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

common.h@16:1adb3f1e867d, 2018-07-26 (annotated)

Committer:
sayzyas
Date:
Thu Jul 26 04:21:06 2018 +0000
Revision:
16:1adb3f1e867d
Parent:
15:01680ed6b799 
2018.07.26

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sayzyas 10:a2bd7d07c7f8 1 /*
sayzyas 10:a2bd7d07c7f8 2 DEBUG PRINT MACRO
sayzyas 10:a2bd7d07c7f8 3 http://qiita.com/saltheads/items/e1b0ab54d3d6029c9593
sayzyas 10:a2bd7d07c7f8 4 http://tricky-code.net/nicecode/code10.php
sayzyas 10:a2bd7d07c7f8 5 */
sayzyas 10:a2bd7d07c7f8 6 /* Information */
sayzyas 15:01680ed6b799 7 #define LatestUpDate "2016.11.04"
sayzyas 15:01680ed6b799 8 #define ProgramRevision "Rev 2.40"
sayzyas 15:01680ed6b799 9 #define Author "ZisNotRevast"
sayzyas 11:ff06edc0219c 10 #define Company "Revast Co.,Ltd."
sayzyas 10:a2bd7d07c7f8 11
sayzyas 14:3a5ae61ab1f4 12 //#define __CREATE_SETTING_FILE__
sayzyas 14:3a5ae61ab1f4 13 //#define __TARGET_BOARD_CHECK__
sayzyas 14:3a5ae61ab1f4 14
sayzyas 15:01680ed6b799 15
sayzyas 15:01680ed6b799 16 //#define __WInchDebug__ // For debugging
sayzyas 15:01680ed6b799 17
sayzyas 15:01680ed6b799 18
sayzyas 15:01680ed6b799 19 // Comment out if net setting is FIX.
sayzyas 15:01680ed6b799 20 // #define __NET_SETTING_FROM_LFS__
sayzyas 15:01680ed6b799 21
sayzyas 15:01680ed6b799 22
sayzyas 13:2c70c772fe24 23 // Read motor current
sayzyas 13:2c70c772fe24 24 #define __READ_TFM_MOTOR_CURRENT__
sayzyas 13:2c70c772fe24 25
sayzyas 13:2c70c772fe24 26 #define __IIC_COMAMND_SEND__
sayzyas 13:2c70c772fe24 27
sayzyas 15:01680ed6b799 28 #define __SET_WINCH_MOTOR_SPEED_BY_VOLUME__
sayzyas 15:01680ed6b799 29
sayzyas 14:3a5ae61ab1f4 30 // ======================================================================
sayzyas 14:3a5ae61ab1f4 31 // For Debugging
sayzyas 14:3a5ae61ab1f4 32 // ======================================================================
sayzyas 14:3a5ae61ab1f4 33 //#define __DEBUG_PRINT_SW__ // Display SW Status to console
sayzyas 10:a2bd7d07c7f8 34 #define __DEBUG_L0__
sayzyas 14:3a5ae61ab1f4 35 //#define __DEBUG_L1__
sayzyas 13:2c70c772fe24 36 //#define __DEBUG_L2__
sayzyas 15:01680ed6b799 37 //#define __DEBUG_L3__
sayzyas 10:a2bd7d07c7f8 38 //#define __DEBUG_L4__
sayzyas 10:a2bd7d07c7f8 39 //#define __DEBUG_L5__
sayzyas 9:fdc87108d36f 40
sayzyas 15:01680ed6b799 41 #define __DEBUG_WINCH_DATA__
sayzyas 15:01680ed6b799 42
sayzyas 15:01680ed6b799 43
sayzyas 15:01680ed6b799 44 #ifdef __DEBUG_WINCH_DATA__
sayzyas 15:01680ed6b799 45 #define DEBUG_PRINT_WINCH_DATA(...) pc.printf(__VA_ARGS__)
sayzyas 15:01680ed6b799 46 #else
sayzyas 15:01680ed6b799 47 #define DEBUG_PRINT_WINCH_DATA(...)
sayzyas 15:01680ed6b799 48 #endif
sayzyas 15:01680ed6b799 49
sayzyas 14:3a5ae61ab1f4 50 #ifdef __DEBUG_PRINT_SW__
sayzyas 14:3a5ae61ab1f4 51 #define DEBUG_PRINT_SW(...) pc.printf(__VA_ARGS__)
sayzyas 14:3a5ae61ab1f4 52 #else
sayzyas 14:3a5ae61ab1f4 53 #define DEBUG_PRINT_SW(...)
sayzyas 14:3a5ae61ab1f4 54 #endif
sayzyas 14:3a5ae61ab1f4 55
sayzyas 10:a2bd7d07c7f8 56 #ifdef __DEBUG_L0__
sayzyas 10:a2bd7d07c7f8 57 #define DEBUG_PRINT_L0(...) pc.printf(__VA_ARGS__)
sayzyas 10:a2bd7d07c7f8 58 #else
sayzyas 10:a2bd7d07c7f8 59 #define DEBUG_PRINT_L0(...)
sayzyas 10:a2bd7d07c7f8 60 #endif
sayzyas 10:a2bd7d07c7f8 61 #ifdef __DEBUG_L1__
sayzyas 10:a2bd7d07c7f8 62 #define DEBUG_PRINT_L1(...) pc.printf(__VA_ARGS__)
sayzyas 10:a2bd7d07c7f8 63 #else
sayzyas 10:a2bd7d07c7f8 64 #define DEBUG_PRINT_L1(...)
sayzyas 10:a2bd7d07c7f8 65 #endif
sayzyas 10:a2bd7d07c7f8 66 #ifdef __DEBUG_L2__
sayzyas 10:a2bd7d07c7f8 67 #define DEBUG_PRINT_L2(...) pc.printf(__VA_ARGS__)
sayzyas 10:a2bd7d07c7f8 68 #else
sayzyas 10:a2bd7d07c7f8 69 #define DEBUG_PRINT_L2(...)
sayzyas 10:a2bd7d07c7f8 70 #endif
sayzyas 10:a2bd7d07c7f8 71 #ifdef __DEBUG_L3__
sayzyas 10:a2bd7d07c7f8 72 #define DEBUG_PRINT_L3(...) pc.printf(__VA_ARGS__)
sayzyas 10:a2bd7d07c7f8 73 #else
sayzyas 10:a2bd7d07c7f8 74 #define DEBUG_PRINT_L3(...)
sayzyas 10:a2bd7d07c7f8 75 #endif
sayzyas 10:a2bd7d07c7f8 76 #ifdef __DEBUG_L4__
sayzyas 10:a2bd7d07c7f8 77 #define DEBUG_PRINT_L4(...) pc.printf(__VA_ARGS__)
sayzyas 10:a2bd7d07c7f8 78 #else
sayzyas 10:a2bd7d07c7f8 79 #define DEBUG_PRINT_L4(...)
sayzyas 10:a2bd7d07c7f8 80 #endif
sayzyas 10:a2bd7d07c7f8 81 #ifdef __DEBUG_L5__
sayzyas 10:a2bd7d07c7f8 82 #define DEBUG_PRINT_L5(...) pc.printf(__VA_ARGS__)
sayzyas 10:a2bd7d07c7f8 83 #else
sayzyas 10:a2bd7d07c7f8 84 #define DEBUG_PRINT_L5(...)
sayzyas 10:a2bd7d07c7f8 85 #endif
sayzyas 14:3a5ae61ab1f4 86
sayzyas 10:a2bd7d07c7f8 87 /* Above is still under construction ..... */
sayzyas 9:fdc87108d36f 88
sayzyas 10:a2bd7d07c7f8 89 #define __DISP_GAMAPAD_STATUS_ALL__
sayzyas 10:a2bd7d07c7f8 90 #define __DISP_WRITE_VALUE__
sayzyas 10:a2bd7d07c7f8 91
sayzyas 13:2c70c772fe24 92 #define I2C_ADDRESS_HANDY 0x20
sayzyas 13:2c70c772fe24 93 #define I2C_ADDRESS_WINCH 0x10
sayzyas 13:2c70c772fe24 94 #define I2C_ADDRESS_TRANSFORM 0x08
sayzyas 13:2c70c772fe24 95 #define I2C_ADDRESS_CRAWLER 0x04
sayzyas 13:2c70c772fe24 96 #define I2C_ADDRESS_RESOLVER 0x02
sayzyas 9:fdc87108d36f 97
sayzyas 9:fdc87108d36f 98
sayzyas 10:a2bd7d07c7f8 99 #define _OK_ 1
sayzyas 10:a2bd7d07c7f8 100 #define _NG_ 0
sayzyas 10:a2bd7d07c7f8 101 #define _FAIL_ 0
sayzyas 10:a2bd7d07c7f8 102
sayzyas 10:a2bd7d07c7f8 103 #define ON 1
sayzyas 10:a2bd7d07c7f8 104 #define OFF 0
sayzyas 10:a2bd7d07c7f8 105
sayzyas 10:a2bd7d07c7f8 106 #define LFS_READ_COUNT 3
sayzyas 10:a2bd7d07c7f8 107 #define TARGET_CHECK_COUNT 10
sayzyas 10:a2bd7d07c7f8 108
sayzyas 10:a2bd7d07c7f8 109 //#define __DSP_MOTOR_CURRENT_
sayzyas 10:a2bd7d07c7f8 110
sayzyas 10:a2bd7d07c7f8 111 /* Usually this should be comment out */
sayzyas 10:a2bd7d07c7f8 112 //#define _COMMUNCATE_PC_BY_SERIAL_
sayzyas 10:a2bd7d07c7f8 113
sayzyas 10:a2bd7d07c7f8 114 // Should validate this definition when you use DHCP.
sayzyas 10:a2bd7d07c7f8 115 //#define __ETERNET_DHCP__
sayzyas 10:a2bd7d07c7f8 116
sayzyas 10:a2bd7d07c7f8 117 #define NumberOfPcCommand 11
sayzyas 14:3a5ae61ab1f4 118 #define NumberOfI2CCommand 14
sayzyas 14:3a5ae61ab1f4 119
sayzyas 14:3a5ae61ab1f4 120 /* I2C Command packet to motor controller */
sayzyas 14:3a5ae61ab1f4 121 /* For motor controller */
sayzyas 14:3a5ae61ab1f4 122 enum{
sayzyas 14:3a5ae61ab1f4 123 I2C_CP_PREAMBLE, // Preamble of command packet
sayzyas 14:3a5ae61ab1f4 124 I2C_CP_COMMAND, // instruction command
sayzyas 14:3a5ae61ab1f4 125 I2C_CP_M1_DIR, // motor1 rotation direction
sayzyas 14:3a5ae61ab1f4 126 I2C_CP_M1_SPEED, // motor1 rotation speed
sayzyas 14:3a5ae61ab1f4 127 I2C_CP_M1_FWD_CNTTH_U, // motor1 current limit detection threshold upper byte
sayzyas 14:3a5ae61ab1f4 128 I2C_CP_M1_FWD_CNTTH_L, // motor1 current limit detection threshold lower byte
sayzyas 14:3a5ae61ab1f4 129 I2C_CP_M1_RVS_CNTTH_U, // motor1 current limit detection threshold upper byte
sayzyas 14:3a5ae61ab1f4 130 I2C_CP_M1_RVS_CNTTH_L, // motor1 current limit detection threshold lower byte
sayzyas 14:3a5ae61ab1f4 131 I2C_CP_M2_DIR, // motor2 rotation direction
sayzyas 14:3a5ae61ab1f4 132 I2C_CP_M2_SPEED, // motor2 rotation speed
sayzyas 14:3a5ae61ab1f4 133 I2C_CP_M2_FWD_CNTTH_U, // motor2 current limit detection threshold upper byte
sayzyas 14:3a5ae61ab1f4 134 I2C_CP_M2_FWD_CNTTH_L, // motor2 current limit detection threshold lower byte
sayzyas 14:3a5ae61ab1f4 135 I2C_CP_M2_RVS_CNTTH_U, // motor2 current limit detection threshold upper byte
sayzyas 14:3a5ae61ab1f4 136 I2C_CP_M2_RVS_CNTTH_L, // motor2 current limit detection threshold lower byte
sayzyas 14:3a5ae61ab1f4 137 };
sayzyas 14:3a5ae61ab1f4 138 /* For resolver reader controller */
sayzyas 14:3a5ae61ab1f4 139 enum{
sayzyas 15:01680ed6b799 140 I2C_CP_PREAMBLE_R, // Sub command
sayzyas 14:3a5ae61ab1f4 141 I2C_CP_COMMAND_R, // instruction command
sayzyas 14:3a5ae61ab1f4 142 I2C_CP_WDRAM_DIA_UPPER, // motor1 rotation direction
sayzyas 14:3a5ae61ab1f4 143 I2C_CP_WDRAM_DIA_LOWER, // motor1 rotation speed
sayzyas 14:3a5ae61ab1f4 144 I2C_CP_CCABLE_DIA_UPPER, // motor1 current limit detection threshold upper byte
sayzyas 14:3a5ae61ab1f4 145 I2C_CP_CCABLE_DIA_LOWER, // motor1 current limit detection threshold lower byte
sayzyas 14:3a5ae61ab1f4 146 I2C_CP_RESOLVER_RESO, // motor1 current limit detection threshold upper byte
sayzyas 15:01680ed6b799 147 I2C_CP_PRESET_CPOS_UPPER, // reserved
sayzyas 15:01680ed6b799 148 I2C_CP_PRESET_CPOS_LOWER, // reserved
sayzyas 14:3a5ae61ab1f4 149 I2C_CP_RES3, // reserved
sayzyas 14:3a5ae61ab1f4 150 I2C_CP_RES4, // reserved
sayzyas 14:3a5ae61ab1f4 151 I2C_CP_RES5, // reserved
sayzyas 14:3a5ae61ab1f4 152 I2C_CP_RES6, // reserved
sayzyas 14:3a5ae61ab1f4 153 I2C_CP_RES7, // reserved
sayzyas 14:3a5ae61ab1f4 154 };
sayzyas 14:3a5ae61ab1f4 155
sayzyas 14:3a5ae61ab1f4 156
sayzyas 10:a2bd7d07c7f8 157
sayzyas 10:a2bd7d07c7f8 158 /* Winch Operating mode */
sayzyas 10:a2bd7d07c7f8 159 enum{
sayzyas 10:a2bd7d07c7f8 160 WINCH_POSITION_CLEAR,
sayzyas 15:01680ed6b799 161 WINCH_PRESET_BASEDATA,
sayzyas 10:a2bd7d07c7f8 162 WINCH_MMODE_RELATIVE,
sayzyas 10:a2bd7d07c7f8 163 WINCH_MMODE_ABSOLUTE,
sayzyas 10:a2bd7d07c7f8 164 WINCH_STEPDOWN_BTN_ON,
sayzyas 10:a2bd7d07c7f8 165 WINCH_STEPDOWN_BTN_OFF,
sayzyas 10:a2bd7d07c7f8 166 WINCH_STEPUP_BTN_ON,
sayzyas 10:a2bd7d07c7f8 167 WINCH_STEPUP_BTN_OFF,
sayzyas 10:a2bd7d07c7f8 168 WINCH_U_STEPDOWN_BTN_ON,
sayzyas 10:a2bd7d07c7f8 169 WINCH_U_STEPDOWN_BTN_OFF,
sayzyas 10:a2bd7d07c7f8 170 WINCH_U_STEPUP_BTN_ON,
sayzyas 10:a2bd7d07c7f8 171 WINCH_U_STEPUP_BTN_OFF,
sayzyas 15:01680ed6b799 172 WINCH_PRESET_POSITION,
sayzyas 10:a2bd7d07c7f8 173 };
sayzyas 10:a2bd7d07c7f8 174
sayzyas 10:a2bd7d07c7f8 175 /* Game Pad defnition */
sayzyas 10:a2bd7d07c7f8 176 #define GAMEPAD_VID_LOGICOOL 0x046d
sayzyas 10:a2bd7d07c7f8 177 #define GAMEPAD_PID_LOGICOOL_F710 0xc219
sayzyas 10:a2bd7d07c7f8 178 #define GAMEPAD_PID_LOGICOOL_F310 0xc216
sayzyas 10:a2bd7d07c7f8 179
sayzyas 10:a2bd7d07c7f8 180 #define GAMEPAD_VID_SANWA 0x12bd
sayzyas 10:a2bd7d07c7f8 181 #define GAMEPAD_PID_SANWA_JYP70US 0xc003
sayzyas 10:a2bd7d07c7f8 182
sayzyas 10:a2bd7d07c7f8 183 #define GAMEPAD_VID_ELECOM 0x056e
sayzyas 10:a2bd7d07c7f8 184 #define GAMEPAD_PID_ELECOM_JCU3613M 0x2003
sayzyas 10:a2bd7d07c7f8 185
sayzyas 10:a2bd7d07c7f8 186 #define GAMEPAD_VID_RSTHANDY 0x1234
sayzyas 10:a2bd7d07c7f8 187 #define GAMEPAD_PID_RSTHANDY 0x0006
sayzyas 9:fdc87108d36f 188
sayzyas 9:fdc87108d36f 189
sayzyas 10:a2bd7d07c7f8 190 /* Ether net */
sayzyas 10:a2bd7d07c7f8 191 #define TCP_SERVER_PORT 10002
sayzyas 10:a2bd7d07c7f8 192 #define UDP_SERVER_PORT 10000
sayzyas 10:a2bd7d07c7f8 193 //#define ECHO_SERVER_PORT 7
sayzyas 10:a2bd7d07c7f8 194
sayzyas 10:a2bd7d07c7f8 195 #define MOTOR_FWD 'F' /* Forward Rotation */
sayzyas 10:a2bd7d07c7f8 196 #define MOTOR_RVS 'R' /* Reverse Rotation */
sayzyas 10:a2bd7d07c7f8 197 #define MOTOR_STP 'S' /* Stop */
sayzyas 10:a2bd7d07c7f8 198
sayzyas 10:a2bd7d07c7f8 199 // =========================================================
sayzyas 10:a2bd7d07c7f8 200 // Setting Values
sayzyas 10:a2bd7d07c7f8 201 // =========================================================
sayzyas 10:a2bd7d07c7f8 202 typedef struct {
sayzyas 10:a2bd7d07c7f8 203 int8_t sv_JS_ShapeMode; // JS Shape: 0=I, 1=KO
sayzyas 10:a2bd7d07c7f8 204 int8_t sv_JS_OpeMode; // JS Operation: 0=single, 1=dual
sayzyas 13:2c70c772fe24 205 int8_t sv_WinchValid; // Winch function valid or not: 0=Tfm, Crawler valid, 1=Winch valid
sayzyas 13:2c70c772fe24 206 int8_t res;
sayzyas 13:2c70c772fe24 207 } basic_operation_t;
sayzyas 10:a2bd7d07c7f8 208
sayzyas 10:a2bd7d07c7f8 209 typedef struct {
sayzyas 14:3a5ae61ab1f4 210 uint16_t sv_WDM_ith_F; // 2 Current Threshold Winch Dram Motor Fwd rotation.
sayzyas 14:3a5ae61ab1f4 211 uint16_t sv_WDM_ith_R; // 2 Current Threshold Winch Dram Motor Rvs rotation.
sayzyas 14:3a5ae61ab1f4 212 uint16_t sv_WRM_ith_F; // 2 Current Threshold Winch .... Motor Fwd rotation.
sayzyas 14:3a5ae61ab1f4 213 uint16_t sv_WRM_ith_R; // 2 Current Threshold Winch .... Motor Rvs rotation.
sayzyas 14:3a5ae61ab1f4 214 uint8_t sv_WDM_hsrto_F; // 1 Winch Dram Motor high speed ratio Fwd
sayzyas 14:3a5ae61ab1f4 215 uint8_t sv_WDM_hsrto_R; // 1 Winch Dram Motor high speed ratio Rvs
sayzyas 14:3a5ae61ab1f4 216 uint8_t sv_WDM_lsrto_F; // 1 Winch Dram Motor low speed ratio Fwd
sayzyas 14:3a5ae61ab1f4 217 uint8_t sv_WDM_lsrto_R; // 1 Winch Dram Motor low speed ratio Rvs
sayzyas 14:3a5ae61ab1f4 218 uint8_t sv_WRM_hsrto_F; // 1 Winch .... Motor high speed limit Fwd
sayzyas 14:3a5ae61ab1f4 219 uint8_t sv_WRM_hsrto_R; // 1 Winch .... Motor high speed limit Rvs
sayzyas 14:3a5ae61ab1f4 220 uint8_t sv_WRM_lsrto_F; // 1 Winch .... Motor low speed ratio Fwd
sayzyas 14:3a5ae61ab1f4 221 uint8_t sv_WRM_lsrto_R; // 1 Winch .... Motor low speed ratio Rvs
sayzyas 14:3a5ae61ab1f4 222 uint16_t sv_WRS_DramDmrx100; // 2 Winch Dram diameter x 100;
sayzyas 14:3a5ae61ab1f4 223 uint16_t sv_WRS_CCableDmrx100; // 2 Winch CCable diameter x 100
sayzyas 14:3a5ae61ab1f4 224 uint8_t sv_WRS_RResolution; // 1 Winch Resolver resolution (bit)
sayzyas 14:3a5ae61ab1f4 225 uint8_t reserved; // 1 reserved for future use
sayzyas 14:3a5ae61ab1f4 226 } winch_SetValue_t; // 22 byte
sayzyas 7:7a258ef5670d 227
sayzyas 10:a2bd7d07c7f8 228 typedef struct {
sayzyas 14:3a5ae61ab1f4 229 uint16_t sv_RFTM_ith_F; // 2 RF transform motor Fwd roration current threshold
sayzyas 14:3a5ae61ab1f4 230 uint16_t sv_RFTM_ith_R; // 2 RF transform motor Rvs roration current threshold
sayzyas 14:3a5ae61ab1f4 231 uint16_t sv_LBTM_ith_F; // 2 LB transform motor Fwd roration current threshold
sayzyas 14:3a5ae61ab1f4 232 uint16_t sv_LBTM_ith_R; // 2 LB transform motor Rvs roration current threshold
sayzyas 14:3a5ae61ab1f4 233 uint8_t sv_RFTM_srto_F; // 1 RF transform motor Fwd rotation speed ratio
sayzyas 14:3a5ae61ab1f4 234 uint8_t sv_RFTM_srto_R; // 1 RF transform motor Rvs rotation speed ratio
sayzyas 15:01680ed6b799 235 uint8_t sv_LBTM_srto_F; // 1 LB transform motor Fwd rotation speed ratio
sayzyas 15:01680ed6b799 236 uint8_t sv_LBTM_srto_R; // 1 LB transform motor Rvs rotation speed ratio
sayzyas 14:3a5ae61ab1f4 237 } tfm_SetValue_t; // 12 byte
sayzyas 10:a2bd7d07c7f8 238
sayzyas 10:a2bd7d07c7f8 239 typedef struct {
sayzyas 14:3a5ae61ab1f4 240 uint16_t sv_RFCM_ith_F; // 2 RF Crawler motor Fwd rotation current threshold
sayzyas 14:3a5ae61ab1f4 241 uint16_t sv_RFCM_ith_R; // 2 RF Crawler motor Rvs rotation current threshold
sayzyas 14:3a5ae61ab1f4 242 uint16_t sv_LBCM_ith_F; // 2 LB Crawler motor Fwd rotation current threshold
sayzyas 14:3a5ae61ab1f4 243 uint16_t sv_LBCM_ith_R; // 2 LB Crawler motor Rvs rotation current threshold
sayzyas 14:3a5ae61ab1f4 244 uint8_t sv_RFCM_srto_F; // 1 RF Crawler motor Fwd rotation speed limnit
sayzyas 14:3a5ae61ab1f4 245 uint8_t sv_RFCM_srto_R; // 1 RF Crawler motor Rvs rotation speed limnit
sayzyas 14:3a5ae61ab1f4 246 uint8_t sv_LBCM_srto_F; // 1 LB Crawler motor Fwd rotation speed limnit
sayzyas 14:3a5ae61ab1f4 247 uint8_t sv_LBCM_srto_R; // 1 LB Crawler motor Rvs rotation speed limnit
sayzyas 14:3a5ae61ab1f4 248 uint8_t sv_RFCM_dzu; // 1 R-Joystick upper dead zone width
sayzyas 14:3a5ae61ab1f4 249 uint8_t sv_RFCM_dzc; // 1 R-Joystick center value
sayzyas 14:3a5ae61ab1f4 250 uint8_t sv_RFCM_dzl; // 1 R-Joystick lower dead zone width
sayzyas 14:3a5ae61ab1f4 251 uint8_t sv_LBCM_dzu; // 1 L-Joystick upper dead zone width
sayzyas 14:3a5ae61ab1f4 252 uint8_t sv_LBCM_dzc; // 1 L-Joystick center value
sayzyas 14:3a5ae61ab1f4 253 uint8_t sv_LBCM_dzl; // 1 L-Joystick lower dead zone width
sayzyas 14:3a5ae61ab1f4 254 uint8_t reserved1; // 1
sayzyas 14:3a5ae61ab1f4 255 uint8_t reserved2; // 1
sayzyas 14:3a5ae61ab1f4 256 } crawler_SetValue_t; // 20 byte
sayzyas 10:a2bd7d07c7f8 257
sayzyas 10:a2bd7d07c7f8 258 typedef struct {
sayzyas 10:a2bd7d07c7f8 259 uint8_t sv_centerValue;
sayzyas 10:a2bd7d07c7f8 260 uint8_t sv_nsenseBand_s;
sayzyas 10:a2bd7d07c7f8 261 uint8_t sv_nsenseBand_w;
sayzyas 10:a2bd7d07c7f8 262 } js_SetValue_t;
sayzyas 10:a2bd7d07c7f8 263
sayzyas 10:a2bd7d07c7f8 264 typedef struct SetValue {
sayzyas 13:2c70c772fe24 265 // operation_t operation;
sayzyas 14:3a5ae61ab1f4 266 winch_SetValue_t winchCtrl;
sayzyas 10:a2bd7d07c7f8 267 tfm_SetValue_t tfmCtrl;
sayzyas 10:a2bd7d07c7f8 268 crawler_SetValue_t crawlerCtrl;
sayzyas 10:a2bd7d07c7f8 269 // js_SetValue_t jsCtrl;
sayzyas 10:a2bd7d07c7f8 270 } setValue_t;
sayzyas 7:7a258ef5670d 271
sayzyas 7:7a258ef5670d 272
sayzyas 9:fdc87108d36f 273
sayzyas 9:fdc87108d36f 274
sayzyas 15:01680ed6b799 275 #define SLOWDOWN_DISTANCE 23 // <--10 2016.06.01
sayzyas 13:2c70c772fe24 276 #define SLOWDOWN_NEAR_DISTANCE 3
sayzyas 10:a2bd7d07c7f8 277 /*
sayzyas 10:a2bd7d07c7f8 278 typedef struct {
sayzyas 10:a2bd7d07c7f8 279 int16_t dt_WinchCntPosition; // Current winch posittion
sayzyas 10:a2bd7d07c7f8 280 int16_t dt_WinchRtvValue; // Winch Moving distance
sayzyas 10:a2bd7d07c7f8 281 int16_t dt_WinchDstPosition; // Destination Position
sayzyas 10:a2bd7d07c7f8 282 char operation;
sayzyas 10:a2bd7d07c7f8 283 int8_t dt_WinchMotorCurrent; // Winch motor current
sayzyas 10:a2bd7d07c7f8 284 } winchData_t;
sayzyas 10:a2bd7d07c7f8 285 */
sayzyas 10:a2bd7d07c7f8 286
sayzyas 10:a2bd7d07c7f8 287 typedef struct {
sayzyas 10:a2bd7d07c7f8 288 int16_t dt_WinchCntPosition; // Current winch posittion
sayzyas 10:a2bd7d07c7f8 289 int16_t dt_WinchRtvValue; // Winch Moving distance
sayzyas 10:a2bd7d07c7f8 290 int16_t dt_WinchDstPosition; // Destination Position
sayzyas 10:a2bd7d07c7f8 291 uint8_t operation;
sayzyas 10:a2bd7d07c7f8 292 uint8_t dt_WinchMotor1Current; // Winch motor 1 current
sayzyas 10:a2bd7d07c7f8 293 uint8_t dt_WinchMotor2Current; // Winch motor 2 current
sayzyas 10:a2bd7d07c7f8 294 uint8_t res;
sayzyas 10:a2bd7d07c7f8 295 } winchData_t;
sayzyas 10:a2bd7d07c7f8 296
sayzyas 10:a2bd7d07c7f8 297
sayzyas 10:a2bd7d07c7f8 298 #define ROTATE_PER_RESOLUTION 24
sayzyas 10:a2bd7d07c7f8 299
sayzyas 10:a2bd7d07c7f8 300 #define __READ_CURRENT_AT_CIF_TASK__
sayzyas 10:a2bd7d07c7f8 301
sayzyas 10:a2bd7d07c7f8 302 //mv_WinchMvData