z ysaito / Mbed 2 deprecated Pro_B2_2ZNR_HandyCtrler

2018.07.26

Dependencies:   TextLCD USBDevice mbed-rtos mbed

common.h@2:d0a5ee4e7bb8, 2018-07-26 (annotated)

Committer:
sayzyas
Date:
Thu Jul 26 00:20:57 2018 +0000
Revision:
2:d0a5ee4e7bb8
Parent:
1:368ba89c2e6b 
2018.07.26

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sayzyas 2:d0a5ee4e7bb8 1 /*
sayzyas 2:d0a5ee4e7bb8 2 DEBUG PRINT MACRO
sayzyas 2:d0a5ee4e7bb8 3 http://qiita.com/saltheads/items/e1b0ab54d3d6029c9593
sayzyas 2:d0a5ee4e7bb8 4 http://tricky-code.net/nicecode/code10.php
sayzyas 2:d0a5ee4e7bb8 5 */
sayzyas 0:f4e2a62331ef 6 /* Information */
sayzyas 2:d0a5ee4e7bb8 7 #define LatestUpDate "2016.11.04"
sayzyas 2:d0a5ee4e7bb8 8 #define ProgramRevision "Rev 2.40"
sayzyas 2:d0a5ee4e7bb8 9 #define Author "ZisNotRevast"
sayzyas 1:368ba89c2e6b 10 #define Company "Revast Co.,Ltd."
sayzyas 2:d0a5ee4e7bb8 11
sayzyas 2:d0a5ee4e7bb8 12 //#define __CREATE_SETTING_FILE__
sayzyas 2:d0a5ee4e7bb8 13 //#define __TARGET_BOARD_CHECK__
sayzyas 2:d0a5ee4e7bb8 14
sayzyas 2:d0a5ee4e7bb8 15
sayzyas 2:d0a5ee4e7bb8 16 //#define __WInchDebug__ // For debugging
sayzyas 2:d0a5ee4e7bb8 17
sayzyas 2:d0a5ee4e7bb8 18
sayzyas 0:f4e2a62331ef 19
sayzyas 2:d0a5ee4e7bb8 20 // Read motor current
sayzyas 2:d0a5ee4e7bb8 21 #define __READ_TFM_MOTOR_CURRENT__
sayzyas 2:d0a5ee4e7bb8 22
sayzyas 2:d0a5ee4e7bb8 23 #define __IIC_COMAMND_SEND__
sayzyas 2:d0a5ee4e7bb8 24
sayzyas 2:d0a5ee4e7bb8 25 #define __SET_WINCH_MOTOR_SPEED_BY_VOLUME__
sayzyas 2:d0a5ee4e7bb8 26
sayzyas 2:d0a5ee4e7bb8 27 // ======================================================================
sayzyas 2:d0a5ee4e7bb8 28 // For Debugging
sayzyas 2:d0a5ee4e7bb8 29 // ======================================================================
sayzyas 2:d0a5ee4e7bb8 30 //#define __DEBUG_PRINT_SW__ // Display SW Status to console
sayzyas 0:f4e2a62331ef 31 #define __DEBUG_L0__
sayzyas 2:d0a5ee4e7bb8 32 //#define __DEBUG_L1__
sayzyas 2:d0a5ee4e7bb8 33 //#define __DEBUG_L2__
sayzyas 2:d0a5ee4e7bb8 34 #define __DEBUG_L3__
sayzyas 0:f4e2a62331ef 35 //#define __DEBUG_L4__
sayzyas 2:d0a5ee4e7bb8 36 //#define __DEBUG_L5__
sayzyas 2:d0a5ee4e7bb8 37
sayzyas 2:d0a5ee4e7bb8 38 #define __DEBUG_WINCH_DATA__
sayzyas 2:d0a5ee4e7bb8 39
sayzyas 2:d0a5ee4e7bb8 40
sayzyas 2:d0a5ee4e7bb8 41 #ifdef __DEBUG_WINCH_DATA__
sayzyas 2:d0a5ee4e7bb8 42 #define DEBUG_PRINT_WINCH_DATA(...) pc.printf(__VA_ARGS__)
sayzyas 2:d0a5ee4e7bb8 43 #else
sayzyas 2:d0a5ee4e7bb8 44 #define DEBUG_PRINT_WINCH_DATA(...)
sayzyas 2:d0a5ee4e7bb8 45 #endif
sayzyas 2:d0a5ee4e7bb8 46
sayzyas 2:d0a5ee4e7bb8 47 #ifdef __DEBUG_PRINT_SW__
sayzyas 2:d0a5ee4e7bb8 48 #define DEBUG_PRINT_SW(...) pc.printf(__VA_ARGS__)
sayzyas 2:d0a5ee4e7bb8 49 #else
sayzyas 2:d0a5ee4e7bb8 50 #define DEBUG_PRINT_SW(...)
sayzyas 2:d0a5ee4e7bb8 51 #endif
sayzyas 0:f4e2a62331ef 52
sayzyas 0:f4e2a62331ef 53 #ifdef __DEBUG_L0__
sayzyas 0:f4e2a62331ef 54 #define DEBUG_PRINT_L0(...) pc.printf(__VA_ARGS__)
sayzyas 0:f4e2a62331ef 55 #else
sayzyas 0:f4e2a62331ef 56 #define DEBUG_PRINT_L0(...)
sayzyas 0:f4e2a62331ef 57 #endif
sayzyas 0:f4e2a62331ef 58 #ifdef __DEBUG_L1__
sayzyas 0:f4e2a62331ef 59 #define DEBUG_PRINT_L1(...) pc.printf(__VA_ARGS__)
sayzyas 0:f4e2a62331ef 60 #else
sayzyas 0:f4e2a62331ef 61 #define DEBUG_PRINT_L1(...)
sayzyas 0:f4e2a62331ef 62 #endif
sayzyas 0:f4e2a62331ef 63 #ifdef __DEBUG_L2__
sayzyas 0:f4e2a62331ef 64 #define DEBUG_PRINT_L2(...) pc.printf(__VA_ARGS__)
sayzyas 0:f4e2a62331ef 65 #else
sayzyas 0:f4e2a62331ef 66 #define DEBUG_PRINT_L2(...)
sayzyas 0:f4e2a62331ef 67 #endif
sayzyas 0:f4e2a62331ef 68 #ifdef __DEBUG_L3__
sayzyas 0:f4e2a62331ef 69 #define DEBUG_PRINT_L3(...) pc.printf(__VA_ARGS__)
sayzyas 0:f4e2a62331ef 70 #else
sayzyas 0:f4e2a62331ef 71 #define DEBUG_PRINT_L3(...)
sayzyas 0:f4e2a62331ef 72 #endif
sayzyas 0:f4e2a62331ef 73 #ifdef __DEBUG_L4__
sayzyas 0:f4e2a62331ef 74 #define DEBUG_PRINT_L4(...) pc.printf(__VA_ARGS__)
sayzyas 0:f4e2a62331ef 75 #else
sayzyas 0:f4e2a62331ef 76 #define DEBUG_PRINT_L4(...)
sayzyas 0:f4e2a62331ef 77 #endif
sayzyas 2:d0a5ee4e7bb8 78 #ifdef __DEBUG_L5__
sayzyas 2:d0a5ee4e7bb8 79 #define DEBUG_PRINT_L5(...) pc.printf(__VA_ARGS__)
sayzyas 2:d0a5ee4e7bb8 80 #else
sayzyas 2:d0a5ee4e7bb8 81 #define DEBUG_PRINT_L5(...)
sayzyas 2:d0a5ee4e7bb8 82 #endif
sayzyas 0:f4e2a62331ef 83
sayzyas 2:d0a5ee4e7bb8 84 /* ********************************************* */
sayzyas 2:d0a5ee4e7bb8 85
sayzyas 2:d0a5ee4e7bb8 86 // Motor Controller RoboCAN ID definition
sayzyas 2:d0a5ee4e7bb8 87 #define MCTR_CANID_PANTILTWCH 2 // Pan/Tilt or Winch motor's ID
sayzyas 2:d0a5ee4e7bb8 88 #define MCTR_CANID_TFM 3 // Trabsform motor's ID
sayzyas 2:d0a5ee4e7bb8 89 #define MCTR_CANID_CRW 1 // Crawler motor's ID
sayzyas 2:d0a5ee4e7bb8 90
sayzyas 2:d0a5ee4e7bb8 91 #define NUMBER_OF_MCCMD 7
sayzyas 2:d0a5ee4e7bb8 92 #define WINCH_OFFSET_VALUE 20
sayzyas 2:d0a5ee4e7bb8 93
sayzyas 2:d0a5ee4e7bb8 94 /*
sayzyas 2:d0a5ee4e7bb8 95 B1/B2 demo machine controller control command list
sayzyas 2:d0a5ee4e7bb8 96 */
sayzyas 2:d0a5ee4e7bb8 97 enum{
sayzyas 2:d0a5ee4e7bb8 98 XX_WICH, // Winch
sayzyas 2:d0a5ee4e7bb8 99 XX_CLRF, // R Crawler
sayzyas 2:d0a5ee4e7bb8 100 XX_CLLB, // L Crawler
sayzyas 2:d0a5ee4e7bb8 101 XX_TFRF, // R Transform
sayzyas 2:d0a5ee4e7bb8 102 XX_TFLB, // R Transform
sayzyas 2:d0a5ee4e7bb8 103 ZTRF_I_1, // RF-I Transform ON
sayzyas 2:d0a5ee4e7bb8 104 ZTRF_I_0, // RF-I Transform OFF
sayzyas 2:d0a5ee4e7bb8 105 ZTRF_K_1, // RF-K Transform ON
sayzyas 2:d0a5ee4e7bb8 106 ZTRF_K_0, // RF-K Transform OFF
sayzyas 2:d0a5ee4e7bb8 107 ZTLB_I_1, // LB-I Transform ON
sayzyas 2:d0a5ee4e7bb8 108 ZTLB_I_0, // LB-I Transform OFF
sayzyas 2:d0a5ee4e7bb8 109 ZTLB_K_1, // LB-K Transform ON
sayzyas 2:d0a5ee4e7bb8 110 ZTLB_K_0, // LB-K Transform OFF
sayzyas 2:d0a5ee4e7bb8 111 ZCP_FW_1, // Camera PAN Forward ON
sayzyas 2:d0a5ee4e7bb8 112 ZCP_FW_0, // Camera PAN Forward OFF
sayzyas 2:d0a5ee4e7bb8 113 ZCP_RS_1, // Camera PAN Reverse ON
sayzyas 2:d0a5ee4e7bb8 114 ZCP_RS_0, // Camera PAN Reverse OFF
sayzyas 2:d0a5ee4e7bb8 115 ZCT_FW_1, // Camera TILT Forward ON
sayzyas 2:d0a5ee4e7bb8 116 ZCT_FW_0, // Camera TILT Forward OFF
sayzyas 2:d0a5ee4e7bb8 117 ZCT_RS_1, // Camera TILT Reverse ON
sayzyas 2:d0a5ee4e7bb8 118 ZCT_RS_0, // Camera TILT Reverse OFF
sayzyas 2:d0a5ee4e7bb8 119 ZESHAPE_I, // Shape I : Switch ON
sayzyas 2:d0a5ee4e7bb8 120 ZESHAPE_K, // Shape K : Switch OFF
sayzyas 2:d0a5ee4e7bb8 121 ZTFCWP_VD, // TFM,CRW Part valid : Switch ON
sayzyas 2:d0a5ee4e7bb8 122 ZWICHP_VD // Winch Part valid : Switch OFF
sayzyas 2:d0a5ee4e7bb8 123 };
sayzyas 2:d0a5ee4e7bb8 124
sayzyas 2:d0a5ee4e7bb8 125
sayzyas 2:d0a5ee4e7bb8 126 enum{
sayzyas 2:d0a5ee4e7bb8 127 MOTOR_NO0,
sayzyas 2:d0a5ee4e7bb8 128 MOTOR_NO1,
sayzyas 2:d0a5ee4e7bb8 129 MOTOR_NO2,
sayzyas 2:d0a5ee4e7bb8 130 MOTOR_NO3
sayzyas 2:d0a5ee4e7bb8 131 };
sayzyas 2:d0a5ee4e7bb8 132
sayzyas 2:d0a5ee4e7bb8 133 enum{
sayzyas 2:d0a5ee4e7bb8 134 MOTOR_FORWARD,
sayzyas 2:d0a5ee4e7bb8 135 MOTOR_REVERSE,
sayzyas 2:d0a5ee4e7bb8 136 MOTOR_STOP
sayzyas 2:d0a5ee4e7bb8 137 };
sayzyas 2:d0a5ee4e7bb8 138
sayzyas 2:d0a5ee4e7bb8 139 #define MC_LOCK_COUNT 5
sayzyas 2:d0a5ee4e7bb8 140
sayzyas 2:d0a5ee4e7bb8 141 /* ********************************************* */
sayzyas 2:d0a5ee4e7bb8 142
sayzyas 2:d0a5ee4e7bb8 143 #define MOTOR_1 '1'
sayzyas 2:d0a5ee4e7bb8 144 #define MOTOR_2 '2'
sayzyas 2:d0a5ee4e7bb8 145
sayzyas 2:d0a5ee4e7bb8 146 #define MOTOR_
sayzyas 2:d0a5ee4e7bb8 147
sayzyas 2:d0a5ee4e7bb8 148 /* Above is still under construction ..... */
sayzyas 2:d0a5ee4e7bb8 149
sayzyas 2:d0a5ee4e7bb8 150 #define __DISP_GAMAPAD_STATUS_ALL__
sayzyas 2:d0a5ee4e7bb8 151 #define __DISP_WRITE_VALUE__
sayzyas 2:d0a5ee4e7bb8 152
sayzyas 2:d0a5ee4e7bb8 153 #define I2C_ADDRESS_HANDY 0x20
sayzyas 2:d0a5ee4e7bb8 154 #define I2C_ADDRESS_WINCH 0x10
sayzyas 2:d0a5ee4e7bb8 155 #define I2C_ADDRESS_TRANSFORM 0x08
sayzyas 2:d0a5ee4e7bb8 156 #define I2C_ADDRESS_CRAWLER 0x04
sayzyas 2:d0a5ee4e7bb8 157 #define I2C_ADDRESS_RESOLVER 0x02
sayzyas 2:d0a5ee4e7bb8 158
sayzyas 2:d0a5ee4e7bb8 159
sayzyas 2:d0a5ee4e7bb8 160 #define _OK_ 1
sayzyas 2:d0a5ee4e7bb8 161 #define _NG_ 0
sayzyas 2:d0a5ee4e7bb8 162 #define _FAIL_ 0
sayzyas 2:d0a5ee4e7bb8 163
sayzyas 2:d0a5ee4e7bb8 164 #define ON 1
sayzyas 2:d0a5ee4e7bb8 165 #define OFF 0
sayzyas 2:d0a5ee4e7bb8 166
sayzyas 2:d0a5ee4e7bb8 167 #define LFS_READ_COUNT 3
sayzyas 2:d0a5ee4e7bb8 168 #define TARGET_CHECK_COUNT 10
sayzyas 2:d0a5ee4e7bb8 169
sayzyas 2:d0a5ee4e7bb8 170 //#define __DSP_MOTOR_CURRENT_
sayzyas 2:d0a5ee4e7bb8 171
sayzyas 2:d0a5ee4e7bb8 172 /* Usually this should be comment out */
sayzyas 2:d0a5ee4e7bb8 173 //#define _COMMUNCATE_PC_BY_SERIAL_
sayzyas 2:d0a5ee4e7bb8 174
sayzyas 2:d0a5ee4e7bb8 175 // Should validate this definition when you use DHCP.
sayzyas 2:d0a5ee4e7bb8 176 //#define __ETERNET_DHCP__
sayzyas 2:d0a5ee4e7bb8 177
sayzyas 2:d0a5ee4e7bb8 178 #define NumberOfPcCommand 11
sayzyas 2:d0a5ee4e7bb8 179 #define NumberOfI2CCommand 14
sayzyas 2:d0a5ee4e7bb8 180
sayzyas 2:d0a5ee4e7bb8 181 /* I2C Command packet to motor controller */
sayzyas 2:d0a5ee4e7bb8 182 /* For motor controller */
sayzyas 2:d0a5ee4e7bb8 183 enum{
sayzyas 2:d0a5ee4e7bb8 184 I2C_CP_PREAMBLE, // Preamble of command packet
sayzyas 2:d0a5ee4e7bb8 185 I2C_CP_COMMAND, // instruction command
sayzyas 2:d0a5ee4e7bb8 186 I2C_CP_M1_DIR, // motor1 rotation direction
sayzyas 2:d0a5ee4e7bb8 187 I2C_CP_M1_SPEED, // motor1 rotation speed
sayzyas 2:d0a5ee4e7bb8 188 I2C_CP_M1_FWD_CNTTH_U, // motor1 current limit detection threshold upper byte
sayzyas 2:d0a5ee4e7bb8 189 I2C_CP_M1_FWD_CNTTH_L, // motor1 current limit detection threshold lower byte
sayzyas 2:d0a5ee4e7bb8 190 I2C_CP_M1_RVS_CNTTH_U, // motor1 current limit detection threshold upper byte
sayzyas 2:d0a5ee4e7bb8 191 I2C_CP_M1_RVS_CNTTH_L, // motor1 current limit detection threshold lower byte
sayzyas 2:d0a5ee4e7bb8 192 I2C_CP_M2_DIR, // motor2 rotation direction
sayzyas 2:d0a5ee4e7bb8 193 I2C_CP_M2_SPEED, // motor2 rotation speed
sayzyas 2:d0a5ee4e7bb8 194 I2C_CP_M2_FWD_CNTTH_U, // motor2 current limit detection threshold upper byte
sayzyas 2:d0a5ee4e7bb8 195 I2C_CP_M2_FWD_CNTTH_L, // motor2 current limit detection threshold lower byte
sayzyas 2:d0a5ee4e7bb8 196 I2C_CP_M2_RVS_CNTTH_U, // motor2 current limit detection threshold upper byte
sayzyas 2:d0a5ee4e7bb8 197 I2C_CP_M2_RVS_CNTTH_L, // motor2 current limit detection threshold lower byte
sayzyas 2:d0a5ee4e7bb8 198 };
sayzyas 2:d0a5ee4e7bb8 199 /* For resolver reader controller */
sayzyas 2:d0a5ee4e7bb8 200 enum{
sayzyas 2:d0a5ee4e7bb8 201 I2C_CP_PREAMBLE_R, // Preamble of command packet
sayzyas 2:d0a5ee4e7bb8 202 I2C_CP_COMMAND_R, // instruction command
sayzyas 2:d0a5ee4e7bb8 203 I2C_CP_WDRAM_DIA_UPPER, // motor1 rotation direction
sayzyas 2:d0a5ee4e7bb8 204 I2C_CP_WDRAM_DIA_LOWER, // motor1 rotation speed
sayzyas 2:d0a5ee4e7bb8 205 I2C_CP_CCABLE_DIA_UPPER, // motor1 current limit detection threshold upper byte
sayzyas 2:d0a5ee4e7bb8 206 I2C_CP_CCABLE_DIA_LOWER, // motor1 current limit detection threshold lower byte
sayzyas 2:d0a5ee4e7bb8 207 I2C_CP_RESOLVER_RESO, // motor1 current limit detection threshold upper byte
sayzyas 2:d0a5ee4e7bb8 208 I2C_CP_PRESET_CPOS_UPPER, // reserved
sayzyas 2:d0a5ee4e7bb8 209 I2C_CP_PRESET_CPOS_LOWER, // reserved
sayzyas 2:d0a5ee4e7bb8 210 I2C_CP_RES3, // reserved
sayzyas 2:d0a5ee4e7bb8 211 I2C_CP_RES4, // reserved
sayzyas 2:d0a5ee4e7bb8 212 I2C_CP_RES5, // reserved
sayzyas 2:d0a5ee4e7bb8 213 I2C_CP_RES6, // reserved
sayzyas 2:d0a5ee4e7bb8 214 I2C_CP_RES7, // reserved
sayzyas 2:d0a5ee4e7bb8 215 };
sayzyas 0:f4e2a62331ef 216
sayzyas 2:d0a5ee4e7bb8 217 /* Winch Operating mode */
sayzyas 2:d0a5ee4e7bb8 218 enum{
sayzyas 2:d0a5ee4e7bb8 219 WINCH_POSITION_CLEAR,
sayzyas 2:d0a5ee4e7bb8 220 WINCH_PRESET_BASEDATA,
sayzyas 2:d0a5ee4e7bb8 221 WINCH_MMODE_RELATIVE,
sayzyas 2:d0a5ee4e7bb8 222 WINCH_MMODE_ABSOLUTE,
sayzyas 2:d0a5ee4e7bb8 223 WINCH_STEPDOWN_BTN_ON,
sayzyas 2:d0a5ee4e7bb8 224 WINCH_STEPDOWN_BTN_OFF,
sayzyas 2:d0a5ee4e7bb8 225 WINCH_STEPUP_BTN_ON,
sayzyas 2:d0a5ee4e7bb8 226 WINCH_STEPUP_BTN_OFF,
sayzyas 2:d0a5ee4e7bb8 227 WINCH_U_STEPDOWN_BTN_ON,
sayzyas 2:d0a5ee4e7bb8 228 WINCH_U_STEPDOWN_BTN_OFF,
sayzyas 2:d0a5ee4e7bb8 229 WINCH_U_STEPUP_BTN_ON,
sayzyas 2:d0a5ee4e7bb8 230 WINCH_U_STEPUP_BTN_OFF,
sayzyas 2:d0a5ee4e7bb8 231 WINCH_PRESET_POSITION,
sayzyas 2:d0a5ee4e7bb8 232 };
sayzyas 2:d0a5ee4e7bb8 233
sayzyas 2:d0a5ee4e7bb8 234 /* Ether net */
sayzyas 2:d0a5ee4e7bb8 235 #define TCP_PCCSERVER_PORT 10004
sayzyas 2:d0a5ee4e7bb8 236 #define TCP_CMDSERVER_PORT 10002
sayzyas 2:d0a5ee4e7bb8 237 #define UDP_SERVER_PORT 10000
sayzyas 2:d0a5ee4e7bb8 238
sayzyas 2:d0a5ee4e7bb8 239 #define MOTOR_FWD 'F' /* Forward Rotation */
sayzyas 2:d0a5ee4e7bb8 240 #define MOTOR_RVS 'R' /* Reverse Rotation */
sayzyas 2:d0a5ee4e7bb8 241 #define MOTOR_STP 'S' /* Stop */
sayzyas 0:f4e2a62331ef 242
sayzyas 2:d0a5ee4e7bb8 243 // =========================================================
sayzyas 2:d0a5ee4e7bb8 244 // Setting Values
sayzyas 2:d0a5ee4e7bb8 245 // =========================================================
sayzyas 2:d0a5ee4e7bb8 246 typedef struct {
sayzyas 2:d0a5ee4e7bb8 247 int8_t sv_JS_ShapeMode; // JS Shape: 0=I, 1=KO
sayzyas 2:d0a5ee4e7bb8 248 int8_t sv_JS_OpeMode; // JS Operation: 0=single, 1=dual
sayzyas 2:d0a5ee4e7bb8 249 int8_t sv_WinchValid; // Winch function valid or not: 0=Tfm, Crawler valid, 1=Winch valid
sayzyas 2:d0a5ee4e7bb8 250 int8_t res;
sayzyas 2:d0a5ee4e7bb8 251 } basic_operation_t;
sayzyas 2:d0a5ee4e7bb8 252
sayzyas 2:d0a5ee4e7bb8 253
sayzyas 2:d0a5ee4e7bb8 254
sayzyas 2:d0a5ee4e7bb8 255
sayzyas 2:d0a5ee4e7bb8 256 typedef struct {
sayzyas 2:d0a5ee4e7bb8 257 uint16_t drm_mtr_ithd_f; // 2 Current threshold winch dram Motor ( forward )
sayzyas 2:d0a5ee4e7bb8 258 uint16_t drm_mtr_ithd_r; // 2 Current threshold winch dram Motor ( reverse )
sayzyas 2:d0a5ee4e7bb8 259 uint16_t tmp_mtr_ithd_f; // 2 Current threshold winch No2 Motor ( forward )
sayzyas 2:d0a5ee4e7bb8 260 uint16_t tmp_mtr_ithd_r; // 2 Current threshold winch No2 Motor ( reverse )
sayzyas 2:d0a5ee4e7bb8 261 uint8_t drm_mtr_hspd_f; // 1 Motor speed winch dram motor high speed ( forward )
sayzyas 2:d0a5ee4e7bb8 262 uint8_t drm_mtr_hspd_r; // 1 Motor speed winch dram motor high speed ( reverse )
sayzyas 2:d0a5ee4e7bb8 263 uint8_t drm_mtr_lspd_f; // 1 Motor speed winch dram motor low speed ( forward )
sayzyas 2:d0a5ee4e7bb8 264 uint8_t drm_mtr_lspd_r; // 1 Motor speed winch dram motor low speed ( reverse )
sayzyas 2:d0a5ee4e7bb8 265 uint8_t tmp_mtr_hspd_f; // 1 Motor speed winch No2 motor high speed ( forward )
sayzyas 2:d0a5ee4e7bb8 266 uint8_t tmp_mtr_hspd_r; // 1 Motor speed winch No2 motor high speed ( reverse )
sayzyas 2:d0a5ee4e7bb8 267 uint8_t tmp_mtr_lspd_f; // 1 Motor speed winch No2 motor low speed ( forward )
sayzyas 2:d0a5ee4e7bb8 268 uint8_t tmp_mtr_lspd_r; // 1 Motor speed winch No2 motor low speed ( reverse )
sayzyas 2:d0a5ee4e7bb8 269 uint16_t dram_dmtr_x100; // 2 Winch dram diameter x 100
sayzyas 2:d0a5ee4e7bb8 270 uint16_t adj_val_x10000; // 2 Winch adjust value x 100
sayzyas 2:d0a5ee4e7bb8 271 uint8_t res_resolution; // 1 Winch resolver resolution (bit)
sayzyas 2:d0a5ee4e7bb8 272 uint8_t reserved_1; // 1 reserved for future use
sayzyas 2:d0a5ee4e7bb8 273 uint8_t reserved_2; // 1 reserved for future use
sayzyas 2:d0a5ee4e7bb8 274 uint8_t reserved_3; // 1 reserved for future use
sayzyas 2:d0a5ee4e7bb8 275 } winch_SetValue_t; // << 24 byte >>
sayzyas 0:f4e2a62331ef 276
sayzyas 2:d0a5ee4e7bb8 277 typedef struct {
sayzyas 2:d0a5ee4e7bb8 278 uint16_t rf_mtr_ithd_f; // 2 Current threshold RF motor ( forward )
sayzyas 2:d0a5ee4e7bb8 279 uint16_t rf_mtr_ithd_r; // 2 Current threshold RF motor ( reverse )
sayzyas 2:d0a5ee4e7bb8 280 uint16_t lb_mtr_ithd_f; // 2 Current threshold LB motor ( forward )
sayzyas 2:d0a5ee4e7bb8 281 uint16_t lb_mtr_ithd_r; // 2 Current threshold LB motor ( reverse )
sayzyas 2:d0a5ee4e7bb8 282 uint8_t rf_mtr_hspd_f; // 1 Motor speed RF ( forward )
sayzyas 2:d0a5ee4e7bb8 283 uint8_t rf_mtr_hspd_r; // 1 Motor speed RF ( reverse )
sayzyas 2:d0a5ee4e7bb8 284 uint8_t lb_mtr_hspd_f; // 1 Motor speed LB ( forward )
sayzyas 2:d0a5ee4e7bb8 285 uint8_t lb_mtr_hspd_r; // 1 Motor speed LB ( reverse )
sayzyas 2:d0a5ee4e7bb8 286 uint8_t reserved_1; // 1 reserved for future use
sayzyas 2:d0a5ee4e7bb8 287 uint8_t reserved_2; // 1 reserved for future use
sayzyas 2:d0a5ee4e7bb8 288 uint8_t reserved_3; // 1 reserved for future use
sayzyas 2:d0a5ee4e7bb8 289 uint8_t reserved_4; // 1 reserved for future use
sayzyas 2:d0a5ee4e7bb8 290 } tfm_SetValue_t; // << 16 byte >>
sayzyas 2:d0a5ee4e7bb8 291
sayzyas 2:d0a5ee4e7bb8 292 typedef struct {
sayzyas 2:d0a5ee4e7bb8 293 uint16_t rf_mtr_ithd_f; // 2 Current threshold RF motor ( forward )
sayzyas 2:d0a5ee4e7bb8 294 uint16_t rf_mtr_ithd_r; // 2 Current threshold RF motor ( reverse )
sayzyas 2:d0a5ee4e7bb8 295 uint16_t lb_mtr_ithd_f; // 2 Current threshold LB motor ( forward )
sayzyas 2:d0a5ee4e7bb8 296 uint16_t lb_mtr_ithd_r; // 2 Current threshold LB motor ( reverse )
sayzyas 2:d0a5ee4e7bb8 297 uint8_t rf_mtr_hspd_f; // 1 Motor speed RF ( forward )
sayzyas 2:d0a5ee4e7bb8 298 uint8_t rf_mtr_hspd_r; // 1 Motor speed RF ( reverse )
sayzyas 2:d0a5ee4e7bb8 299 uint8_t lb_mtr_hspd_f; // 1 Motor speed LB ( forward )
sayzyas 2:d0a5ee4e7bb8 300 uint8_t lb_mtr_hspd_r; // 1 Motor speed LB ( reverse )
sayzyas 2:d0a5ee4e7bb8 301 uint8_t reserved_1; // 1 reserved for future use
sayzyas 2:d0a5ee4e7bb8 302 uint8_t reserved_2; // 1 reserved for future use
sayzyas 2:d0a5ee4e7bb8 303 uint8_t reserved_3; // 1 reserved for future use
sayzyas 2:d0a5ee4e7bb8 304 uint8_t reserved_4; // 1 reserved for future use
sayzyas 2:d0a5ee4e7bb8 305 } crawler_SetValue_t; // << 16 byte >>
sayzyas 0:f4e2a62331ef 306
sayzyas 2:d0a5ee4e7bb8 307 typedef struct {
sayzyas 2:d0a5ee4e7bb8 308 uint8_t rjs_centervalue; // 1 R JoyStick center value
sayzyas 2:d0a5ee4e7bb8 309 uint8_t rjs_u_dead_zone; // 1 R Joystick upper dead zone width
sayzyas 2:d0a5ee4e7bb8 310 uint8_t rjs_l_dead_zone; // 1 R Joystick lower dead zone width
sayzyas 2:d0a5ee4e7bb8 311 uint8_t ljs_centervalue; // 1 L JoyStick center value
sayzyas 2:d0a5ee4e7bb8 312 uint8_t ljs_u_dead_zone; // 1 L Joystick upper dead zone width
sayzyas 2:d0a5ee4e7bb8 313 uint8_t ljs_l_dead_zone; // 1 L Joystick lower dead zone width
sayzyas 2:d0a5ee4e7bb8 314 uint8_t reserved_1; // 1 reserved for future use
sayzyas 2:d0a5ee4e7bb8 315 uint8_t reserved_2; // 1 reserved for future use
sayzyas 2:d0a5ee4e7bb8 316 } js_SetValue_t; // << 8 byte >>
sayzyas 2:d0a5ee4e7bb8 317
sayzyas 2:d0a5ee4e7bb8 318 typedef struct SetValue {
sayzyas 2:d0a5ee4e7bb8 319 winch_SetValue_t winchCtrl;
sayzyas 2:d0a5ee4e7bb8 320 tfm_SetValue_t tfmCtrl;
sayzyas 2:d0a5ee4e7bb8 321 crawler_SetValue_t crawlerCtrl;
sayzyas 2:d0a5ee4e7bb8 322 js_SetValue_t jsCtrl;
sayzyas 2:d0a5ee4e7bb8 323 } setValue_t;
sayzyas 2:d0a5ee4e7bb8 324
sayzyas 2:d0a5ee4e7bb8 325
sayzyas 2:d0a5ee4e7bb8 326
sayzyas 0:f4e2a62331ef 327
sayzyas 2:d0a5ee4e7bb8 328 #define SLOWDOWN_DISTANCE 23 // <--10 2016.06.01
sayzyas 2:d0a5ee4e7bb8 329 #define SLOWDOWN_NEAR_DISTANCE 3
sayzyas 2:d0a5ee4e7bb8 330 /*
sayzyas 2:d0a5ee4e7bb8 331 typedef struct {
sayzyas 2:d0a5ee4e7bb8 332 int16_t dt_WinchCntPosition; // Current winch posittion
sayzyas 2:d0a5ee4e7bb8 333 int16_t dt_WinchRtvValue; // Winch Moving distance
sayzyas 2:d0a5ee4e7bb8 334 int16_t dt_WinchDstPosition; // Destination Position
sayzyas 2:d0a5ee4e7bb8 335 char operation;
sayzyas 2:d0a5ee4e7bb8 336 int8_t dt_WinchMotorCurrent; // Winch motor current
sayzyas 2:d0a5ee4e7bb8 337 } winchData_t;
sayzyas 2:d0a5ee4e7bb8 338 */
sayzyas 2:d0a5ee4e7bb8 339
sayzyas 2:d0a5ee4e7bb8 340 typedef struct {
sayzyas 2:d0a5ee4e7bb8 341 int16_t dt_WinchCntPosition; // Current winch posittion
sayzyas 2:d0a5ee4e7bb8 342 int16_t dt_WinchRtvValue; // Winch Moving distance
sayzyas 2:d0a5ee4e7bb8 343 int16_t dt_WinchDstPosition; // Destination Position
sayzyas 2:d0a5ee4e7bb8 344 uint8_t operation;
sayzyas 2:d0a5ee4e7bb8 345 uint8_t dt_WinchMotor1Current; // Winch motor 1 current
sayzyas 2:d0a5ee4e7bb8 346 uint8_t dt_WinchMotor2Current; // Winch motor 2 current
sayzyas 2:d0a5ee4e7bb8 347 uint8_t res;
sayzyas 2:d0a5ee4e7bb8 348 } winchData_t;
sayzyas 2:d0a5ee4e7bb8 349
sayzyas 2:d0a5ee4e7bb8 350
sayzyas 2:d0a5ee4e7bb8 351 #define ROTATE_PER_RESOLUTION 24
sayzyas 2:d0a5ee4e7bb8 352
sayzyas 2:d0a5ee4e7bb8 353 #define __READ_CURRENT_AT_CIF_TASK__
sayzyas 2:d0a5ee4e7bb8 354
sayzyas 2:d0a5ee4e7bb8 355 //mv_WinchMvData