Diff: common.h

Revision:

1:c3508bfe65b6

Parent:

0:653609b2a5cf

Child:

2:aeff576d5013

diff -r 653609b2a5cf -r c3508bfe65b6 common.h
--- a/common.h	Mon Mar 28 00:08:58 2016 +0000
+++ b/common.h	Thu Apr 14 10:25:30 2016 +0000
@@ -14,9 +14,10 @@
 
 #define __DEBUG_L0__
 #define __DEBUG_L1__
-#define __DEBUG_L2__
-#define __DEBUG_L3__
+//#define __DEBUG_L2__
+//#define __DEBUG_L3__
 //#define __DEBUG_L4__
+#define __DEBUG_DSPMCNT__   // Display motor current percentage value
 
 #ifdef __DEBUG_L0__
     #define DEBUG_PRINT_L0(...)  pc.printf(__VA_ARGS__)
@@ -43,7 +44,11 @@
 #else
     #define DEBUG_PRINT_L4(...) 
 #endif
-
+#ifdef __DEBUG_DSPMCNT__
+    #define DEBUG_DSPMCNT(...)  pc.printf(__VA_ARGS__)
+#else
+    #define DEBUG_DSPMCNT(...) 
+#endif
 
 /* Motor Controller I2C address definition */
 #define I2C_ADDRESS_HANDY       0x20
@@ -92,13 +97,30 @@
     FLG_MOTOR_DIR_NONE
 };
 
-
+/* I2C Command packet to motor controller */
+/* For motor controller */
+enum{
+    I2C_CP_PREAMBLE,        // Preamble of command packet
+    I2C_CP_COMMAND,         // instruction command
+    I2C_CP_M1_DIR,          // motor1 rotation direction   
+    I2C_CP_M1_SPEED,        // motor1 rotation speed    
+    I2C_CP_M1_FWD_CNTTH_U,  // motor1 current limit detection threshold upper byte 
+    I2C_CP_M1_FWD_CNTTH_L,  // motor1 current limit detection threshold lower byte 
+    I2C_CP_M1_RVS_CNTTH_U,  // motor1 current limit detection threshold upper byte
+    I2C_CP_M1_RVS_CNTTH_L,  // motor1 current limit detection threshold lower byte   
+    I2C_CP_M2_DIR,          // motor2 rotation direction   
+    I2C_CP_M2_SPEED,        // motor2 rotation speed   
+    I2C_CP_M2_FWD_CNTTH_U,  // motor2 current limit detection threshold upper byte   
+    I2C_CP_M2_FWD_CNTTH_L,  // motor2 current limit detection threshold lower byte  
+    I2C_CP_M2_RVS_CNTTH_U,  // motor2 current limit detection threshold upper byte
+    I2C_CP_M2_RVS_CNTTH_L,  // motor2 current limit detection threshold lower byte    
+};
 
 #define MC_UPPER_LIMIT    95.0f
 #define MC_LOWER_LIMIT    5.0f  
 #define MC_LOCK_COUNT     5
 
 #define NumberOfPcCommand 11
-#define NumberOfI2CCommand 10
+#define NumberOfI2CCommand 14
 
 #define ROTATE_PER_RESOLUTION 24