def.h File Reference

#include <stdbool.h>

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Classes
struct	fsm
	fsm structure for pusher and lift More...
Defines
#define	SERVO_PRIORITY   7
#define	IRC_PRIORITY   5
#define	CAN_ISR   0
#define	sbit(WORD, BIT)   (WORD|=(1<<BIT))
#define	cbit(WORD, BIT)   (WORD&=~(1<<BIT))
#define	tbit(WORD, BIT)   (WORD&(1<<BIT))
#define	CAN_SPEED   1000000
#define	SERVO_DOOR   0
#define	CHELAE_R   1
#define	SERVO_DOOR_MAX   0xA0
#define	SERVO_DOOR_MIN   0x00
#define	CHELAE_R_MAX   0xE0
#define	CHELAE_R_MIN   0x30
#define	LIFT_LIFT_PROTECT_PUSHER_TOP   0x03C0
#define	LIFT_PUSHER_PROTECT_TOP   0x0C5
Typedefs
typedef void(*	state_fcn )(struct fsm *fsm, events my_event)
typedef void(*	move_eng )(uint8_t direct, uint8_t velocity)
Enumerations
enum	fsm_type { FSM_LIFT, FSM_PUSHER }
enum	events { EVENT_ENTRY, EVENT_DO, EVENT_EXIT }
Functions
void	set_holder (unsigned char range)
void	can_send_status (void)
Variables
volatile uint32_t	timer_msec
volatile uint32_t	timer_usec
volatile uint8_t	can_flags

---

Define Documentation

#define CAN_ISR   0

#define CAN_SPEED   1000000

#define cbit	(		WORD,
			BIT
	)			(WORD&=~(1<<BIT))

#define CHELAE_R   1

#define CHELAE_R_MAX   0xE0

#define CHELAE_R_MIN   0x30

#define IRC_PRIORITY   5

#define LIFT_LIFT_PROTECT_PUSHER_TOP   0x03C0

#define LIFT_PUSHER_PROTECT_TOP   0x0C5

#define sbit	(		WORD,
			BIT
	)			(WORD|=(1<<BIT))

#define SERVO_DOOR   0

#define SERVO_DOOR_MAX   0xA0

#define SERVO_DOOR_MIN   0x00

#define SERVO_PRIORITY   7

#define tbit	(		WORD,
			BIT
	)			(WORD&(1<<BIT))

---

Typedef Documentation

typedef void(* move_eng)(uint8_t direct, uint8_t velocity)

typedef void(* state_fcn)(struct fsm *fsm, events my_event)

---

Enumeration Type Documentation

enum events

Enumerator:

EVENT_ENTRY
EVENT_DO
EVENT_EXIT

enum fsm_type

Enumerator:

FSM_LIFT
FSM_PUSHER

---

Function Documentation

void can_send_status

(

void

)

void set_holder

(

unsigned char

range

)

---

Variable Documentation

volatile uint8_t can_flags

volatile uint32_t timer_msec

volatile uint32_t timer_usec