z ysaito / Mbed 2 deprecated Pro_B2_0ZNR_B2DebrisSurvayor_1768LAN

2018.07.26

Dependencies:   EthernetInterface TextLCD USBDevice USBHost3 mbed

Fork of USBHostHub_HelloWorld by Samuel Mokrani

com_func.cpp@16:1adb3f1e867d, 2018-07-26 (annotated)

Committer:
sayzyas
Date:
Thu Jul 26 04:21:06 2018 +0000
Revision:
16:1adb3f1e867d
Parent:
14:3a5ae61ab1f4 
2018.07.26

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sayzyas 10:a2bd7d07c7f8 1 #include "mbed.h"
sayzyas 10:a2bd7d07c7f8 2 #include "rtos.h"
sayzyas 10:a2bd7d07c7f8 3 #include "common.h"
sayzyas 10:a2bd7d07c7f8 4 #include "com_func.h"
sayzyas 10:a2bd7d07c7f8 5
sayzyas 10:a2bd7d07c7f8 6
sayzyas 10:a2bd7d07c7f8 7 void cf_led_onoff(
sayzyas 10:a2bd7d07c7f8 8 DigitalOut *led1,
sayzyas 10:a2bd7d07c7f8 9 DigitalOut *led2,
sayzyas 10:a2bd7d07c7f8 10 DigitalOut *led3,
sayzyas 10:a2bd7d07c7f8 11 DigitalOut *led4,
sayzyas 10:a2bd7d07c7f8 12 bool led1_onoff,
sayzyas 10:a2bd7d07c7f8 13 bool led2_onoff,
sayzyas 10:a2bd7d07c7f8 14 bool led3_onoff,
sayzyas 10:a2bd7d07c7f8 15 bool led4_onoff
sayzyas 10:a2bd7d07c7f8 16 ){
sayzyas 10:a2bd7d07c7f8 17 if (led1_onoff == true ) *led1 = 1;
sayzyas 10:a2bd7d07c7f8 18 else *led1 = 0;
sayzyas 10:a2bd7d07c7f8 19 if (led2_onoff == true ) *led2 = 1;
sayzyas 10:a2bd7d07c7f8 20 else *led2 = 0;
sayzyas 10:a2bd7d07c7f8 21 if (led3_onoff == true ) *led3 = 1;
sayzyas 10:a2bd7d07c7f8 22 else *led3 = 0;
sayzyas 10:a2bd7d07c7f8 23 if (led4_onoff == true ) *led4 = 1;
sayzyas 10:a2bd7d07c7f8 24 else *led4 = 0;
sayzyas 10:a2bd7d07c7f8 25 }
sayzyas 10:a2bd7d07c7f8 26
sayzyas 10:a2bd7d07c7f8 27 // LED demo
sayzyas 10:a2bd7d07c7f8 28 void cf_led_demo(
sayzyas 10:a2bd7d07c7f8 29 DigitalOut *led1,
sayzyas 10:a2bd7d07c7f8 30 DigitalOut *led2,
sayzyas 10:a2bd7d07c7f8 31 DigitalOut *led3,
sayzyas 10:a2bd7d07c7f8 32 DigitalOut *led4,
sayzyas 10:a2bd7d07c7f8 33 int cnt,
sayzyas 10:a2bd7d07c7f8 34 int wait
sayzyas 10:a2bd7d07c7f8 35 ){
sayzyas 10:a2bd7d07c7f8 36 for( int i = 0; i < cnt; i++ ) {
sayzyas 10:a2bd7d07c7f8 37 *led1 = 1; // on
sayzyas 10:a2bd7d07c7f8 38 *led2 = 0; // off
sayzyas 10:a2bd7d07c7f8 39 *led3 = 0; // off
sayzyas 10:a2bd7d07c7f8 40 *led4 = 0; // off
sayzyas 10:a2bd7d07c7f8 41 Thread::wait(wait);
sayzyas 10:a2bd7d07c7f8 42 *led1 = 0; // off
sayzyas 10:a2bd7d07c7f8 43 *led2 = 1; // on
sayzyas 10:a2bd7d07c7f8 44 *led3 = 0; // off
sayzyas 10:a2bd7d07c7f8 45 *led4 = 0; // off
sayzyas 10:a2bd7d07c7f8 46 Thread::wait(wait);
sayzyas 10:a2bd7d07c7f8 47 *led1 = 0; // off
sayzyas 10:a2bd7d07c7f8 48 *led2 = 0; // off
sayzyas 10:a2bd7d07c7f8 49 *led3 = 1; // on
sayzyas 10:a2bd7d07c7f8 50 *led4 = 0; // off
sayzyas 10:a2bd7d07c7f8 51 Thread::wait(wait);
sayzyas 10:a2bd7d07c7f8 52 *led1 = 0; // off
sayzyas 10:a2bd7d07c7f8 53 *led2 = 0; // off
sayzyas 10:a2bd7d07c7f8 54 *led3 = 0; // off
sayzyas 10:a2bd7d07c7f8 55 *led4 = 1; // on
sayzyas 10:a2bd7d07c7f8 56 Thread::wait(wait);
sayzyas 10:a2bd7d07c7f8 57 *led1 = 0; // off
sayzyas 10:a2bd7d07c7f8 58 *led2 = 0; // off
sayzyas 10:a2bd7d07c7f8 59 *led3 = 0; // off
sayzyas 10:a2bd7d07c7f8 60 *led4 = 0; // off
sayzyas 10:a2bd7d07c7f8 61 }
sayzyas 10:a2bd7d07c7f8 62 }
sayzyas 10:a2bd7d07c7f8 63
sayzyas 10:a2bd7d07c7f8 64 void cf_led_error(
sayzyas 10:a2bd7d07c7f8 65 DigitalOut *led1,
sayzyas 10:a2bd7d07c7f8 66 DigitalOut *led2,
sayzyas 10:a2bd7d07c7f8 67 DigitalOut *led3,
sayzyas 10:a2bd7d07c7f8 68 DigitalOut *led4
sayzyas 10:a2bd7d07c7f8 69 ){
sayzyas 10:a2bd7d07c7f8 70 for( int i = 0; i < 16; i++ ) {
sayzyas 10:a2bd7d07c7f8 71 *led1 = 1; // on
sayzyas 10:a2bd7d07c7f8 72 *led2 = 1; // off
sayzyas 10:a2bd7d07c7f8 73 *led3 = 1; // off
sayzyas 10:a2bd7d07c7f8 74 *led4 = 1; // off
sayzyas 10:a2bd7d07c7f8 75 Thread::wait(30);
sayzyas 10:a2bd7d07c7f8 76 *led1 = 0; // off
sayzyas 10:a2bd7d07c7f8 77 *led2 = 0; // on
sayzyas 10:a2bd7d07c7f8 78 *led3 = 0; // off
sayzyas 10:a2bd7d07c7f8 79 *led4 = 0; // off
sayzyas 10:a2bd7d07c7f8 80 Thread::wait(30);
sayzyas 10:a2bd7d07c7f8 81 }
sayzyas 10:a2bd7d07c7f8 82 }
sayzyas 10:a2bd7d07c7f8 83
sayzyas 10:a2bd7d07c7f8 84 void dspSetValue2Console(Serial* pc, setValue_t * setValue){
sayzyas 14:3a5ae61ab1f4 85 pc->printf("WinchDram motor Fwd rote current th: %04d %\r\n", setValue->winchCtrl.sv_WDM_ith_F);
sayzyas 14:3a5ae61ab1f4 86 pc->printf("WinchDram motor Rvs rote current th: %04d %\r\n", setValue->winchCtrl.sv_WDM_ith_R);
sayzyas 14:3a5ae61ab1f4 87 pc->printf("WinchM2 motor Fwd rote current th: %04d %\r\n", setValue->winchCtrl.sv_WRM_ith_F);
sayzyas 14:3a5ae61ab1f4 88 pc->printf("WinchM2 motor Rvs rote current th: %04d %\r\n", setValue->winchCtrl.sv_WRM_ith_R);
sayzyas 14:3a5ae61ab1f4 89 pc->printf("WinchDram motor Fwd HighSpeed ratio: %03d %\r\n", setValue->winchCtrl.sv_WDM_hsrto_F);
sayzyas 14:3a5ae61ab1f4 90 pc->printf("WinchDram motor Rvs HighSpeed ratio: %03d %\r\n", setValue->winchCtrl.sv_WDM_hsrto_R);
sayzyas 14:3a5ae61ab1f4 91 pc->printf("WinchDram motor Fwd LowSpeed ratio: %03d %\r\n", setValue->winchCtrl.sv_WDM_lsrto_F);
sayzyas 14:3a5ae61ab1f4 92 pc->printf("WinchDram motor Rvs LowSpeed ratio: %03d %\r\n", setValue->winchCtrl.sv_WDM_lsrto_R);
sayzyas 14:3a5ae61ab1f4 93 pc->printf("WinchM2 motor Fwd HighSpeed ratio: %03d %\r\n", setValue->winchCtrl.sv_WRM_hsrto_F);
sayzyas 14:3a5ae61ab1f4 94 pc->printf("WinchM2 motor Rvs HighSpeed ratio: %03d %\r\n", setValue->winchCtrl.sv_WRM_hsrto_R);
sayzyas 14:3a5ae61ab1f4 95 pc->printf("WinchM2 motor Fwd LowSpeed ratio: %03d %\r\n", setValue->winchCtrl.sv_WRM_lsrto_F);
sayzyas 14:3a5ae61ab1f4 96 pc->printf("WinchM2 motor Rvs LowSpeed ratio: %03d %\r\n", setValue->winchCtrl.sv_WRM_lsrto_R);
sayzyas 14:3a5ae61ab1f4 97 pc->printf("Winch Dram diameter x 100: %04d \r\n", setValue->winchCtrl.sv_WRS_DramDmrx100);
sayzyas 14:3a5ae61ab1f4 98 pc->printf("Winch C-Cable diamter x 100: %04d \r\n", setValue->winchCtrl.sv_WRS_CCableDmrx100);
sayzyas 14:3a5ae61ab1f4 99 pc->printf("Winch Resolver resolution: %03d bit\r\n", setValue->winchCtrl.sv_WRS_RResolution);
sayzyas 10:a2bd7d07c7f8 100
sayzyas 14:3a5ae61ab1f4 101 pc->printf("RF tfm motor Fwd rote current th: %04d %\r\n", setValue->tfmCtrl.sv_RFTM_ith_F);
sayzyas 14:3a5ae61ab1f4 102 pc->printf("RF tfm motor RVS rote current th: %04d %\r\n", setValue->tfmCtrl.sv_RFTM_ith_R);
sayzyas 14:3a5ae61ab1f4 103 pc->printf("LB tfm motor FWD rote current th: %04d %\r\n", setValue->tfmCtrl.sv_LBTM_ith_F);
sayzyas 14:3a5ae61ab1f4 104 pc->printf("LB tfm motor RVS rote current th: %04d %\r\n", setValue->tfmCtrl.sv_LBTM_ith_R);
sayzyas 14:3a5ae61ab1f4 105 pc->printf("RF tfm motor FWD Speed ratio: %03d %\r\n", setValue->tfmCtrl.sv_RFTM_srto_F);
sayzyas 14:3a5ae61ab1f4 106 pc->printf("RF tfm motor RVS Speed ratio: %03d %\r\n", setValue->tfmCtrl.sv_RFTM_srto_R);
sayzyas 14:3a5ae61ab1f4 107 pc->printf("LB tfm motor FWD Speed ratio: %03d %\r\n", setValue->tfmCtrl.sv_LBTM_srto_F);
sayzyas 14:3a5ae61ab1f4 108 pc->printf("LB tfm motor RVS Speed ratio: %03d %\r\n", setValue->tfmCtrl.sv_LBTM_srto_R);
sayzyas 10:a2bd7d07c7f8 109
sayzyas 14:3a5ae61ab1f4 110 pc->printf("R-Crawler Fwd rotation current th: %04d %\r\n", setValue->crawlerCtrl.sv_RFCM_ith_F);
sayzyas 14:3a5ae61ab1f4 111 pc->printf("R-Crawler Rvs rotation current th: %04d %\r\n", setValue->crawlerCtrl.sv_RFCM_ith_R);
sayzyas 14:3a5ae61ab1f4 112 pc->printf("L-Crawler Fwd rotation current th: %04d %\r\n", setValue->crawlerCtrl.sv_LBCM_ith_F);
sayzyas 14:3a5ae61ab1f4 113 pc->printf("L-Crawler Rvs rotation current th: %04d %\r\n", setValue->crawlerCtrl.sv_LBCM_ith_R);
sayzyas 14:3a5ae61ab1f4 114 pc->printf("R-Crawler Fwd rotation Speed ratio: %03d %\r\n", setValue->crawlerCtrl.sv_RFCM_srto_F);
sayzyas 14:3a5ae61ab1f4 115 pc->printf("R-Crawler Rvs rotation Speed ratio: %03d %\r\n", setValue->crawlerCtrl.sv_RFCM_srto_R);
sayzyas 14:3a5ae61ab1f4 116 pc->printf("L-Crawler Fwd rotation Speed ratio: %03d\r\n", setValue->crawlerCtrl.sv_LBCM_srto_F);
sayzyas 14:3a5ae61ab1f4 117 pc->printf("L-Crawler Rvs rotation Speed ratio: %03d\r\n", setValue->crawlerCtrl.sv_LBCM_srto_R);
sayzyas 14:3a5ae61ab1f4 118
sayzyas 14:3a5ae61ab1f4 119 pc->printf("R-JS UpperDeadZone: %03d\r\n", setValue->crawlerCtrl.sv_RFCM_dzu);
sayzyas 14:3a5ae61ab1f4 120 pc->printf("R-JS CenterValue: %03d\r\n", setValue->crawlerCtrl.sv_RFCM_dzc);
sayzyas 14:3a5ae61ab1f4 121 pc->printf("R-JS LowerDeadZone: %03d\r\n", setValue->crawlerCtrl.sv_RFCM_dzl);
sayzyas 14:3a5ae61ab1f4 122 pc->printf("L-JS UpperDeadZone: %03d\r\n", setValue->crawlerCtrl.sv_LBCM_dzu);
sayzyas 14:3a5ae61ab1f4 123 pc->printf("L-JS CenterValue: %03d\r\n", setValue->crawlerCtrl.sv_LBCM_dzc);
sayzyas 14:3a5ae61ab1f4 124 pc->printf("L-JS LowerDeadZone: %03d\r\n", setValue->crawlerCtrl.sv_LBCM_dzl);
sayzyas 14:3a5ae61ab1f4 125
sayzyas 14:3a5ae61ab1f4 126 pc->printf("Reserved1: %03d\r\n", setValue->crawlerCtrl.reserved1);
sayzyas 14:3a5ae61ab1f4 127 pc->printf("Reserved2: %03d\r\n", setValue->crawlerCtrl.reserved2);
sayzyas 14:3a5ae61ab1f4 128
sayzyas 13:2c70c772fe24 129 pc->printf( "\r\n" );
sayzyas 10:a2bd7d07c7f8 130 }