projects/microb2009/common/i2c_commands.h

   1 /*
   2  *  Copyright Droids Corporation (2007)
   3  *
   4  *  This program is free software; you can redistribute it and/or modify
   5  *  it under the terms of the GNU General Public License as published by
   6  *  the Free Software Foundation; either version 2 of the License, or
   7  *  (at your option) any later version.
   8  *
   9  *  This program is distributed in the hope that it will be useful,
  10  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  *  GNU General Public License for more details.
  13  *
  14  *  You should have received a copy of the GNU General Public License
  15  *  along with this program; if not, write to the Free Software
  16  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  17  *
  18  *  Revision : $Id: i2c_commands.h,v 1.9 2009-05-27 20:04:06 zer0 Exp $
  19  *
  20  */
  21
  22 #ifndef _I2C_COMMANDS_H_
  23 #define _I2C_COMMANDS_H_
  24
  25 #define I2C_MAINBOARD_ADDR   1
  26 #define I2C_MECHBOARD_ADDR   2
  27 #define I2C_SENSORBOARD_ADDR 3
  28
  29 #define I2C_LEFT_SIDE   0
  30 #define I2C_RIGHT_SIDE  1
  31 #define I2C_AUTO_SIDE   2 /* for prepare_pickup */
  32 #define I2C_CENTER_SIDE 3 /* for prepare_pickup */
  33
  34 #define I2C_COLOR_RED   0
  35 #define I2C_COLOR_GREEN 1
  36
  37 #define I2C_AUTOBUILD_DEFAULT_DIST 210
  38
  39 struct i2c_cmd_hdr {
  40         uint8_t cmd;
  41 };
  42
  43 /****/
  44 /* commands that do not need and answer */
  45 /****/
  46
  47 #define I2C_CMD_GENERIC_LED_CONTROL 0x00
  48
  49 struct i2c_cmd_led_control {
  50         struct i2c_cmd_hdr hdr;
  51         uint8_t led_num:7;
  52         uint8_t state:1;
  53 };
  54
  55 /****/
  56
  57 #define I2C_CMD_GENERIC_SET_COLOR 0x01
  58
  59 struct i2c_cmd_generic_color {
  60         struct i2c_cmd_hdr hdr;
  61         uint8_t color;
  62 };
  63
  64 /****/
  65
  66 #define I2C_CMD_MECHBOARD_SET_MODE 0x02
  67
  68 struct i2c_cmd_mechboard_set_mode {
  69         struct i2c_cmd_hdr hdr;
  70 #define I2C_MECHBOARD_MODE_MANUAL             0x00
  71 #define I2C_MECHBOARD_MODE_HARVEST            0x01
  72 #define I2C_MECHBOARD_MODE_PREPARE_PICKUP     0x02
  73 #define I2C_MECHBOARD_MODE_PICKUP             0x03
  74 #define I2C_MECHBOARD_MODE_PREPARE_BUILD      0x04
  75 #define I2C_MECHBOARD_MODE_AUTOBUILD          0x05
  76 #define I2C_MECHBOARD_MODE_WAIT               0x06
  77 #define I2C_MECHBOARD_MODE_INIT               0x07
  78 #define I2C_MECHBOARD_MODE_PREPARE_GET_LINTEL 0x08
  79 #define I2C_MECHBOARD_MODE_GET_LINTEL         0x09
  80 #define I2C_MECHBOARD_MODE_PUT_LINTEL         0x0A
  81 #define I2C_MECHBOARD_MODE_PREPARE_EJECT      0x0B
  82 #define I2C_MECHBOARD_MODE_EJECT              0x0C
  83 #define I2C_MECHBOARD_MODE_CLEAR              0x0D
  84 #define I2C_MECHBOARD_MODE_LAZY_HARVEST       0x0E
  85 #define I2C_MECHBOARD_MODE_LOADED             0x0F
  86 #define I2C_MECHBOARD_MODE_PREPARE_INSIDE     0x10
  87 #define I2C_MECHBOARD_MODE_STORE              0x11
  88 #define I2C_MECHBOARD_MODE_LAZY_PICKUP        0x12
  89 #define I2C_MECHBOARD_MODE_MANIVELLE          0x13
  90 #define I2C_MECHBOARD_MODE_PUSH_TEMPLE        0x14
  91 #define I2C_MECHBOARD_MODE_PUSH_TEMPLE_DISC   0x15
  92 #define I2C_MECHBOARD_MODE_EXIT               0xFF
  93         uint8_t mode;
  94         union {
  95                 struct {
  96
  97                 } manual;
  98
  99                 struct {
 100                         uint8_t side;
 101                         uint8_t next_mode;
 102                 } prep_pickup;
 103
 104                 struct {
 105                         uint8_t level_l;
 106                         uint8_t level_r;
 107                 } prep_build;
 108
 109                 struct {
 110                         uint8_t side;
 111                 } push_temple_disc;
 112
 113                 struct {
 114                         uint8_t level_left;
 115                         uint8_t level_right;
 116                         uint8_t count_left;
 117                         uint8_t count_right;
 118                         uint8_t distance_left;
 119                         uint8_t distance_right;
 120                         uint8_t do_lintel;
 121                 } autobuild;
 122
 123                 struct {
 124                         uint8_t level_l;
 125                         uint8_t level_r;
 126                 } prep_inside;
 127         };
 128 };
 129
 130 /****/
 131
 132 /* only valid in manual mode */
 133 #define I2C_CMD_MECHBOARD_ARM_GOTO 0x03
 134
 135 struct i2c_cmd_mechboard_arm_goto {
 136         struct i2c_cmd_hdr hdr;
 137 #define I2C_MECHBOARD_ARM_LEFT     0
 138 #define I2C_MECHBOARD_ARM_RIGHT    1
 139 #define I2C_MECHBOARD_ARM_BOTH     2
 140         uint8_t which;
 141
 142         uint8_t height; /* in cm */
 143         uint8_t distance; /* in cm */
 144 };
 145
 146 /****/
 147
 148 #define I2C_CMD_SENSORBOARD_SET_BEACON 0x04
 149
 150 struct i2c_cmd_sensorboard_start_beacon {
 151         struct i2c_cmd_hdr hdr;
 152         uint8_t enable;
 153 };
 154
 155
 156 /****/
 157
 158 #define I2C_CMD_SENSORBOARD_SET_SCANNER 0x05
 159
 160 struct i2c_cmd_sensorboard_scanner {
 161         struct i2c_cmd_hdr hdr;
 162
 163 #define I2C_SENSORBOARD_SCANNER_STOP    0x00
 164 #define I2C_SENSORBOARD_SCANNER_PREPARE 0x01
 165 #define I2C_SENSORBOARD_SCANNER_START   0x02
 166         uint8_t mode;
 167 };
 168
 169 /*****/
 170
 171 #define I2C_CMD_SENSORBOARD_CALIB_SCANNER 0x06
 172 struct i2c_cmd_sensorboard_calib_scanner {
 173         struct i2c_cmd_hdr hdr;
 174 };
 175
 176 /*****/
 177
 178 #define I2C_CMD_SENSORBOARD_SCANNER_ALGO 0x07
 179 struct i2c_cmd_sensorboard_scanner_algo {
 180         struct i2c_cmd_hdr hdr;
 181
 182 #define I2C_SCANNER_ALGO_COLUMN_DROPZONE 1
 183 #define I2C_SCANNER_ALGO_CHECK_TEMPLE    2
 184 #define I2C_SCANNER_ALGO_TEMPLE_DROPZONE 3
 185         uint8_t algo;
 186
 187         union {
 188                 struct {
 189 #define I2C_SCANNER_ZONE_0     0
 190 #define I2C_SCANNER_ZONE_1     1
 191 #define I2C_SCANNER_ZONE_DISC  2
 192                         uint8_t working_zone;
 193                         int16_t center_x;
 194                         int16_t center_y;
 195                 } drop_zone;
 196
 197                 struct {
 198                         uint8_t level;
 199                         int16_t temple_x;
 200                         int16_t temple_y;
 201                 } check_temple;
 202         };
 203 };
 204
 205 /****/
 206 /* requests and their answers */
 207 /****/
 208
 209
 210 #define I2C_REQ_MECHBOARD_STATUS 0x80
 211
 212 struct i2c_req_mechboard_status {
 213         struct i2c_cmd_hdr hdr;
 214
 215         int16_t pump_left1_current;
 216         int16_t pump_left2_current;
 217 };
 218
 219 #define I2C_ANS_MECHBOARD_STATUS 0x81
 220
 221 struct i2c_ans_mechboard_status {
 222         struct i2c_cmd_hdr hdr;
 223         /* mode type are defined above: I2C_MECHBOARD_MODE_xxx */
 224         uint8_t mode;
 225
 226 #define I2C_MECHBOARD_STATUS_F_READY         0x00
 227 #define I2C_MECHBOARD_STATUS_F_BUSY          0x01
 228 #define I2C_MECHBOARD_STATUS_F_EXCPT         0x02
 229         uint8_t status;
 230
 231         uint8_t lintel_count;
 232
 233         /* flag is there if column was taken by this pump. Note that
 234          * we should also check ADC (current) to see if the column is
 235          * still there. */
 236 #define I2C_MECHBOARD_COLUMN_L1              0x01
 237 #define I2C_MECHBOARD_COLUMN_L2              0x02
 238 #define I2C_MECHBOARD_COLUMN_R1              0x04
 239 #define I2C_MECHBOARD_COLUMN_R2              0x08
 240         uint8_t column_flags;
 241
 242         int16_t pump_left1;
 243         int16_t pump_right1;
 244         int16_t pump_left2;
 245         int16_t pump_right2;
 246
 247 #define I2C_MECHBOARD_CURRENT_COLUMN 85
 248         int16_t pump_right1_current;
 249         int16_t pump_right2_current;
 250
 251         uint16_t servo_lintel_left;
 252         uint16_t servo_lintel_right;
 253 };
 254
 255 #define I2C_REQ_SENSORBOARD_STATUS 0x82
 256
 257 struct i2c_req_sensorboard_status {
 258         struct i2c_cmd_hdr hdr;
 259
 260         /* position sent by mainboard */
 261         int16_t x;
 262         int16_t y;
 263         int16_t a;
 264
 265         /* PWM for pickup */
 266         uint8_t enable_pickup_wheels;
 267 };
 268
 269 #define I2C_ANS_SENSORBOARD_STATUS 0x83
 270
 271 struct i2c_ans_sensorboard_status {
 272         struct i2c_cmd_hdr hdr;
 273
 274         uint8_t status;
 275 #define I2C_OPPONENT_NOT_THERE -1000
 276         int16_t opponent_x;
 277         int16_t opponent_y;
 278         int16_t opponent_a;
 279         int16_t opponent_d;
 280
 281 #define I2C_SCAN_DONE 1
 282 #define I2C_SCAN_MAX_COLUMN 2
 283         uint8_t scan_status;
 284
 285 #define I2C_COLUMN_NO_DROPZONE -1
 286         int8_t dropzone_h;
 287         int16_t dropzone_x;
 288         int16_t dropzone_y;
 289 };
 290
 291 #endif /* _I2C_PROTOCOL_H_ */