common.h

00001 /* 
00002    DEBUG PRINT MACRO
00003    http://qiita.com/saltheads/items/e1b0ab54d3d6029c9593
00004    http://tricky-code.net/nicecode/code10.php
00005 */
00006 /* Information */
00007 #define LatestUpDate    "2016.11.04"
00008 #define ProgramRevision "Rev 2.40" 
00009 #define Author          "ZisNotRevast"
00010 #define Company         "Revast Co.,Ltd."
00011 
00012 //#define __CREATE_SETTING_FILE__
00013 //#define __TARGET_BOARD_CHECK__
00014 
00015 
00016 //#define __WInchDebug__  // For debugging 
00017 
00018 
00019 // Comment out if net setting is FIX.
00020 // #define __NET_SETTING_FROM_LFS__
00021 
00022 
00023 // Read motor current 
00024 #define __READ_TFM_MOTOR_CURRENT__
00025 
00026 #define __IIC_COMAMND_SEND__
00027 
00028 #define __SET_WINCH_MOTOR_SPEED_BY_VOLUME__
00029 
00030 // ======================================================================
00031 // For Debugging
00032 // ======================================================================
00033 #define __DEBUG_PRINT_SW__  // Display SW Status to console
00034 //#define __DEBUG_L0__
00035 //#define __DEBUG_L1__
00036 //#define __DEBUG_L2__
00037 //#define __DEBUG_L3__
00038 //#define __DEBUG_L4__
00039 #define __DEBUG_L5__
00040 
00041 #define __DEBUG_WINCH_DATA__
00042 
00043 
00044 #ifdef __DEBUG_WINCH_DATA__
00045     #define DEBUG_PRINT_WINCH_DATA(...)  pc.printf(__VA_ARGS__)
00046 #else
00047     #define DEBUG_PRINT_WINCH_DATA(...) 
00048 #endif
00049 
00050 #ifdef __DEBUG_PRINT_SW__
00051     #define DEBUG_PRINT_SW(...)  pc.printf(__VA_ARGS__)
00052 #else
00053     #define DEBUG_PRINT_SW(...) 
00054 #endif
00055 
00056 #ifdef __DEBUG_L0__
00057     #define DEBUG_PRINT_L0(...)  pc.printf(__VA_ARGS__)
00058 #else
00059     #define DEBUG_PRINT_L0(...) 
00060 #endif
00061 #ifdef __DEBUG_L1__
00062     #define DEBUG_PRINT_L1(...)  pc.printf(__VA_ARGS__)
00063 #else
00064     #define DEBUG_PRINT_L1(...) 
00065 #endif
00066 #ifdef __DEBUG_L2__
00067     #define DEBUG_PRINT_L2(...)  pc.printf(__VA_ARGS__)
00068 #else
00069     #define DEBUG_PRINT_L2(...) 
00070 #endif
00071 #ifdef __DEBUG_L3__
00072     #define DEBUG_PRINT_L3(...)  pc.printf(__VA_ARGS__)
00073 #else
00074     #define DEBUG_PRINT_L3(...) 
00075 #endif
00076 #ifdef __DEBUG_L4__
00077     #define DEBUG_PRINT_L4(...)  pc.printf(__VA_ARGS__)
00078 #else
00079     #define DEBUG_PRINT_L4(...) 
00080 #endif
00081 #ifdef __DEBUG_L5__
00082     #define DEBUG_PRINT_L5(...)  pc.printf(__VA_ARGS__)
00083 #else
00084     #define DEBUG_PRINT_L5(...) 
00085 #endif
00086 
00087 // Motor Controller RoboCAN ID definition
00088 #define MCTR_CANID_PANTILTWCH 2     // Pan/Tilt or Winch motor's ID
00089 #define MCTR_CANID_TFM 3            // Trabsform motor's ID 
00090 #define MCTR_CANID_CRW 1            // Crawler motor's ID
00091 
00092 #define NUMBER_OF_MCCMD 7
00093 #define WINCH_OFFSET_VALUE 20
00094 
00095 #define LED_IND_BLINK_PERIOD 15
00096 #define LED_IND_BLINK_PERIOD2 2
00097 #define LED_IND_BLINK_PERIOD8 18
00098 
00099 /*
00100  B1/B2 demo machine controller control command list
00101 */
00102 enum{   
00103     XX_WICH,        // Winch
00104     XX_CLRF,        // R Crawler
00105     XX_CLLB,        // L Crawler
00106     XX_TFRF,        // R Transform
00107     XX_TFLB,        // R Transform
00108     ZTRF_I_1,       // RF-I Transform ON
00109     ZTRF_I_0,       // RF-I Transform OFF
00110     ZTRF_K_1,       // RF-K Transform ON
00111     ZTRF_K_0,       // RF-K Transform OFF
00112     ZTLB_I_1,       // LB-I Transform ON
00113     ZTLB_I_0,       // LB-I Transform OFF
00114     ZTLB_K_1,       // LB-K Transform ON
00115     ZTLB_K_0,       // LB-K Transform OFF   
00116     ZCP_FW_1,       // Camera PAN Forward ON
00117     ZCP_FW_0,       // Camera PAN Forward OFF
00118     ZCP_RS_1,       // Camera PAN Reverse ON
00119     ZCP_RS_0,       // Camera PAN Reverse OFF
00120     ZCT_FW_1,       // Camera TILT Forward ON
00121     ZCT_FW_0,       // Camera TILT Forward OFF
00122     ZCT_RS_1,       // Camera TILT Reverse ON
00123     ZCT_RS_0,       // Camera TILT Reverse OFF
00124     ZESHAPE_I,       // Shape I : Switch ON
00125     ZESHAPE_K,       // Shape K : Switch OFF
00126     ZTFCWP_VD,       // TFM,CRW Part valid : Switch ON
00127     ZWICHP_VD        // Winch Part valid : Switch OFF  
00128 };    
00129 
00130 
00131 enum{
00132     MOTOR_NO0,
00133     MOTOR_NO1,
00134     MOTOR_NO2,
00135     MOTOR_NO3
00136 };
00137 
00138 enum{
00139     MOTOR_FORWARD,
00140     MOTOR_REVERSE,
00141     MOTOR_STOP
00142 };
00143 
00144 #define MC_LOCK_COUNT     5
00145 
00146 #define DEAD_ZONE_BAND_WIDTH 10
00147 #define CALIBRATION_COUNT 300
00148 
00149 /* ********************************************* */
00150 
00151 #define MOTOR_1     '1'
00152 #define MOTOR_2     '2'
00153 
00154 #define MOTOR_
00155 
00156 /* Above is still under construction ..... */
00157 
00158 #define __DISP_GAMAPAD_STATUS_ALL__
00159 #define __DISP_WRITE_VALUE__
00160 
00161 #define I2C_ADDRESS_HANDY       0x20
00162 #define I2C_ADDRESS_WINCH       0x10
00163 #define I2C_ADDRESS_TRANSFORM   0x08
00164 #define I2C_ADDRESS_CRAWLER     0x04
00165 #define I2C_ADDRESS_RESOLVER    0x02
00166 
00167 
00168 #define _OK_ 1
00169 #define _NG_ 0
00170 #define _FAIL_ 0
00171 
00172 #define ON 1
00173 #define OFF 0
00174 
00175 #define LFS_READ_COUNT 3
00176 #define TARGET_CHECK_COUNT 10
00177 
00178 //#define __DSP_MOTOR_CURRENT_
00179 
00180 /* Usually this should be comment out */
00181 //#define _COMMUNCATE_PC_BY_SERIAL_
00182 
00183 // Should validate this definition when you use DHCP.
00184 //#define __ETERNET_DHCP__
00185 
00186 #define NumberOfPcCommand 11
00187 #define NumberOfI2CCommand 14
00188 
00189 /* Winch Operating mode */
00190 enum{
00191     WINCH_POSITION_CLEAR,
00192     WINCH_PRESET_BASEDATA,
00193     WINCH_MMODE_RELATIVE,
00194     WINCH_MMODE_ABSOLUTE,
00195     WINCH_STEPDOWN_BTN_ON,
00196     WINCH_STEPDOWN_BTN_OFF,
00197     WINCH_STEPUP_BTN_ON,
00198     WINCH_STEPUP_BTN_OFF,
00199     WINCH_U_STEPDOWN_BTN_ON,
00200     WINCH_U_STEPDOWN_BTN_OFF,
00201     WINCH_U_STEPUP_BTN_ON,
00202     WINCH_U_STEPUP_BTN_OFF,
00203     WINCH_PRESET_POSITION,
00204 };
00205 
00206 /* Game Pad defnition */
00207 #define GAMEPAD_VID_LOGICOOL        0x046d
00208 #define GAMEPAD_PID_LOGICOOL_F710   0xc219
00209 #define GAMEPAD_PID_LOGICOOL_F310   0xc216
00210 
00211 #define GAMEPAD_VID_SANWA           0x12bd
00212 #define GAMEPAD_PID_SANWA_JYP70US   0xc003
00213 
00214 #define GAMEPAD_VID_ELECOM          0x056e
00215 #define GAMEPAD_PID_ELECOM_JCU3613M 0x2003
00216 
00217 #define GAMEPAD_VID_RSTHANDY        0x1234
00218 #define GAMEPAD_PID_RSTHANDY        0x0006
00219 
00220 
00221 /* Ether net */
00222 #define TCP_SERVER_PORT   10002
00223 #define UDP_SERVER_PORT   10000
00224 //#define ECHO_SERVER_PORT   7
00225 
00226 #define MOTOR_FWD   'F'     /* Forward Rotation */
00227 #define MOTOR_RVS   'R'     /* Reverse Rotation */
00228 #define MOTOR_STP   'S'     /* Stop */
00229 
00230 // =========================================================
00231 // Setting Values
00232 // =========================================================
00233 typedef struct {
00234     int8_t  sv_JS_ShapeMode;    // JS Shape: 0=I, 1=KO
00235     int8_t  sv_JS_OpeMode;      // JS Operation: 0=single, 1=dual
00236     int8_t  sv_WinchValid;      // Winch function valid or not: 0=Tfm, Crawler valid, 1=Winch valid
00237     int8_t  res;
00238 } basic_operation_t;
00239 
00240 typedef struct {
00241     uint8_t     rjs_upper_dzone;     // 1 R Joystick upper dead zone width
00242     uint8_t     rjs_lower_dzone;     // 1 R Joystick lower dead zone width
00243     uint8_t     rjs_right_dzone;     // 1 R Joystick lower dead zone width
00244     uint8_t     rjs_left_dzone;      // 1 R Joystick lower dead zone width
00245     uint8_t     reserved_1;          // 1 reserved for future use
00246     uint8_t     reserved_2;          // 1 reserved for future use
00247     uint8_t     reserved_3;          // 1 reserved for future use
00248     uint8_t     reserved_4;          // 1 reserved for future use
00249 } js_SetValue_t;  
00250 
00251 typedef struct SetValue {
00252     js_SetValue_t           jsCtrl; 
00253 } setValue_t;
00254 
00255 
00256 
00257 
00258 #define SLOWDOWN_DISTANCE 23    // <--10 2016.06.01
00259 #define SLOWDOWN_NEAR_DISTANCE 3
00260 /*
00261 typedef struct {
00262     int16_t dt_WinchCntPosition;    // Current winch posittion
00263     int16_t dt_WinchRtvValue;       // Winch Moving distance
00264     int16_t dt_WinchDstPosition;    // Destination Position
00265     char operation;
00266     int8_t  dt_WinchMotorCurrent;        // Winch motor current
00267 } winchData_t;
00268 */
00269 
00270 typedef struct {
00271     int16_t dt_WinchCntPosition;    // Current winch posittion
00272     int16_t dt_WinchRtvValue;       // Winch Moving distance
00273     int16_t dt_WinchDstPosition;    // Destination Position
00274     uint8_t operation;
00275     uint8_t dt_WinchMotor1Current;        // Winch motor 1 current
00276     uint8_t dt_WinchMotor2Current;        // Winch motor 2 current
00277     uint8_t res;
00278 } winchData_t;
00279 
00280 
00281 #define ROTATE_PER_RESOLUTION 24
00282   
00283 #define __READ_CURRENT_AT_CIF_TASK__    
00284 
00285 //mv_WinchMvData