Diff: common.h

Revision:

0:653609b2a5cf

Child:

1:c3508bfe65b6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/common.h	Mon Mar 28 00:08:58 2016 +0000
@@ -0,0 +1,104 @@
+/*
+ * mbed LPC824-Max header
+ *
+ */
+ 
+#define __IIC_COMAMND_SEND__
+
+/* Information */
+#define LatestUpDate "2016.03.16"
+#define ProgramRevision "---" 
+#define Author "zinsor"
+#define Company "NRst"
+#define ProgramCode "RVM-X0F0A"
+
+#define __DEBUG_L0__
+#define __DEBUG_L1__
+#define __DEBUG_L2__
+#define __DEBUG_L3__
+//#define __DEBUG_L4__
+
+#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
+
+
+/* Motor Controller I2C address definition */
+#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
+
+
+/* Command definition */
+//#define I2C_TFM_RF_K        '6'   
+//#define I2C_TFM_RF_I        '8' 
+//#define I2C_TFM_LB_K        '7'
+//#define I2C_TFM_LB_I        '5'
+//#define I2C_TFM_PAN_CW      '2'
+//#define I2C_TFM_PAN_CCW     '4'
+//#define I2C_TFM_TILT_UP     '1'
+//#define I2C_TFM_TILT_DWN    '3'  
+
+/* Command definition */
+#define MOTOR_1     '1'
+#define MOTOR_2     '2'
+
+#define MOTOR_FWD   'F'     /* Forward Rotation */
+#define MOTOR_RVS   'R'     /* Reverse Rotation */
+#define MOTOR_STP   'S'     /* Stop */
+
+#define HELLO_PACKET        'A'
+#define READ_MCURRENT_PACKET 'C'
+
+
+#define MOTOR_ON            '0'
+#define MOTOR_OFF           '1'
+
+#define LED_ON  0
+#define LED_OFF 1
+
+#define FLG_MOTOR1  1
+#define FLG_MOTOR2  2
+#define FLG_MOTOR_ON    1
+#define FLG_MOTOR_OFF   0
+
+enum {
+    FLG_MOTOR_DIR_FWD,
+    FLG_MOTOR_DIR_RVS,
+    FLG_MOTOR_DIR_NONE
+};
+
+
+
+#define MC_UPPER_LIMIT    95.0f
+#define MC_LOWER_LIMIT    5.0f  
+#define MC_LOCK_COUNT     5
+
+#define NumberOfPcCommand 11
+#define NumberOfI2CCommand 10
+
+#define ROTATE_PER_RESOLUTION 24