z ysaito
/
MMC_ThrmTemMea_CtrlMain
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Dependencies: F7_Ethernet mbed mbed-rtos
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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 "2020.07.02" 00008 #define ProgramRevision "Rev 0.01" 00009 #define Author "y.saito" 00010 #define Company "Sanei 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_L0__ 00034 #define __DEBUG_L1__ 00035 #define __DEBUG_L2__ 00036 #define __DEBUG_L3__ 00037 #define __DEBUG_L4__ 00038 #define __DEBUG_L5__ 00039 00040 #ifdef __DEBUG_L0__ 00041 #define DEBUG_PRINT_L0(...) pc.printf(__VA_ARGS__) 00042 #else 00043 #define DEBUG_PRINT_L0(...) 00044 #endif 00045 #ifdef __DEBUG_L1__ 00046 #define DEBUG_PRINT_L1(...) pc.printf(__VA_ARGS__) 00047 #else 00048 #define DEBUG_PRINT_L1(...) 00049 #endif 00050 #ifdef __DEBUG_L2__ 00051 #define DEBUG_PRINT_L2(...) pc.printf(__VA_ARGS__) 00052 #else 00053 #define DEBUG_PRINT_L2(...) 00054 #endif 00055 #ifdef __DEBUG_L3__ 00056 #define DEBUG_PRINT_L3(...) pc.printf(__VA_ARGS__) 00057 #else 00058 #define DEBUG_PRINT_L3(...) 00059 #endif 00060 #ifdef __DEBUG_L4__ 00061 #define DEBUG_PRINT_L4(...) pc.printf(__VA_ARGS__) 00062 #else 00063 #define DEBUG_PRINT_L4(...) 00064 #endif 00065 #ifdef __DEBUG_L5__ 00066 #define DEBUG_PRINT_L5(...) pc.printf(__VA_ARGS__) 00067 #else 00068 #define DEBUG_PRINT_L5(...) 00069 #endif 00070 00071 00072 00073 /* ***** 00074 Constant definition 00075 ***** */ 00076 #define BLINKING_RATE_MS 100 /* Blinking rate */ 00077 00078 00079 #define DIR_CCW 1 00080 #define DIR_CW 0 00081 #define MOTOR_ON 1 00082 #define MOTOR_OFF 0 00083 00084 #define L_001mm 1000 * 2 00085 #define L_002mm 2000 * 2 00086 #define L_003mm 3000 * 2 00087 #define L_004mm 4000 * 2 00088 #define L_005mm 5000 * 2 00089 #define L_006mm 6000 * 2 00090 #define L_007mm 7000 * 2 00091 #define L_008mm 8000 * 2 00092 #define L_009mm 9000 * 2 00093 #define L_010mm 10000 * 2 00094 #define L_050mm 50000 * 2 00095 #define L_100mm 100000 * 2 00096 00097 00098 00099 00100 00101 00102 00103 00104 00105 00106 00107 00108 00109 00110 00111 00112 00113 00114 00115 00116 00117 00118 00119 00120 00121 00122 00123 /* Above is still under construction ..... */ 00124 00125 #define __DISP_GAMAPAD_STATUS_ALL__ 00126 #define __DISP_WRITE_VALUE__ 00127 00128 #define I2C_ADDRESS_HANDY 0x20 00129 #define I2C_ADDRESS_WINCH 0x10 00130 #define I2C_ADDRESS_TRANSFORM 0x08 00131 #define I2C_ADDRESS_CRAWLER 0x04 00132 #define I2C_ADDRESS_RESOLVER 0x02 00133 00134 00135 #define _OK_ 1 00136 #define _NG_ 0 00137 #define _FAIL_ 0 00138 00139 #define ON 1 00140 #define OFF 0 00141 00142 #define LFS_READ_COUNT 3 00143 #define TARGET_CHECK_COUNT 10 00144 00145 //#define __DSP_MOTOR_CURRENT_ 00146 00147 /* Usually this should be comment out */ 00148 //#define _COMMUNCATE_PC_BY_SERIAL_ 00149 00150 // Should validate this definition when you use DHCP. 00151 //#define __ETERNET_DHCP__ 00152 00153 #define NumberOfPcCommand 11 00154 #define NumberOfI2CCommand 14 00155 00156 /* I2C Command packet to motor controller */ 00157 /* For motor controller */ 00158 enum{ 00159 I2C_CP_PREAMBLE, // Preamble of command packet 00160 I2C_CP_COMMAND, // instruction command 00161 I2C_CP_M1_DIR, // motor1 rotation direction 00162 I2C_CP_M1_SPEED, // motor1 rotation speed 00163 I2C_CP_M1_FWD_CNTTH_U, // motor1 current limit detection threshold upper byte 00164 I2C_CP_M1_FWD_CNTTH_L, // motor1 current limit detection threshold lower byte 00165 I2C_CP_M1_RVS_CNTTH_U, // motor1 current limit detection threshold upper byte 00166 I2C_CP_M1_RVS_CNTTH_L, // motor1 current limit detection threshold lower byte 00167 I2C_CP_M2_DIR, // motor2 rotation direction 00168 I2C_CP_M2_SPEED, // motor2 rotation speed 00169 I2C_CP_M2_FWD_CNTTH_U, // motor2 current limit detection threshold upper byte 00170 I2C_CP_M2_FWD_CNTTH_L, // motor2 current limit detection threshold lower byte 00171 I2C_CP_M2_RVS_CNTTH_U, // motor2 current limit detection threshold upper byte 00172 I2C_CP_M2_RVS_CNTTH_L, // motor2 current limit detection threshold lower byte 00173 }; 00174 /* For resolver reader controller */ 00175 enum{ 00176 I2C_CP_PREAMBLE_R, // Sub command 00177 I2C_CP_COMMAND_R, // instruction command 00178 I2C_CP_WDRAM_DIA_UPPER, // motor1 rotation direction 00179 I2C_CP_WDRAM_DIA_LOWER, // motor1 rotation speed 00180 I2C_CP_CCABLE_DIA_UPPER, // motor1 current limit detection threshold upper byte 00181 I2C_CP_CCABLE_DIA_LOWER, // motor1 current limit detection threshold lower byte 00182 I2C_CP_RESOLVER_RESO, // motor1 current limit detection threshold upper byte 00183 I2C_CP_PRESET_CPOS_UPPER, // reserved 00184 I2C_CP_PRESET_CPOS_LOWER, // reserved 00185 I2C_CP_RES3, // reserved 00186 I2C_CP_RES4, // reserved 00187 I2C_CP_RES5, // reserved 00188 I2C_CP_RES6, // reserved 00189 I2C_CP_RES7, // reserved 00190 }; 00191 00192 00193 00194 /* Winch Operating mode */ 00195 enum{ 00196 WINCH_POSITION_CLEAR, 00197 WINCH_PRESET_BASEDATA, 00198 WINCH_MMODE_RELATIVE, 00199 WINCH_MMODE_ABSOLUTE, 00200 WINCH_STEPDOWN_BTN_ON, 00201 WINCH_STEPDOWN_BTN_OFF, 00202 WINCH_STEPUP_BTN_ON, 00203 WINCH_STEPUP_BTN_OFF, 00204 WINCH_U_STEPDOWN_BTN_ON, 00205 WINCH_U_STEPDOWN_BTN_OFF, 00206 WINCH_U_STEPUP_BTN_ON, 00207 WINCH_U_STEPUP_BTN_OFF, 00208 WINCH_PRESET_POSITION, 00209 }; 00210 00211 /* Game Pad defnition */ 00212 #define GAMEPAD_VID_LOGICOOL 0x046d 00213 #define GAMEPAD_PID_LOGICOOL_F710 0xc219 00214 #define GAMEPAD_PID_LOGICOOL_F310 0xc216 00215 00216 #define GAMEPAD_VID_SANWA 0x12bd 00217 #define GAMEPAD_PID_SANWA_JYP70US 0xc003 00218 00219 #define GAMEPAD_VID_ELECOM 0x056e 00220 #define GAMEPAD_PID_ELECOM_JCU3613M 0x2003 00221 00222 #define GAMEPAD_VID_RSTHANDY 0x1234 00223 #define GAMEPAD_PID_RSTHANDY 0x0006 00224 00225 00226 /* Ether net */ 00227 #define TCP_SERVER_PORT 10002 00228 #define UDP_SERVER_PORT 10000 00229 //#define ECHO_SERVER_PORT 7 00230 00231 #define MOTOR_FWD 'F' /* Forward Rotation */ 00232 #define MOTOR_RVS 'R' /* Reverse Rotation */ 00233 #define MOTOR_STP 'S' /* Stop */ 00234 00235 // ========================================================= 00236 // Setting Values 00237 // ========================================================= 00238 typedef struct { 00239 int8_t sv_JS_ShapeMode; // JS Shape: 0=I, 1=KO 00240 int8_t sv_JS_OpeMode; // JS Operation: 0=single, 1=dual 00241 int8_t sv_WinchValid; // Winch function valid or not: 0=Tfm, Crawler valid, 1=Winch valid 00242 int8_t res; 00243 } basic_operation_t; 00244 00245 typedef struct { 00246 uint16_t sv_WDM_ith_F; // 2 Current Threshold Winch Dram Motor Fwd rotation. 00247 uint16_t sv_WDM_ith_R; // 2 Current Threshold Winch Dram Motor Rvs rotation. 00248 uint16_t sv_WRM_ith_F; // 2 Current Threshold Winch .... Motor Fwd rotation. 00249 uint16_t sv_WRM_ith_R; // 2 Current Threshold Winch .... Motor Rvs rotation. 00250 uint8_t sv_WDM_hsrto_F; // 1 Winch Dram Motor high speed ratio Fwd 00251 uint8_t sv_WDM_hsrto_R; // 1 Winch Dram Motor high speed ratio Rvs 00252 uint8_t sv_WDM_lsrto_F; // 1 Winch Dram Motor low speed ratio Fwd 00253 uint8_t sv_WDM_lsrto_R; // 1 Winch Dram Motor low speed ratio Rvs 00254 uint8_t sv_WRM_hsrto_F; // 1 Winch .... Motor high speed limit Fwd 00255 uint8_t sv_WRM_hsrto_R; // 1 Winch .... Motor high speed limit Rvs 00256 uint8_t sv_WRM_lsrto_F; // 1 Winch .... Motor low speed ratio Fwd 00257 uint8_t sv_WRM_lsrto_R; // 1 Winch .... Motor low speed ratio Rvs 00258 uint16_t sv_WRS_DramDmrx100; // 2 Winch Dram diameter x 100; 00259 uint16_t sv_WRS_CCableDmrx100; // 2 Winch CCable diameter x 100 00260 uint8_t sv_WRS_RResolution; // 1 Winch Resolver resolution (bit) 00261 uint8_t reserved; // 1 reserved for future use 00262 } winch_SetValue_t; // 22 byte 00263 00264 typedef struct { 00265 uint16_t sv_RFTM_ith_F; // 2 RF transform motor Fwd roration current threshold 00266 uint16_t sv_RFTM_ith_R; // 2 RF transform motor Rvs roration current threshold 00267 uint16_t sv_LBTM_ith_F; // 2 LB transform motor Fwd roration current threshold 00268 uint16_t sv_LBTM_ith_R; // 2 LB transform motor Rvs roration current threshold 00269 uint8_t sv_RFTM_srto_F; // 1 RF transform motor Fwd rotation speed ratio 00270 uint8_t sv_RFTM_srto_R; // 1 RF transform motor Rvs rotation speed ratio 00271 uint8_t sv_LBTM_srto_F; // 1 LB transform motor Fwd rotation speed ratio 00272 uint8_t sv_LBTM_srto_R; // 1 LB transform motor Rvs rotation speed ratio 00273 } tfm_SetValue_t; // 12 byte 00274 00275 typedef struct { 00276 uint16_t sv_RFCM_ith_F; // 2 RF Crawler motor Fwd rotation current threshold 00277 uint16_t sv_RFCM_ith_R; // 2 RF Crawler motor Rvs rotation current threshold 00278 uint16_t sv_LBCM_ith_F; // 2 LB Crawler motor Fwd rotation current threshold 00279 uint16_t sv_LBCM_ith_R; // 2 LB Crawler motor Rvs rotation current threshold 00280 uint8_t sv_RFCM_srto_F; // 1 RF Crawler motor Fwd rotation speed limnit 00281 uint8_t sv_RFCM_srto_R; // 1 RF Crawler motor Rvs rotation speed limnit 00282 uint8_t sv_LBCM_srto_F; // 1 LB Crawler motor Fwd rotation speed limnit 00283 uint8_t sv_LBCM_srto_R; // 1 LB Crawler motor Rvs rotation speed limnit 00284 uint8_t sv_RFCM_dzu; // 1 R-Joystick upper dead zone width 00285 uint8_t sv_RFCM_dzc; // 1 R-Joystick center value 00286 uint8_t sv_RFCM_dzl; // 1 R-Joystick lower dead zone width 00287 uint8_t sv_LBCM_dzu; // 1 L-Joystick upper dead zone width 00288 uint8_t sv_LBCM_dzc; // 1 L-Joystick center value 00289 uint8_t sv_LBCM_dzl; // 1 L-Joystick lower dead zone width 00290 uint8_t reserved1; // 1 00291 uint8_t reserved2; // 1 00292 } crawler_SetValue_t; // 20 byte 00293 00294 typedef struct { 00295 uint8_t sv_centerValue; 00296 uint8_t sv_nsenseBand_s; 00297 uint8_t sv_nsenseBand_w; 00298 } js_SetValue_t; 00299 00300 typedef struct SetValue { 00301 // operation_t operation; 00302 winch_SetValue_t winchCtrl; 00303 tfm_SetValue_t tfmCtrl; 00304 crawler_SetValue_t crawlerCtrl; 00305 // js_SetValue_t jsCtrl; 00306 } setValue_t; 00307 00308 00309 00310 00311 #define SLOWDOWN_DISTANCE 23 // <--10 2016.06.01 00312 #define SLOWDOWN_NEAR_DISTANCE 3 00313 /* 00314 typedef struct { 00315 int16_t dt_WinchCntPosition; // Current winch posittion 00316 int16_t dt_WinchRtvValue; // Winch Moving distance 00317 int16_t dt_WinchDstPosition; // Destination Position 00318 char operation; 00319 int8_t dt_WinchMotorCurrent; // Winch motor current 00320 } winchData_t; 00321 */ 00322 00323 typedef struct { 00324 int16_t dt_WinchCntPosition; // Current winch posittion 00325 int16_t dt_WinchRtvValue; // Winch Moving distance 00326 int16_t dt_WinchDstPosition; // Destination Position 00327 uint8_t operation; 00328 uint8_t dt_WinchMotor1Current; // Winch motor 1 current 00329 uint8_t dt_WinchMotor2Current; // Winch motor 2 current 00330 uint8_t res; 00331 } winchData_t; 00332 00333 00334 #define ROTATE_PER_RESOLUTION 24 00335 00336 #define __READ_CURRENT_AT_CIF_TASK__ 00337 00338 //mv_WinchMvData
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