File content as of revision 9:a4cc7dc2d92f:

/* 
   DEBUG PRINT MACRO
   http://qiita.com/saltheads/items/e1b0ab54d3d6029c9593
   http://tricky-code.net/nicecode/code10.php
*/
/* Information */
#define LatestUpDate    "2020.07.02"
#define ProgramRevision "Rev 0.01" 
#define Author          "y.saito"
#define Company         "Sanei 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_L0__
#define __DEBUG_L1__
#define __DEBUG_L2__
#define __DEBUG_L3__
#define __DEBUG_L4__
#define __DEBUG_L5__

#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



/* *****
 Constant definition
***** */
#define BLINKING_RATE_MS  100 /* Blinking rate */


#define DIR_CCW 1
#define DIR_CW 0
#define MOTOR_ON 1
#define MOTOR_OFF 0

#define L_001mm 1000 * 2
#define L_002mm 2000 * 2
#define L_003mm 3000 * 2
#define L_004mm 4000 * 2
#define L_005mm 5000 * 2
#define L_006mm 6000 * 2
#define L_007mm 7000 * 2
#define L_008mm 8000 * 2
#define L_009mm 9000 * 2
#define L_010mm 10000 * 2
#define L_050mm 50000 * 2
#define L_100mm 100000 * 2



























/* 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

/* I2C Command packet to motor controller */
/* For motor controller */
enum{
    I2C_CP_PREAMBLE,        // Preamble of command packet
    I2C_CP_COMMAND,         // instruction command
    I2C_CP_M1_DIR,          // motor1 rotation direction   
    I2C_CP_M1_SPEED,        // motor1 rotation speed    
    I2C_CP_M1_FWD_CNTTH_U,  // motor1 current limit detection threshold upper byte 
    I2C_CP_M1_FWD_CNTTH_L,  // motor1 current limit detection threshold lower byte 
    I2C_CP_M1_RVS_CNTTH_U,  // motor1 current limit detection threshold upper byte
    I2C_CP_M1_RVS_CNTTH_L,  // motor1 current limit detection threshold lower byte   
    I2C_CP_M2_DIR,          // motor2 rotation direction   
    I2C_CP_M2_SPEED,        // motor2 rotation speed   
    I2C_CP_M2_FWD_CNTTH_U,  // motor2 current limit detection threshold upper byte   
    I2C_CP_M2_FWD_CNTTH_L,  // motor2 current limit detection threshold lower byte  
    I2C_CP_M2_RVS_CNTTH_U,  // motor2 current limit detection threshold upper byte
    I2C_CP_M2_RVS_CNTTH_L,  // motor2 current limit detection threshold lower byte    
};
/* For resolver reader controller */
enum{
    I2C_CP_PREAMBLE_R,        // Sub command
    I2C_CP_COMMAND_R,           // instruction command
    I2C_CP_WDRAM_DIA_UPPER,     // motor1 rotation direction   
    I2C_CP_WDRAM_DIA_LOWER,     // motor1 rotation speed    
    I2C_CP_CCABLE_DIA_UPPER,    // motor1 current limit detection threshold upper byte 
    I2C_CP_CCABLE_DIA_LOWER,    // motor1 current limit detection threshold lower byte 
    I2C_CP_RESOLVER_RESO,       // motor1 current limit detection threshold upper byte
    I2C_CP_PRESET_CPOS_UPPER,   // reserved   
    I2C_CP_PRESET_CPOS_LOWER,   // reserved    
    I2C_CP_RES3,                // reserved   
    I2C_CP_RES4,                // reserved   
    I2C_CP_RES5,                // reserved  
    I2C_CP_RES6,                // reserved
    I2C_CP_RES7,                // reserved    
};



/* 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 {
    uint16_t    sv_WDM_ith_F;           // 2 Current Threshold Winch Dram Motor Fwd rotation.
    uint16_t    sv_WDM_ith_R;           // 2 Current Threshold Winch Dram Motor Rvs rotation.
    uint16_t    sv_WRM_ith_F;           // 2 Current Threshold Winch .... Motor Fwd rotation.
    uint16_t    sv_WRM_ith_R;           // 2 Current Threshold Winch .... Motor Rvs rotation.
    uint8_t     sv_WDM_hsrto_F;         // 1 Winch Dram Motor high speed ratio Fwd
    uint8_t     sv_WDM_hsrto_R;         // 1 Winch Dram Motor high speed ratio Rvs
    uint8_t     sv_WDM_lsrto_F;         // 1 Winch Dram Motor low speed ratio Fwd 
    uint8_t     sv_WDM_lsrto_R;         // 1 Winch Dram Motor low speed ratio Rvs 
    uint8_t     sv_WRM_hsrto_F;         // 1 Winch .... Motor high speed limit Fwd
    uint8_t     sv_WRM_hsrto_R;         // 1 Winch .... Motor high speed limit Rvs
    uint8_t     sv_WRM_lsrto_F;         // 1 Winch .... Motor low speed ratio Fwd 
    uint8_t     sv_WRM_lsrto_R;         // 1 Winch .... Motor low speed ratio Rvs   
    uint16_t    sv_WRS_DramDmrx100;     // 2 Winch Dram diameter x 100;
    uint16_t    sv_WRS_CCableDmrx100;   // 2 Winch CCable diameter x 100
    uint8_t     sv_WRS_RResolution;     // 1 Winch Resolver resolution (bit)
    uint8_t     reserved;               // 1 reserved for future use
} winch_SetValue_t;                     // 22 byte

typedef struct {
    uint16_t    sv_RFTM_ith_F;          // 2 RF transform motor Fwd roration current threshold 
    uint16_t    sv_RFTM_ith_R;          // 2 RF transform motor Rvs roration current threshold
    uint16_t    sv_LBTM_ith_F;          // 2 LB transform motor Fwd roration current threshold
    uint16_t    sv_LBTM_ith_R;          // 2 LB transform motor Rvs roration current threshold
    uint8_t     sv_RFTM_srto_F;         // 1 RF transform motor Fwd rotation speed ratio
    uint8_t     sv_RFTM_srto_R;         // 1 RF transform motor Rvs rotation speed ratio
    uint8_t     sv_LBTM_srto_F;         // 1 LB transform motor Fwd rotation speed ratio
    uint8_t     sv_LBTM_srto_R;         // 1 LB transform motor Rvs rotation speed ratio
} tfm_SetValue_t;                       // 12 byte 

typedef struct {
    uint16_t    sv_RFCM_ith_F;      // 2 RF Crawler motor Fwd rotation current threshold
    uint16_t    sv_RFCM_ith_R;      // 2 RF Crawler motor Rvs rotation current threshold
    uint16_t    sv_LBCM_ith_F;      // 2 LB Crawler motor Fwd rotation current threshold
    uint16_t    sv_LBCM_ith_R;      // 2 LB Crawler motor Rvs rotation current threshold
    uint8_t     sv_RFCM_srto_F;     // 1 RF Crawler motor Fwd rotation speed limnit
    uint8_t     sv_RFCM_srto_R;     // 1 RF Crawler motor Rvs rotation speed limnit
    uint8_t     sv_LBCM_srto_F;     // 1 LB Crawler motor Fwd rotation speed limnit     
    uint8_t     sv_LBCM_srto_R;     // 1 LB Crawler motor Rvs rotation speed limnit
    uint8_t     sv_RFCM_dzu;        // 1 R-Joystick upper dead zone width
    uint8_t     sv_RFCM_dzc;        // 1 R-Joystick center value
    uint8_t     sv_RFCM_dzl;        // 1 R-Joystick lower dead zone width
    uint8_t     sv_LBCM_dzu;        // 1 L-Joystick upper dead zone width
    uint8_t     sv_LBCM_dzc;        // 1 L-Joystick center value
    uint8_t     sv_LBCM_dzl;        // 1 L-Joystick lower dead zone width
    uint8_t     reserved1;          // 1
    uint8_t     reserved2;          // 1
} crawler_SetValue_t;               // 20 byte

typedef struct {
    uint8_t sv_centerValue;
    uint8_t sv_nsenseBand_s;
    uint8_t sv_nsenseBand_w;
} js_SetValue_t;

typedef struct SetValue {
//    operation_t             operation;
    winch_SetValue_t        winchCtrl;
    tfm_SetValue_t          tfmCtrl;
    crawler_SetValue_t      crawlerCtrl;
//    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