forward )
+    uint16_t    lb_mtr_ithd_r;       // 2 Current threshold LB motor ( reverse )
+    uint8_t     rf_mtr_hspd_f;       // 1 Motor speed RF ( forward )
+    uint8_t     rf_mtr_hspd_r;       // 1 Motor speed RF ( reverse )
+    uint8_t     lb_mtr_hspd_f;       // 1 Motor speed LB ( forward )
+    uint8_t     lb_mtr_hspd_r;       // 1 Motor speed LB ( reverse )
+    uint8_t     reserved_1;          // 1 reserved for future use
+    uint8_t     reserved_2;          // 1 reserved for future use
+    uint8_t     reserved_3;          // 1 reserved for future use
+    uint8_t     reserved_4;          // 1 reserved for future use
+} tfm_SetValue_t;                    // << 16 byte >> 
+
+typedef struct {
+    uint16_t    pan_mtr_ithd_f;      // 2 Current threshold winch dram Motor ( forward )
+    uint16_t    pan_mtr_ithd_r;      // 2 Current threshold winch dram Motor ( reverse )
+    uint16_t    tlt_mtr_ithd_f;      // 2 Current threshold winch No2 Motor ( forward )
+    uint16_t    tlt_mtr_ithd_r;      // 2 Current threshold winch No2 Motor ( reverse )
+    uint8_t     pan_mtr_hspd_f;      // 1 Motor speed winch dram motor high speed ( forward )
+    uint8_t     pan_mtr_hspd_r;      // 1 Motor speed winch dram motor high speed ( reverse )
+    uint8_t     tlt_mtr_hspd_f;      // 1 Motor speed winch No2 motor high speed ( forward )
+    uint8_t     tlt_mtr_hspd_r;      // 1 Motor speed winch No2 motor high speed ( reverse )
+    uint8_t     reserved_1;          // 1 reserved for future use
+    uint8_t     reserved_2;          // 1 reserved for future use
+    uint8_t     reserved_3;          // 1 reserved for future use
+    uint8_t     reserved_4;          // 1 reserved for future use
+} ptl_SetValue_t;                    // << 24 byte >>
+
+typedef struct {
+    uint16_t    drm_mtr_ithd_f;      // 2 Current threshold winch dram Motor ( forward )
+    uint16_t    drm_mtr_ithd_r;      // 2 Current threshold winch dram Motor ( reverse )
+    uint16_t    no2_mtr_ithd_f;      // 2 Current threshold winch No2 Motor ( forward )
+    uint16_t    no2_mtr_ithd_r;      // 2 Current threshold winch No2 Motor ( reverse )
+    uint8_t     drm_mtr_hspd_f;      // 1 Motor speed winch dram motor high speed ( forward )
+    uint8_t     drm_mtr_hspd_r;      // 1 Motor speed winch dram motor high speed ( reverse )
+    uint8_t     no2_mtr_hspd_f;      // 1 Motor speed winch No2 motor high speed ( forward )
+    uint8_t     no2_mtr_hspd_r;      // 1 Motor speed winch No2 motor high speed ( reverse )
+    uint16_t    dram_dmtr_x100;      // 2 Winch dram diameter x 100
+    uint16_t    adj_val_x10000;      // 2 Winch adjust value x 100
+    uint8_t     res_resolution;      // 1 Winch resolver resolution (bit)
+    uint8_t     reserved_1;          // 1 reserved for future use
+    uint8_t     reserved_2;          // 1 reserved for future use
+    uint8_t     reserved_3;          // 1 reserved for future use
+    uint8_t     reserved_4;          // 1 reserved for future use
+    uint8_t     reserved_5;          // 1 reserved for future use
+    uint8_t     reserved_6;          // 1 reserved for future use
+    uint8_t     reserved_7;          // 1 reserved for future use
+} wch_SetValue_t;                    // << 24 byte >>
+
+typedef struct {
+    uint8_t     rjs_centervalue;     // 1 R JoyStick center value
+    uint8_t     rjs_u_dead_zone;     // 1 R Joystick upper dead zone width
+    uint8_t     rjs_l_dead_zone;     // 1 R Joystick lower dead zone width
+    uint8_t     ljs_centervalue;     // 1 L JoyStick center value
+    uint8_t     ljs_u_dead_zone;     // 1 L Joystick upper dead zone width
+    uint8_t     ljs_l_dead_zone;     // 1 L Joystick lower dead zone width
+    uint8_t     reserved_1;          // 1 reserved for future use
+    uint8_t     reserved_2;          // 1 reserved for future use
+} js_SetValue_t;                     // << 8 byte >>
+
+typedef struct SetValue {
+    crawler_SetValue_t  crwCtrl;
+    tfm_SetValue_t      tfmCtrl;
+    ptl_SetValue_t      ptlCtrl;
+    wch_SetValue_t      wchCtrl;
+} setValue_t;
+
+#define SLOWDOWN_DISTANCE 23    // <--10 2016.06.01
+#define SLOWDOWN_NEAR_DISTANCE 3
+/*
+typedef struct {
+    int16_t dt_WinchCntPosition;    // Current winch posittion
+    int16_t dt_WinchRtvValue;       // Winch Moving distance
+    int16_t dt_WinchDstPosition;    // Destination Position
+    char operation;
+    int8_t  dt_WinchMotorCurrent;        // Winch motor current
+} winchData_t;
+*/
+
+typedef struct {
+    int16_t dt_WinchCntPosition;    // Current winch posittion
+    int16_t dt_WinchRtvValue;       // Winch Moving distance
+    int16_t dt_WinchDstPosition;    // Destination Position
+    uint8_t operation;
+    uint8_t dt_WinchMotor1Current;        // Winch motor 1 current
+    uint8_t dt_WinchMotor2Current;        // Winch motor 2 current
+    uint8_t res;
+} winchData_t;
+
+
+#define ROTATE_PER_RESOLUTION 24
+  
+#define __READ_CURRENT_AT_CIF_TASK__    
+
+//mv_WinchMvData