z ysaito / Mbed 2 deprecated Pro_B2_1ZNR_CrExpB2_MotorCtrl_LPC824MAX

2018.08.06

Dependencies:   mbed-rtos mbed

common.h@0:653609b2a5cf, 2016-03-28 (annotated)

Committer:
sayzyas
Date:
Mon Mar 28 00:08:58 2016 +0000
Revision:
0:653609b2a5cf
Child:
1:c3508bfe65b6
Rev20160325

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sayzyas 0:653609b2a5cf 1 /*
sayzyas 0:653609b2a5cf 2 * mbed LPC824-Max header
sayzyas 0:653609b2a5cf 3 *
sayzyas 0:653609b2a5cf 4 */
sayzyas 0:653609b2a5cf 5
sayzyas 0:653609b2a5cf 6 #define __IIC_COMAMND_SEND__
sayzyas 0:653609b2a5cf 7
sayzyas 0:653609b2a5cf 8 /* Information */
sayzyas 0:653609b2a5cf 9 #define LatestUpDate "2016.03.16"
sayzyas 0:653609b2a5cf 10 #define ProgramRevision "---"
sayzyas 0:653609b2a5cf 11 #define Author "zinsor"
sayzyas 0:653609b2a5cf 12 #define Company "NRst"
sayzyas 0:653609b2a5cf 13 #define ProgramCode "RVM-X0F0A"
sayzyas 0:653609b2a5cf 14
sayzyas 0:653609b2a5cf 15 #define __DEBUG_L0__
sayzyas 0:653609b2a5cf 16 #define __DEBUG_L1__
sayzyas 0:653609b2a5cf 17 #define __DEBUG_L2__
sayzyas 0:653609b2a5cf 18 #define __DEBUG_L3__
sayzyas 0:653609b2a5cf 19 //#define __DEBUG_L4__
sayzyas 0:653609b2a5cf 20
sayzyas 0:653609b2a5cf 21 #ifdef __DEBUG_L0__
sayzyas 0:653609b2a5cf 22 #define DEBUG_PRINT_L0(...) pc.printf(__VA_ARGS__)
sayzyas 0:653609b2a5cf 23 #else
sayzyas 0:653609b2a5cf 24 #define DEBUG_PRINT_L0(...)
sayzyas 0:653609b2a5cf 25 #endif
sayzyas 0:653609b2a5cf 26 #ifdef __DEBUG_L1__
sayzyas 0:653609b2a5cf 27 #define DEBUG_PRINT_L1(...) pc.printf(__VA_ARGS__)
sayzyas 0:653609b2a5cf 28 #else
sayzyas 0:653609b2a5cf 29 #define DEBUG_PRINT_L1(...)
sayzyas 0:653609b2a5cf 30 #endif
sayzyas 0:653609b2a5cf 31 #ifdef __DEBUG_L2__
sayzyas 0:653609b2a5cf 32 #define DEBUG_PRINT_L2(...) pc.printf(__VA_ARGS__)
sayzyas 0:653609b2a5cf 33 #else
sayzyas 0:653609b2a5cf 34 #define DEBUG_PRINT_L2(...)
sayzyas 0:653609b2a5cf 35 #endif
sayzyas 0:653609b2a5cf 36 #ifdef __DEBUG_L3__
sayzyas 0:653609b2a5cf 37 #define DEBUG_PRINT_L3(...) pc.printf(__VA_ARGS__)
sayzyas 0:653609b2a5cf 38 #else
sayzyas 0:653609b2a5cf 39 #define DEBUG_PRINT_L3(...)
sayzyas 0:653609b2a5cf 40 #endif
sayzyas 0:653609b2a5cf 41 #ifdef __DEBUG_L4__
sayzyas 0:653609b2a5cf 42 #define DEBUG_PRINT_L4(...) pc.printf(__VA_ARGS__)
sayzyas 0:653609b2a5cf 43 #else
sayzyas 0:653609b2a5cf 44 #define DEBUG_PRINT_L4(...)
sayzyas 0:653609b2a5cf 45 #endif
sayzyas 0:653609b2a5cf 46
sayzyas 0:653609b2a5cf 47
sayzyas 0:653609b2a5cf 48 /* Motor Controller I2C address definition */
sayzyas 0:653609b2a5cf 49 #define I2C_ADDRESS_HANDY 0x20
sayzyas 0:653609b2a5cf 50 #define I2C_ADDRESS_WINCH 0x10
sayzyas 0:653609b2a5cf 51 #define I2C_ADDRESS_TRANSFORM 0x08
sayzyas 0:653609b2a5cf 52 #define I2C_ADDRESS_CRAWLER 0x04
sayzyas 0:653609b2a5cf 53 #define I2C_ADDRESS_RESOLVER 0x02
sayzyas 0:653609b2a5cf 54
sayzyas 0:653609b2a5cf 55
sayzyas 0:653609b2a5cf 56 /* Command definition */
sayzyas 0:653609b2a5cf 57 //#define I2C_TFM_RF_K '6'
sayzyas 0:653609b2a5cf 58 //#define I2C_TFM_RF_I '8'
sayzyas 0:653609b2a5cf 59 //#define I2C_TFM_LB_K '7'
sayzyas 0:653609b2a5cf 60 //#define I2C_TFM_LB_I '5'
sayzyas 0:653609b2a5cf 61 //#define I2C_TFM_PAN_CW '2'
sayzyas 0:653609b2a5cf 62 //#define I2C_TFM_PAN_CCW '4'
sayzyas 0:653609b2a5cf 63 //#define I2C_TFM_TILT_UP '1'
sayzyas 0:653609b2a5cf 64 //#define I2C_TFM_TILT_DWN '3'
sayzyas 0:653609b2a5cf 65
sayzyas 0:653609b2a5cf 66 /* Command definition */
sayzyas 0:653609b2a5cf 67 #define MOTOR_1 '1'
sayzyas 0:653609b2a5cf 68 #define MOTOR_2 '2'
sayzyas 0:653609b2a5cf 69
sayzyas 0:653609b2a5cf 70 #define MOTOR_FWD 'F' /* Forward Rotation */
sayzyas 0:653609b2a5cf 71 #define MOTOR_RVS 'R' /* Reverse Rotation */
sayzyas 0:653609b2a5cf 72 #define MOTOR_STP 'S' /* Stop */
sayzyas 0:653609b2a5cf 73
sayzyas 0:653609b2a5cf 74 #define HELLO_PACKET 'A'
sayzyas 0:653609b2a5cf 75 #define READ_MCURRENT_PACKET 'C'
sayzyas 0:653609b2a5cf 76
sayzyas 0:653609b2a5cf 77
sayzyas 0:653609b2a5cf 78 #define MOTOR_ON '0'
sayzyas 0:653609b2a5cf 79 #define MOTOR_OFF '1'
sayzyas 0:653609b2a5cf 80
sayzyas 0:653609b2a5cf 81 #define LED_ON 0
sayzyas 0:653609b2a5cf 82 #define LED_OFF 1
sayzyas 0:653609b2a5cf 83
sayzyas 0:653609b2a5cf 84 #define FLG_MOTOR1 1
sayzyas 0:653609b2a5cf 85 #define FLG_MOTOR2 2
sayzyas 0:653609b2a5cf 86 #define FLG_MOTOR_ON 1
sayzyas 0:653609b2a5cf 87 #define FLG_MOTOR_OFF 0
sayzyas 0:653609b2a5cf 88
sayzyas 0:653609b2a5cf 89 enum {
sayzyas 0:653609b2a5cf 90 FLG_MOTOR_DIR_FWD,
sayzyas 0:653609b2a5cf 91 FLG_MOTOR_DIR_RVS,
sayzyas 0:653609b2a5cf 92 FLG_MOTOR_DIR_NONE
sayzyas 0:653609b2a5cf 93 };
sayzyas 0:653609b2a5cf 94
sayzyas 0:653609b2a5cf 95
sayzyas 0:653609b2a5cf 96
sayzyas 0:653609b2a5cf 97 #define MC_UPPER_LIMIT 95.0f
sayzyas 0:653609b2a5cf 98 #define MC_LOWER_LIMIT 5.0f
sayzyas 0:653609b2a5cf 99 #define MC_LOCK_COUNT 5
sayzyas 0:653609b2a5cf 100
sayzyas 0:653609b2a5cf 101 #define NumberOfPcCommand 11
sayzyas 0:653609b2a5cf 102 #define NumberOfI2CCommand 10
sayzyas 0:653609b2a5cf 103
sayzyas 0:653609b2a5cf 104 #define ROTATE_PER_RESOLUTION 24