Diff: common.h

Revision:

0:2cb1be240f50

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/common.h	Thu Jul 26 00:19:33 2018 +0000
@@ -0,0 +1,285 @@
+/* 
+   DEBUG PRINT MACRO
+   http://qiita.com/saltheads/items/e1b0ab54d3d6029c9593
+   http://tricky-code.net/nicecode/code10.php
+*/
+/* Information */
+#define LatestUpDate    "2016.11.04"
+#define ProgramRevision "Rev 2.40" 
+#define Author          "ZisNotRevast"
+#define Company         "Revast Co.,Ltd."
+
+//#define __CREATE_SETTING_FILE__
+//#define __TARGET_BOARD_CHECK__
+
+
+//#define __WInchDebug__  // For debugging 
+
+
+// Comment out if net setting is FIX.
+// #define __NET_SETTING_FROM_LFS__
+
+
+// Read motor current 
+#define __READ_TFM_MOTOR_CURRENT__
+
+#define __IIC_COMAMND_SEND__
+
+#define __SET_WINCH_MOTOR_SPEED_BY_VOLUME__
+
+// ======================================================================
+// 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
+
+// Motor Controller RoboCAN ID definition
+#define MCTR_CANID_PANTILTWCH 2     // Pan/Tilt or Winch motor's ID
+#define MCTR_CANID_TFM 3            // Trabsform motor's ID 
+#define MCTR_CANID_CRW 1            // Crawler motor's ID
+
+#define NUMBER_OF_MCCMD 7
+#define WINCH_OFFSET_VALUE 20
+
+#define LED_IND_BLINK_PERIOD 15
+#define LED_IND_BLINK_PERIOD2 2
+#define LED_IND_BLINK_PERIOD8 18
+
+/*
+ B1/B2 demo machine controller control command list
+*/
+enum{   
+    XX_WICH,        // Winch
+    XX_CLRF,        // R Crawler
+    XX_CLLB,        // L Crawler
+    XX_TFRF,        // R Transform
+    XX_TFLB,        // R Transform
+    ZTRF_I_1,       // RF-I Transform ON
+    ZTRF_I_0,       // RF-I Transform OFF
+    ZTRF_K_1,       // RF-K Transform ON
+    ZTRF_K_0,       // RF-K Transform OFF
+    ZTLB_I_1,       // LB-I Transform ON
+    ZTLB_I_0,       // LB-I Transform OFF
+    ZTLB_K_1,       // LB-K Transform ON
+    ZTLB_K_0,       // LB-K Transform OFF   
+    ZCP_FW_1,       // Camera PAN Forward ON
+    ZCP_FW_0,       // Camera PAN Forward OFF
+    ZCP_RS_1,       // Camera PAN Reverse ON
+    ZCP_RS_0,       // Camera PAN Reverse OFF
+    ZCT_FW_1,       // Camera TILT Forward ON
+    ZCT_FW_0,       // Camera TILT Forward OFF
+    ZCT_RS_1,       // Camera TILT Reverse ON
+    ZCT_RS_0,       // Camera TILT Reverse OFF
+    ZESHAPE_I,       // Shape I : Switch ON
+    ZESHAPE_K,       // Shape K : Switch OFF
+    ZTFCWP_VD,       // TFM,CRW Part valid : Switch ON
+    ZWICHP_VD        // Winch Part valid : Switch OFF  
+};    
+
+
+enum{
+    MOTOR_NO0,
+    MOTOR_NO1,
+    MOTOR_NO2,
+    MOTOR_NO3
+};
+
+enum{
+    MOTOR_FORWARD,
+    MOTOR_REVERSE,
+    MOTOR_STOP
+};
+
+#define MC_LOCK_COUNT     5
+
+#define DEAD_ZONE_BAND_WIDTH 10
+#define CALIBRATION_COUNT 300
+
+/* ********************************************* */
+
+#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_HANDY       0x20
+#define I2C_ADDRESS_WINCH       0x10
+#define I2C_ADDRESS_TRANSFORM   0x08
+#define I2C_ADDRESS_CRAWLER     0x04
+#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
+#define NumberOfI2CCommand 14
+
+/* 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,
+};
+
+/* Game Pad defnition */
+#define GAMEPAD_VID_LOGICOOL        0x046d
+#define GAMEPAD_PID_LOGICOOL_F710   0xc219
+#define GAMEPAD_PID_LOGICOOL_F310   0xc216
+
+#define GAMEPAD_VID_SANWA           0x12bd
+#define GAMEPAD_PID_SANWA_JYP70US   0xc003
+
+#define GAMEPAD_VID_ELECOM          0x056e
+#define GAMEPAD_PID_ELECOM_JCU3613M 0x2003
+
+#define GAMEPAD_VID_RSTHANDY        0x1234
+#define GAMEPAD_PID_RSTHANDY        0x0006
+
+
+/* Ether net */
+#define TCP_SERVER_PORT   10002
+#define UDP_SERVER_PORT   10000
+//#define ECHO_SERVER_PORT   7
+
+#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 {
+    uint8_t     rjs_upper_dzone;     // 1 R Joystick upper dead zone width
+    uint8_t     rjs_lower_dzone;     // 1 R Joystick lower dead zone width
+    uint8_t     rjs_right_dzone;     // 1 R Joystick lower dead zone width
+    uint8_t     rjs_left_dzone;      // 1 R Joystick lower dead zone width
+    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
+} js_SetValue_t;  
+
+typedef struct SetValue {
+    js_SetValue_t           jsCtrl; 
+} 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