src/eb_lift_09/def.h

   1 #ifndef DEFH
   2 #define DEFH
   3
   4 #include <stdbool.h>
   5
   6         //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   7         //~~~~~~~~~~ definition of interrupt priority ~~~~~~~~~~~
   8         //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   9         #define SERVO_PRIORITY  7       // 0 is the biggest priority
  10         #define IRC_PRIORITY    5       // higher priority than servo
  11         #define CAN_ISR         0
  12
  13         //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  14         //~~~~~~~ definition of macros for bit operations ~~~~~~~
  15         //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  16         #define         sbit(WORD,BIT)  (WORD|=(1<<BIT))        //set bit
  17         #define         cbit(WORD,BIT)  (WORD&=~(1<<BIT))       //clear bit
  18         #define         tbit(WORD,BIT)  (WORD&(1<<BIT))         //test bit
  19
  20         //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  21         //~~~~~~~~~ definition of CAN bus cominication ~~~~~~~~~~
  22         //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  23         #define CAN_SPEED       1000000         //< CAN bus speed
  24
  25         //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  26         //~~~~~~~~~~~~ definition of some constants ~~~~~~~~~~~~~
  27         //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  28
  29         #define SERVO_DOOR      0               //< position of servo conector
  30         #define CHELAE_R        1               //< position of right chelae
  31
  32         #define SERVO_DOOR_MAX  0xA0            //< maximum HW servo value of DOOR
  33         #define SERVO_DOOR_MIN  0x00            //< minimum HW servo value of DOOR
  34         #define CHELAE_R_MAX    0xE0            //< maximum HW servo value of RIGHT CHELAE
  35         #define CHELAE_R_MIN    0x30            //< minimum HW servo value of RIGHT CHELAE
  36
  37
  38
  39         typedef enum {//mark which unit we want controlled
  40                 FSM_LIFT,
  41                 FSM_PUSHER,
  42         }fsm_type;
  43
  44         typedef enum {// events of each state of state machine
  45                 EVENT_ENTRY,
  46                 EVENT_DO,
  47                 EVENT_EXIT
  48         } events;
  49
  50         struct fsm;
  51
  52         typedef void (*state_fcn)(struct fsm *fsm, events my_event);//pointer to function returning void and two input parametr
  53         typedef void (*move_eng)(uint8_t direct,uint8_t velocity);//pointer to function returning void and two input parametr
  54
  55         /// fsm structure for pusher and lift
  56         struct fsm {
  57                 state_fcn current_state;                // current state
  58                 state_fcn last_state;                   // last state
  59                 int32_t act_pos;                        // actual position
  60                 int32_t req_pos;                        // requested position
  61                 int32_t last_irc;                       // last IRC position
  62                 volatile uint32_t can_req_position;     // next requested position
  63                 volatile int32_t * irc;                 // pointer to IRC value
  64                 uint32_t timeout_glob;                  // global timeout
  65                 uint32_t timeout_switch;                // switch inactive timeout
  66                 uint8_t type;                           // fsm typedef
  67                 uint8_t motor_dir;                      // motor direction
  68                 move_eng set_engine;                    // engine set function
  69                 uint32_t lenght;                        // total length fs lift/pusher
  70                 uint32_t sw_pin;                        // engine sensor
  71                 uint16_t ans_can;                       // CAN position answer
  72                 uint8_t speed_home;                     // homing speed
  73                 uint8_t speed_normal;                   // normal speed
  74                 uint8_t speed_slow;                     // normal speed
  75                 bool switch_front;                      // up or front end switch
  76                 bool switch_back;                       // down or back end switch
  77                 uint8_t init_flag;                      // init status flag
  78                 uint32_t p;                             ///< PI controller constants * 1000
  79                 uint32_t last_move_time;                ///< Last timer_msec when act_pos changed
  80         };
  81
  82         extern volatile uint32_t timer_msec;
  83         extern volatile uint32_t timer_usec;  /* incremented by 10 @100kHz */
  84
  85         void set_holder(unsigned char range);
  86
  87 #define LIFT_LIFT_PROTECT_PUSHER_TOP    0x03C0  //< maximum Lift height where we must protect pusher
  88 #define LIFT_PUSHER_PROTECT_TOP         0x0C5   //< maximum pusher extrusion at protected area
  89
  90         volatile uint8_t can_flags;         //< can  flags bit
  91
  92         void can_send_status(void);
  93
  94
  95 #endif