Diff: common.h

Revision:

0:f8373bf202a6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/common.h	Thu Jul 26 00:19:47 2018 +0000
@@ -0,0 +1,105 @@
+/*
+ * mbed LPC824-Max header
+ *
+ */
+
+// If you use moving type winch , then should comment out followings !!
+// #define FFWinchPhaseSetting  // Valid if Fix falling winch system is using.
+
+#define __DEBUG__
+#ifdef __DEBUG__
+#define DEBUG_PRINT(...)  pc.printf(__VA_ARGS__)
+#else
+#define DEBUG_PRINT(...)  ;
+//#define DEBUG_PRINT(...)  1 ? (void)0 : pc.printf(__VA_ARGS__)
+#endif
+/* Information */
+#define LatestUpDate "2016.09.27"
+#define ProgramRevision "Rev 2.30" 
+#define Author "Y.Saito(zinsor)"
+#define Company "Revast Co.,Ltd"
+
+
+/* Debug macro */
+#define __DEBUG_L0__
+#define __DEBUG_L1__
+//#define __DEBUG_L2__
+//#define __DEBUG_L3__
+//#define __DEBUG_L4__
+
+#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
+
+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
+};
+
+#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 
+};
+
+
+#define ROTATE_PER_RESOLUTION       24
+#define REAL_THREAD_DIAMETER        63          // 60+3
+//#define ROTATION_DISTANCE           197.82f     // (60+3)*3.14
+#define ROTATION_PULSE_PER_1ROUND   16384       // 2^12(bit) * 4
+#define PAI                         3.14159265359
+
+/* ***************** */
+/* Target definition */
+/* ***************** */
+#define I2C_ADDRESS_RESOLVER    0x02
+
+/* Command Packet */
+#define CLEAR_RESOLVER_POSITION       'X'
+#define HELLO_PACKET        'A'
+
+#define LED_ON  0
+#define LED_OFF 1
\ No newline at end of file