z ysaito / Mbed 2 deprecated Pro_B2_1ZNR_CrExpB2_MotorCtrl_LPC824MAX

2018.08.06

Dependencies:   mbed-rtos mbed

common.h@1:c3508bfe65b6, 2016-04-14 (annotated)

Committer:
sayzyas
Date:
Thu Apr 14 10:25:30 2016 +0000
Revision:
1:c3508bfe65b6
Parent:
0:653609b2a5cf
Child:
2:aeff576d5013
2014.04.14

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 1:c3508bfe65b6 17 //#define __DEBUG_L2__
sayzyas 1:c3508bfe65b6 18 //#define __DEBUG_L3__
sayzyas 0:653609b2a5cf 19 //#define __DEBUG_L4__
sayzyas 1:c3508bfe65b6 20 #define __DEBUG_DSPMCNT__ // Display motor current percentage value
sayzyas 0:653609b2a5cf 21
sayzyas 0:653609b2a5cf 22 #ifdef __DEBUG_L0__
sayzyas 0:653609b2a5cf 23 #define DEBUG_PRINT_L0(...) pc.printf(__VA_ARGS__)
sayzyas 0:653609b2a5cf 24 #else
sayzyas 0:653609b2a5cf 25 #define DEBUG_PRINT_L0(...)
sayzyas 0:653609b2a5cf 26 #endif
sayzyas 0:653609b2a5cf 27 #ifdef __DEBUG_L1__
sayzyas 0:653609b2a5cf 28 #define DEBUG_PRINT_L1(...) pc.printf(__VA_ARGS__)
sayzyas 0:653609b2a5cf 29 #else
sayzyas 0:653609b2a5cf 30 #define DEBUG_PRINT_L1(...)
sayzyas 0:653609b2a5cf 31 #endif
sayzyas 0:653609b2a5cf 32 #ifdef __DEBUG_L2__
sayzyas 0:653609b2a5cf 33 #define DEBUG_PRINT_L2(...) pc.printf(__VA_ARGS__)
sayzyas 0:653609b2a5cf 34 #else
sayzyas 0:653609b2a5cf 35 #define DEBUG_PRINT_L2(...)
sayzyas 0:653609b2a5cf 36 #endif
sayzyas 0:653609b2a5cf 37 #ifdef __DEBUG_L3__
sayzyas 0:653609b2a5cf 38 #define DEBUG_PRINT_L3(...) pc.printf(__VA_ARGS__)
sayzyas 0:653609b2a5cf 39 #else
sayzyas 0:653609b2a5cf 40 #define DEBUG_PRINT_L3(...)
sayzyas 0:653609b2a5cf 41 #endif
sayzyas 0:653609b2a5cf 42 #ifdef __DEBUG_L4__
sayzyas 0:653609b2a5cf 43 #define DEBUG_PRINT_L4(...) pc.printf(__VA_ARGS__)
sayzyas 0:653609b2a5cf 44 #else
sayzyas 0:653609b2a5cf 45 #define DEBUG_PRINT_L4(...)
sayzyas 0:653609b2a5cf 46 #endif
sayzyas 1:c3508bfe65b6 47 #ifdef __DEBUG_DSPMCNT__
sayzyas 1:c3508bfe65b6 48 #define DEBUG_DSPMCNT(...) pc.printf(__VA_ARGS__)
sayzyas 1:c3508bfe65b6 49 #else
sayzyas 1:c3508bfe65b6 50 #define DEBUG_DSPMCNT(...)
sayzyas 1:c3508bfe65b6 51 #endif
sayzyas 0:653609b2a5cf 52
sayzyas 0:653609b2a5cf 53 /* Motor Controller I2C address definition */
sayzyas 0:653609b2a5cf 54 #define I2C_ADDRESS_HANDY 0x20
sayzyas 0:653609b2a5cf 55 #define I2C_ADDRESS_WINCH 0x10
sayzyas 0:653609b2a5cf 56 #define I2C_ADDRESS_TRANSFORM 0x08
sayzyas 0:653609b2a5cf 57 #define I2C_ADDRESS_CRAWLER 0x04
sayzyas 0:653609b2a5cf 58 #define I2C_ADDRESS_RESOLVER 0x02
sayzyas 0:653609b2a5cf 59
sayzyas 0:653609b2a5cf 60
sayzyas 0:653609b2a5cf 61 /* Command definition */
sayzyas 0:653609b2a5cf 62 //#define I2C_TFM_RF_K '6'
sayzyas 0:653609b2a5cf 63 //#define I2C_TFM_RF_I '8'
sayzyas 0:653609b2a5cf 64 //#define I2C_TFM_LB_K '7'
sayzyas 0:653609b2a5cf 65 //#define I2C_TFM_LB_I '5'
sayzyas 0:653609b2a5cf 66 //#define I2C_TFM_PAN_CW '2'
sayzyas 0:653609b2a5cf 67 //#define I2C_TFM_PAN_CCW '4'
sayzyas 0:653609b2a5cf 68 //#define I2C_TFM_TILT_UP '1'
sayzyas 0:653609b2a5cf 69 //#define I2C_TFM_TILT_DWN '3'
sayzyas 0:653609b2a5cf 70
sayzyas 0:653609b2a5cf 71 /* Command definition */
sayzyas 0:653609b2a5cf 72 #define MOTOR_1 '1'
sayzyas 0:653609b2a5cf 73 #define MOTOR_2 '2'
sayzyas 0:653609b2a5cf 74
sayzyas 0:653609b2a5cf 75 #define MOTOR_FWD 'F' /* Forward Rotation */
sayzyas 0:653609b2a5cf 76 #define MOTOR_RVS 'R' /* Reverse Rotation */
sayzyas 0:653609b2a5cf 77 #define MOTOR_STP 'S' /* Stop */
sayzyas 0:653609b2a5cf 78
sayzyas 0:653609b2a5cf 79 #define HELLO_PACKET 'A'
sayzyas 0:653609b2a5cf 80 #define READ_MCURRENT_PACKET 'C'
sayzyas 0:653609b2a5cf 81
sayzyas 0:653609b2a5cf 82
sayzyas 0:653609b2a5cf 83 #define MOTOR_ON '0'
sayzyas 0:653609b2a5cf 84 #define MOTOR_OFF '1'
sayzyas 0:653609b2a5cf 85
sayzyas 0:653609b2a5cf 86 #define LED_ON 0
sayzyas 0:653609b2a5cf 87 #define LED_OFF 1
sayzyas 0:653609b2a5cf 88
sayzyas 0:653609b2a5cf 89 #define FLG_MOTOR1 1
sayzyas 0:653609b2a5cf 90 #define FLG_MOTOR2 2
sayzyas 0:653609b2a5cf 91 #define FLG_MOTOR_ON 1
sayzyas 0:653609b2a5cf 92 #define FLG_MOTOR_OFF 0
sayzyas 0:653609b2a5cf 93
sayzyas 0:653609b2a5cf 94 enum {
sayzyas 0:653609b2a5cf 95 FLG_MOTOR_DIR_FWD,
sayzyas 0:653609b2a5cf 96 FLG_MOTOR_DIR_RVS,
sayzyas 0:653609b2a5cf 97 FLG_MOTOR_DIR_NONE
sayzyas 0:653609b2a5cf 98 };
sayzyas 0:653609b2a5cf 99
sayzyas 1:c3508bfe65b6 100 /* I2C Command packet to motor controller */
sayzyas 1:c3508bfe65b6 101 /* For motor controller */
sayzyas 1:c3508bfe65b6 102 enum{
sayzyas 1:c3508bfe65b6 103 I2C_CP_PREAMBLE, // Preamble of command packet
sayzyas 1:c3508bfe65b6 104 I2C_CP_COMMAND, // instruction command
sayzyas 1:c3508bfe65b6 105 I2C_CP_M1_DIR, // motor1 rotation direction
sayzyas 1:c3508bfe65b6 106 I2C_CP_M1_SPEED, // motor1 rotation speed
sayzyas 1:c3508bfe65b6 107 I2C_CP_M1_FWD_CNTTH_U, // motor1 current limit detection threshold upper byte
sayzyas 1:c3508bfe65b6 108 I2C_CP_M1_FWD_CNTTH_L, // motor1 current limit detection threshold lower byte
sayzyas 1:c3508bfe65b6 109 I2C_CP_M1_RVS_CNTTH_U, // motor1 current limit detection threshold upper byte
sayzyas 1:c3508bfe65b6 110 I2C_CP_M1_RVS_CNTTH_L, // motor1 current limit detection threshold lower byte
sayzyas 1:c3508bfe65b6 111 I2C_CP_M2_DIR, // motor2 rotation direction
sayzyas 1:c3508bfe65b6 112 I2C_CP_M2_SPEED, // motor2 rotation speed
sayzyas 1:c3508bfe65b6 113 I2C_CP_M2_FWD_CNTTH_U, // motor2 current limit detection threshold upper byte
sayzyas 1:c3508bfe65b6 114 I2C_CP_M2_FWD_CNTTH_L, // motor2 current limit detection threshold lower byte
sayzyas 1:c3508bfe65b6 115 I2C_CP_M2_RVS_CNTTH_U, // motor2 current limit detection threshold upper byte
sayzyas 1:c3508bfe65b6 116 I2C_CP_M2_RVS_CNTTH_L, // motor2 current limit detection threshold lower byte
sayzyas 1:c3508bfe65b6 117 };
sayzyas 0:653609b2a5cf 118
sayzyas 0:653609b2a5cf 119 #define MC_UPPER_LIMIT 95.0f
sayzyas 0:653609b2a5cf 120 #define MC_LOWER_LIMIT 5.0f
sayzyas 0:653609b2a5cf 121 #define MC_LOCK_COUNT 5
sayzyas 0:653609b2a5cf 122
sayzyas 0:653609b2a5cf 123 #define NumberOfPcCommand 11
sayzyas 1:c3508bfe65b6 124 #define NumberOfI2CCommand 14
sayzyas 0:653609b2a5cf 125
sayzyas 0:653609b2a5cf 126 #define ROTATE_PER_RESOLUTION 24