X-Git-Url: http://git.droids-corp.org/?a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcommon%2Fi2c_commands.h;h=1168100f4cd81802e5a2c10e8fdb07c2ebc2a742;hb=5573d7668c4fe0cde51b566d086582cf3d9c7e4b;hp=7b04977db4cc34837280e753350b4d8a9236e881;hpb=19cd41f7920628a962928580cd1618a1ee5750aa;p=aversive.git

diff --git a/projects/microb2010/common/i2c_commands.h b/projects/microb2010/common/i2c_commands.h
index 7b04977..1168100 100644
--- a/projects/microb2010/common/i2c_commands.h
+++ b/projects/microb2010/common/i2c_commands.h
@@ -1,6 +1,6 @@
 /*
- *  Copyright Droids Corporation (2007)
- * 
+ *  Copyright Droids Corporation (2010)
+ *
  *  This program is free software; you can redistribute it and/or modify
  *  it under the terms of the GNU General Public License as published by
  *  the Free Software Foundation; either version 2 of the License, or
@@ -23,6 +23,7 @@
 #define _I2C_COMMANDS_H_
 
 #define I2C_OPPONENT_NOT_THERE -1000
+#define I2C_BEACON_NOT_FOUND -1000
 
 #define I2C_MAINBOARD_ADDR   1
 #define I2C_COBBOARD_ADDR    2
@@ -32,6 +33,7 @@
 #define I2C_RIGHT_SIDE   1
 #define I2C_AUTO_SIDE    2
 #define I2C_CENTER_SIDE  3
+#define I2C_NO_SIDE      4
 
 #define I2C_COLOR_YELLOW 0
 #define I2C_COLOR_BLUE   1
@@ -40,6 +42,7 @@
 #define I2C_COB_WHITE   1
 #define I2C_COB_UNKNOWN 2
 #define I2C_COB_REMOVED 3
+#define I2C_COB_NONE    4
 
 struct i2c_cmd_hdr {
 	uint8_t cmd;
@@ -76,6 +79,8 @@ struct i2c_cmd_cobboard_set_mode {
 #define I2C_COBBOARD_MODE_HARVEST      0x01 /* harvest mode */
 #define I2C_COBBOARD_MODE_EJECT        0x02 /* eject cobs */
 #define I2C_COBBOARD_MODE_INIT         0x03 /* init state machine */
+#define I2C_COBBOARD_MODE_KICKSTAND_UP   0x04 /* help to climb the hill */
+#define I2C_COBBOARD_MODE_KICKSTAND_DOWN 0x05 /* help to climb the hill */
 	uint8_t mode;
 };
 
@@ -88,13 +93,18 @@ struct i2c_cmd_ballboard_set_mode {
 #define I2C_BALLBOARD_MODE_OFF         0x01
 #define I2C_BALLBOARD_MODE_HARVEST     0x02
 #define I2C_BALLBOARD_MODE_EJECT       0x03
-#define I2C_BALLBOARD_MODE_PREP_L_FORK 0x04
-#define I2C_BALLBOARD_MODE_TAKE_L_FORK 0x05
-#define I2C_BALLBOARD_MODE_PREP_R_FORK 0x06
-#define I2C_BALLBOARD_MODE_TAKE_R_FORK 0x07
+#define I2C_BALLBOARD_MODE_PREP_FORK   0x04
+#define I2C_BALLBOARD_MODE_TAKE_FORK   0x05
 	uint8_t mode;
 };
 
+#define I2C_CMD_BALLBOARD_SET_BEACON 0x04
+
+struct i2c_cmd_ballboard_start_beacon {
+	struct i2c_cmd_hdr hdr;
+	uint8_t enable;
+};
+
 /****/
 /* requests and their answers */
 /****/
@@ -107,6 +117,8 @@ struct i2c_req_cobboard_status {
 
 #define I2C_COBBOARD_SPK_DEPLOY  0x01 /* deploy the spickle */
 #define I2C_COBBOARD_SPK_AUTOHARVEST 0x02 /* auto harvest the cobs */
+#define I2C_COBBOARD_SPK_NO_MOVE 0x04 /* if enabled, don't change state */
+#define I2C_COBBOARD_SPK_WEAK 0x08 /* if enabled, current limit */
 	uint8_t lspickle;
 	uint8_t rspickle;
 };
@@ -119,11 +131,13 @@ struct i2c_ans_cobboard_status {
 	/* mode type are defined above: I2C_COBBOARD_MODE_xxx */
 	uint8_t mode;
 
-#define I2C_COBBOARD_STATUS_READY         0x00
-#define I2C_COBBOARD_STATUS_OFF           0x01
-#define I2C_COBBOARD_STATUS_LBUSY         0x02
-#define I2C_COBBOARD_STATUS_RBUSY         0x03
-#define I2C_COBBOARD_STATUS_EJECT         0x04
+#define I2C_COBBOARD_STATUS_READY          0x00
+#define I2C_COBBOARD_STATUS_OFF            0x01
+#define I2C_COBBOARD_STATUS_LBUSY          0x02
+#define I2C_COBBOARD_STATUS_RBUSY          0x03
+#define I2C_COBBOARD_STATUS_EJECT          0x04
+#define I2C_COBBOARD_STATUS_KICKSTAND_UP   0x05
+#define I2C_COBBOARD_STATUS_KICKSTAND_DOWN 0x06
 	uint8_t status;
 
 	uint8_t cob_count;
@@ -136,6 +150,11 @@ struct i2c_ans_cobboard_status {
 
 struct i2c_req_ballboard_status {
 	struct i2c_cmd_hdr hdr;
+
+	/* position sent by mainboard */
+	int16_t x;
+	int16_t y;
+	int16_t a;
 };
 
 #define I2C_ANS_BALLBOARD_STATUS 0x83
@@ -150,7 +169,16 @@ struct i2c_ans_ballboard_status {
 #define I2C_BALLBOARD_STATUS_F_EXCPT         0x02
 	uint8_t status;
 
+	int16_t opponent_x;
+	int16_t opponent_y;
+	int16_t opponent_a;
+	int16_t opponent_d;
+
 	uint8_t ball_count;
+
+	/* detection of cobs */
+	uint8_t lcob;
+	uint8_t rcob;
 };
 
 #endif /* _I2C_PROTOCOL_H_ */