Diff: common.h

Revision:

13:2c70c772fe24

Parent:

12:3e6b6fcf540b

Child:

14:3a5ae61ab1f4

--- a/common.h	Fri Feb 19 07:02:35 2016 +0000
+++ b/common.h	Mon Mar 28 00:07:19 2016 +0000
@@ -9,9 +9,14 @@
 #define Author          "Y.Saito"
 #define Company         "Revast Co.,Ltd."
 
+// Read motor current 
+#define __READ_TFM_MOTOR_CURRENT__
+
+#define __IIC_COMAMND_SEND__
+
 #define __DEBUG_L0__
 #define __DEBUG_L1__
-#define __DEBUG_L2__
+//#define __DEBUG_L2__
 #define __DEBUG_L3__
 //#define __DEBUG_L4__
 //#define __DEBUG_L5__
@@ -51,11 +56,11 @@
 #define __DISP_GAMAPAD_STATUS_ALL__
 #define __DISP_WRITE_VALUE__
 
-#define I2C_ADDRESS_HANDY       0x50
-#define I2C_ADDRESS_WINCH       0x40
-#define I2C_ADDRESS_TRANSFORM   0x30
-#define I2C_ADDRESS_CRAWLER     0x70
-#define I2C_ADDRESS_RESOLVER    0x10
+#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
@@ -124,7 +129,9 @@
 typedef struct {
     int8_t  sv_JS_ShapeMode;    // JS Shape: 0=I, 1=KO
     int8_t  sv_JS_OpeMode;      // JS Operation: 0=single, 1=dual
-} operation_t;
+    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_RFTM_ith_F;
@@ -193,7 +200,7 @@
 } js_SetValue_t;
 
 typedef struct SetValue {
-    operation_t             operation;
+//    operation_t             operation;
     tfm_SetValue_t          tfmCtrl;
     winch_SetValue_t        winchCtrl;
     crawler_SetValue_t      crawlerCtrl;
@@ -204,6 +211,7 @@
 
 
 #define SLOWDOWN_DISTANCE 10
+#define SLOWDOWN_NEAR_DISTANCE 3
 /*
 typedef struct {
     int16_t dt_WinchCntPosition;    // Current winch posittion