projects/microb2009/mainboard/i2c_protocol.c

   1 /*
   2  *  Copyright Droids Corporation (2009)
   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_protocol.c,v 1.8 2009-11-08 17:24:33 zer0 Exp $
  19  *
  20  */
  21
  22 #include <stdio.h>
  23 #include <string.h>
  24
  25 #include <aversive/pgmspace.h>
  26 #include <aversive/wait.h>
  27 #include <aversive/error.h>
  28
  29 #include <ax12.h>
  30 #include <uart.h>
  31 #include <pwm_ng.h>
  32 #include <i2c.h>
  33 #include <time.h>
  34
  35 #include <pid.h>
  36 #include <quadramp.h>
  37 #include <control_system_manager.h>
  38 #include <trajectory_manager.h>
  39 #include <vect_base.h>
  40 #include <lines.h>
  41 #include <polygon.h>
  42 #include <obstacle_avoidance.h>
  43 #include <blocking_detection_manager.h>
  44 #include <robot_system.h>
  45 #include <position_manager.h>
  46
  47 #include <rdline.h>
  48 #include <parse.h>
  49 #include <parse_string.h>
  50 #include <parse_num.h>
  51
  52 #include "../common/i2c_commands.h"
  53 #include "main.h"
  54 #include "sensor.h"
  55 #include "i2c_protocol.h"
  56
  57 #define I2C_STATE_MAX 4
  58
  59 #define I2C_TIMEOUT 100 /* ms */
  60 #define I2C_MAX_ERRORS 40
  61
  62 static volatile uint8_t i2c_poll_num = 0;
  63 static volatile uint8_t i2c_state = 0;
  64 static volatile uint16_t i2c_errors = 0;
  65
  66 #define OP_READY 0 /* no i2c op running */
  67 #define OP_POLL  1 /* a user command is running */
  68 #define OP_CMD   2 /* a polling (req / ans) is running */
  69
  70 static volatile uint8_t running_op = OP_READY;
  71
  72 #define I2C_MAX_LOG 3
  73 static uint8_t error_log = 0;
  74
  75 /* used for commands */
  76 uint8_t command_buf[I2C_SEND_BUFFER_SIZE];
  77 volatile int8_t command_dest=-1;
  78 volatile uint8_t command_size=0;
  79
  80 static int8_t i2c_req_mechboard_status(void);
  81 static int8_t i2c_req_sensorboard_status(void);
  82
  83 #define I2C_ERROR(args...) do {                                         \
  84                 if (error_log < I2C_MAX_LOG) {                          \
  85                         ERROR(E_USER_I2C_PROTO, args);                  \
  86                         error_log ++;                                   \
  87                         if (error_log == I2C_MAX_LOG) {                 \
  88                                 ERROR(E_USER_I2C_PROTO,                 \
  89                                       "i2c logs are now warnings");     \
  90                         }                                               \
  91                 }                                                       \
  92                 else                                                    \
  93                         WARNING(E_USER_I2C_PROTO, args);                \
  94         } while(0)
  95
  96 void i2c_protocol_init(void)
  97 {
  98 }
  99
 100 void i2c_protocol_debug(void)
 101 {
 102         printf_P(PSTR("I2C protocol debug infos:\r\n"));
 103         printf_P(PSTR("  i2c_state=%d\r\n"), i2c_state);
 104         printf_P(PSTR("  i2c_errors=%d\r\n"), i2c_errors);
 105         printf_P(PSTR("  running_op=%d\r\n"), running_op);
 106         printf_P(PSTR("  command_size=%d\r\n"), command_size);
 107         printf_P(PSTR("  command_dest=%d\r\n"), command_dest);
 108         printf_P(PSTR("  i2c_status=%x\r\n"), i2c_status());
 109 }
 110
 111 static void i2cproto_next_state(uint8_t inc)
 112 {
 113         i2c_state += inc;
 114         if (i2c_state >= I2C_STATE_MAX) {
 115                 i2c_state = 0;
 116                 i2c_poll_num ++;
 117         }
 118 }
 119
 120 void i2cproto_wait_update(void)
 121 {
 122         uint8_t poll_num;
 123         poll_num = i2c_poll_num;
 124         WAIT_COND_OR_TIMEOUT((i2c_poll_num-poll_num) > 1, 150);
 125 }
 126
 127 /* called periodically : the goal of this 'thread' is to send requests
 128  * and read answers on i2c slaves in the correct order. */
 129 void i2c_poll_slaves(void *dummy)
 130 {
 131         uint8_t flags;
 132         int8_t err;
 133         static uint8_t a = 0;
 134
 135         a++;
 136         if (a & 0x4)
 137                 LED2_TOGGLE();
 138
 139         /* already running */
 140         IRQ_LOCK(flags);
 141         if (running_op != OP_READY) {
 142                 IRQ_UNLOCK(flags);
 143                 return;
 144         }
 145
 146         /* if a command is ready to be sent, so send it */
 147         if (command_size) {
 148                 running_op = OP_CMD;
 149                 err = i2c_send(command_dest, command_buf, command_size,
 150                              I2C_CTRL_GENERIC);
 151                 if (err < 0)
 152                         goto error;
 153                 IRQ_UNLOCK(flags);
 154                 return;
 155         }
 156
 157         /* no command, so do the polling */
 158         running_op = OP_POLL;
 159
 160         switch(i2c_state) {
 161
 162         /* poll status of mechboard */
 163 #define I2C_REQ_MECHBOARD 0
 164         case I2C_REQ_MECHBOARD:
 165                 if ((err = i2c_req_mechboard_status()))
 166                         goto error;
 167                 break;
 168
 169 #define I2C_ANS_MECHBOARD 1
 170         case I2C_ANS_MECHBOARD:
 171                 if ((err = i2c_recv(I2C_MECHBOARD_ADDR,
 172                                     sizeof(struct i2c_ans_mechboard_status),
 173                                     I2C_CTRL_GENERIC)))
 174                         goto error;
 175                 break;
 176
 177         /* poll status of sensorboard */
 178 #define I2C_REQ_SENSORBOARD 2
 179         case I2C_REQ_SENSORBOARD:
 180                 if ((err = i2c_req_sensorboard_status()))
 181                         goto error;
 182                 break;
 183
 184 #define I2C_ANS_SENSORBOARD 3
 185         case I2C_ANS_SENSORBOARD:
 186                 if ((err = i2c_recv(I2C_SENSORBOARD_ADDR,
 187                                     sizeof(struct i2c_ans_sensorboard_status),
 188                                     I2C_CTRL_GENERIC)))
 189                         goto error;
 190                 break;
 191
 192         /* nothing, go to the first request */
 193         default:
 194                 i2c_state = 0;
 195                 running_op = OP_READY;
 196         }
 197         IRQ_UNLOCK(flags);
 198
 199         return;
 200
 201  error:
 202         running_op = OP_READY;
 203         IRQ_UNLOCK(flags);
 204         i2c_errors++;
 205         if (i2c_errors > I2C_MAX_ERRORS) {
 206                 I2C_ERROR("I2C send is_cmd=%d proto_state=%d "
 207                       "err=%d i2c_status=%x", !!command_size, i2c_state, err, i2c_status());
 208                 i2c_reset();
 209                 i2c_errors = 0;
 210         }
 211 }
 212
 213 /* called when the xmit is finished */
 214 void i2c_sendevent(int8_t size)
 215 {
 216         if (size > 0) {
 217                 if (running_op == OP_POLL) {
 218                         i2cproto_next_state(1);
 219                 }
 220                 else
 221                         command_size = 0;
 222         }
 223         else {
 224                 i2c_errors++;
 225                 NOTICE(E_USER_I2C_PROTO, "send error state=%d size=%d "
 226                         "op=%d", i2c_state, size, running_op);
 227                 if (i2c_errors > I2C_MAX_ERRORS) {
 228                         I2C_ERROR("I2C error, slave not ready");
 229                         i2c_reset();
 230                         i2c_errors = 0;
 231                 }
 232
 233                 if (running_op == OP_POLL) {
 234                         /* skip associated answer */
 235                         i2cproto_next_state(2);
 236                 }
 237         }
 238         running_op = OP_READY;
 239 }
 240
 241 /* called rx event */
 242 void i2c_recvevent(uint8_t * buf, int8_t size)
 243 {
 244         if (running_op == OP_POLL)
 245                 i2cproto_next_state(1);
 246
 247         /* recv is only trigged after a poll */
 248         running_op = OP_READY;
 249
 250         if (size < 0) {
 251                 goto error;
 252         }
 253
 254         switch (buf[0]) {
 255
 256         case I2C_ANS_MECHBOARD_STATUS: {
 257                 struct i2c_ans_mechboard_status * ans =
 258                         (struct i2c_ans_mechboard_status *)buf;
 259
 260                 if (size != sizeof (*ans))
 261                         goto error;
 262
 263                 /* status */
 264                 mechboard.mode = ans->mode;
 265                 mechboard.status = ans->status;
 266                 mechboard.lintel_count = ans->lintel_count;
 267                 mechboard.column_flags = ans->column_flags;
 268                 /* pumps pwm */
 269                 mechboard.pump_left1 = ans->pump_left1;
 270                 mechboard.pump_left2 = ans->pump_left2;
 271                 mechboard.pump_right1 = ans->pump_right1;
 272                 mechboard.pump_right2 = ans->pump_right2;
 273                 pwm_ng_set(LEFT_PUMP1_PWM, mechboard.pump_left1);
 274                 pwm_ng_set(LEFT_PUMP2_PWM, mechboard.pump_left2);
 275                 /* pumps current */
 276                 mechboard.pump_right1_current = ans->pump_right1_current;
 277                 mechboard.pump_right2_current = ans->pump_right2_current;
 278                 /* servos */
 279                 mechboard.servo_lintel_left = ans->servo_lintel_left;
 280                 mechboard.servo_lintel_right = ans->servo_lintel_right;
 281                 pwm_ng_set(&gen.servo2, mechboard.servo_lintel_right);
 282                 pwm_ng_set(&gen.servo3, mechboard.servo_lintel_left);
 283
 284                 break;
 285         }
 286
 287         case I2C_ANS_SENSORBOARD_STATUS: {
 288                 struct i2c_ans_sensorboard_status * ans =
 289                         (struct i2c_ans_sensorboard_status *)buf;
 290
 291                 if (size != sizeof (*ans))
 292                         goto error;
 293                 sensorboard.status = ans->status;
 294                 sensorboard.opponent_x = ans->opponent_x;
 295                 sensorboard.opponent_y = ans->opponent_y;
 296                 sensorboard.opponent_a = ans->opponent_a;
 297                 sensorboard.opponent_d = ans->opponent_d;
 298
 299                 sensorboard.scan_status = ans->scan_status;
 300                 sensorboard.dropzone_h = ans->dropzone_h;
 301                 sensorboard.dropzone_x = ans->dropzone_x;
 302                 sensorboard.dropzone_y = ans->dropzone_y;
 303                 break;
 304         }
 305
 306         default:
 307                 break;
 308         }
 309
 310         return;
 311  error:
 312         i2c_errors++;
 313         NOTICE(E_USER_I2C_PROTO, "recv error state=%d op=%d",
 314                i2c_state, running_op);
 315         if (i2c_errors > I2C_MAX_ERRORS) {
 316                 I2C_ERROR("I2C error, slave not ready");
 317                 i2c_reset();
 318                 i2c_errors = 0;
 319         }
 320 }
 321
 322 void i2c_recvbyteevent(uint8_t hwstatus, uint8_t i, uint8_t c)
 323 {
 324 }
 325
 326
 327
 328 /* ******** ******** ******** ******** */
 329 /* commands */
 330 /* ******** ******** ******** ******** */
 331
 332
 333 static int8_t
 334 i2c_send_command(uint8_t addr, uint8_t * buf, uint8_t size)
 335 {
 336         uint8_t flags;
 337         microseconds us = time_get_us2();
 338
 339         while ((time_get_us2() - us) < (I2C_TIMEOUT)*1000L) {
 340                 IRQ_LOCK(flags);
 341                 if (command_size == 0) {
 342                         memcpy(command_buf, buf, size);
 343                         command_size = size;
 344                         command_dest = addr;
 345                         IRQ_UNLOCK(flags);
 346                         return 0;
 347                 }
 348                 IRQ_UNLOCK(flags);
 349         }
 350         /* this should not happen... except if we are called from an
 351          * interrupt context, but it's forbidden */
 352         I2C_ERROR("I2C command send failed");
 353         return -EBUSY;
 354 }
 355
 356 static int8_t i2c_req_mechboard_status(void)
 357 {
 358         struct i2c_req_mechboard_status buf;
 359         int8_t err;
 360
 361         buf.hdr.cmd = I2C_REQ_MECHBOARD_STATUS;
 362         buf.pump_left1_current = sensor_get_adc(ADC_CSENSE3);
 363         buf.pump_left2_current = sensor_get_adc(ADC_CSENSE4);
 364         err = i2c_send(I2C_MECHBOARD_ADDR, (uint8_t*)&buf,
 365                         sizeof(buf), I2C_CTRL_GENERIC);
 366
 367         return err;
 368 }
 369
 370 static int8_t i2c_req_sensorboard_status(void)
 371 {
 372         struct i2c_req_sensorboard_status buf;
 373
 374         buf.hdr.cmd = I2C_REQ_SENSORBOARD_STATUS;
 375         /* robot position */
 376         buf.x = position_get_x_s16(&mainboard.pos);
 377         buf.y = position_get_y_s16(&mainboard.pos);
 378         buf.a = position_get_a_deg_s16(&mainboard.pos);
 379         /* pickup wheels */
 380         buf.enable_pickup_wheels = mainboard.enable_pickup_wheels;
 381
 382         return i2c_send(I2C_SENSORBOARD_ADDR, (uint8_t*)&buf,
 383                         sizeof(buf), I2C_CTRL_GENERIC);
 384 }
 385
 386 int8_t i2c_set_color(uint8_t addr, uint8_t color)
 387 {
 388         struct i2c_cmd_generic_color buf;
 389
 390         if (addr == I2C_SENSORBOARD_ADDR)
 391                 return 0; /* XXX disabled for now */
 392         buf.hdr.cmd = I2C_CMD_GENERIC_SET_COLOR;
 393         buf.color = color;
 394         return i2c_send_command(addr, (uint8_t*)&buf, sizeof(buf));
 395 }
 396
 397 int8_t i2c_led_control(uint8_t addr, uint8_t led, uint8_t state)
 398 {
 399         struct i2c_cmd_led_control buf;
 400         buf.hdr.cmd = I2C_CMD_GENERIC_LED_CONTROL;
 401         buf.led_num = led;
 402         buf.state = state;
 403         return i2c_send_command(addr, (uint8_t*)&buf, sizeof(buf));
 404 }
 405
 406 int8_t i2c_mechboard_mode_manual(void)
 407 {
 408         struct i2c_cmd_mechboard_set_mode buf;
 409         buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
 410         buf.mode = I2C_MECHBOARD_MODE_MANUAL;
 411         return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 412 }
 413
 414 int8_t i2c_mechboard_mode_harvest(void)
 415 {
 416         struct i2c_cmd_mechboard_set_mode buf;
 417         buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
 418         buf.mode = I2C_MECHBOARD_MODE_HARVEST;
 419         return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 420 }
 421
 422 int8_t i2c_mechboard_mode_lazy_harvest(void)
 423 {
 424         struct i2c_cmd_mechboard_set_mode buf;
 425         buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
 426         buf.mode = I2C_MECHBOARD_MODE_LAZY_HARVEST;
 427         return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 428 }
 429
 430 int8_t i2c_mechboard_mode_prepare_pickup(uint8_t side)
 431 {
 432         struct i2c_cmd_mechboard_set_mode buf;
 433         buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
 434         buf.mode = I2C_MECHBOARD_MODE_PREPARE_PICKUP;
 435         buf.prep_pickup.next_mode = I2C_MECHBOARD_MODE_PREPARE_PICKUP;
 436         buf.prep_pickup.side = side;
 437         return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 438 }
 439
 440 int8_t i2c_mechboard_mode_push_temple_disc(uint8_t side)
 441 {
 442         struct i2c_cmd_mechboard_set_mode buf;
 443         buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
 444         buf.mode = I2C_MECHBOARD_MODE_PUSH_TEMPLE_DISC;
 445         buf.prep_pickup.side = side;
 446         return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 447 }
 448
 449 int8_t i2c_mechboard_mode_prepare_pickup_next(uint8_t side, uint8_t next_mode)
 450 {
 451         struct i2c_cmd_mechboard_set_mode buf;
 452         buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
 453         buf.mode = I2C_MECHBOARD_MODE_PREPARE_PICKUP;
 454         buf.prep_pickup.next_mode = next_mode;
 455         buf.prep_pickup.side = side;
 456         return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 457 }
 458
 459 int8_t i2c_mechboard_mode_pickup(void)
 460 {
 461         struct i2c_cmd_mechboard_set_mode buf;
 462         buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
 463         buf.mode = I2C_MECHBOARD_MODE_PICKUP;
 464         return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 465 }
 466
 467 int8_t i2c_mechboard_mode_eject(void)
 468 {
 469         struct i2c_cmd_mechboard_set_mode buf;
 470         buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
 471         buf.mode = I2C_MECHBOARD_MODE_EJECT;
 472         return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 473 }
 474
 475 int8_t i2c_mechboard_mode_manivelle(void)
 476 {
 477         struct i2c_cmd_mechboard_set_mode buf;
 478         buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
 479         buf.mode = I2C_MECHBOARD_MODE_MANIVELLE;
 480         return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 481 }
 482
 483 int8_t i2c_mechboard_mode_push_temple(uint8_t level)
 484 {
 485         struct i2c_cmd_mechboard_set_mode buf;
 486         buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
 487         buf.mode = I2C_MECHBOARD_MODE_PUSH_TEMPLE;
 488         buf.push_temple.level = level;
 489         return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf,sizeof(buf));
 490 }
 491
 492 int8_t i2c_mechboard_mode_prepare_build_both(uint8_t level)
 493 {
 494         struct i2c_cmd_mechboard_set_mode buf;
 495         buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
 496         buf.mode = I2C_MECHBOARD_MODE_PREPARE_BUILD;
 497         buf.prep_build.level_l = level;
 498         buf.prep_build.level_r = level;
 499         return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 500 }
 501
 502 int8_t i2c_mechboard_mode_prepare_build_select(int8_t level_l, int8_t level_r)
 503 {
 504         struct i2c_cmd_mechboard_set_mode buf;
 505         buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
 506         buf.mode = I2C_MECHBOARD_MODE_PREPARE_BUILD;
 507         buf.prep_build.level_l = level_l;
 508         buf.prep_build.level_r = level_r;
 509         return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 510 }
 511
 512 int8_t i2c_mechboard_mode_prepare_inside_both(uint8_t level)
 513 {
 514         struct i2c_cmd_mechboard_set_mode buf;
 515         buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
 516         buf.mode = I2C_MECHBOARD_MODE_PREPARE_INSIDE;
 517         buf.prep_inside.level_l = level;
 518         buf.prep_inside.level_r = level;
 519         return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 520 }
 521
 522 int8_t i2c_mechboard_mode_prepare_inside_select(int8_t level_l, int8_t level_r)
 523 {
 524         struct i2c_cmd_mechboard_set_mode buf;
 525         buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
 526         buf.mode = I2C_MECHBOARD_MODE_PREPARE_INSIDE;
 527         buf.prep_inside.level_l = level_l;
 528         buf.prep_inside.level_r = level_r;
 529         return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 530 }
 531
 532 int8_t i2c_mechboard_mode_simple_autobuild(uint8_t level)
 533 {
 534         struct i2c_cmd_mechboard_set_mode buf;
 535         buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
 536         buf.mode = I2C_MECHBOARD_MODE_AUTOBUILD;
 537         buf.autobuild.level_left = level;
 538         buf.autobuild.level_right = level;
 539         buf.autobuild.count_left = 2;
 540         buf.autobuild.count_right = 2;
 541         buf.autobuild.do_lintel = 1;
 542         buf.autobuild.distance_left = 210;
 543         buf.autobuild.distance_right = 210;
 544         return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 545 }
 546
 547 int8_t i2c_mechboard_mode_autobuild(uint8_t level_l, uint8_t count_l,
 548                                     uint8_t dist_l,
 549                                     uint8_t level_r, uint8_t count_r,
 550                                     uint8_t dist_r,
 551                                     uint8_t do_lintel)
 552 {
 553         struct i2c_cmd_mechboard_set_mode buf;
 554         buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
 555         buf.mode = I2C_MECHBOARD_MODE_AUTOBUILD;
 556         buf.autobuild.level_left = level_l;
 557         buf.autobuild.level_right = level_r;
 558         buf.autobuild.count_left = count_l;
 559         buf.autobuild.count_right = count_r;
 560         buf.autobuild.distance_left = dist_l;
 561         buf.autobuild.distance_right = dist_r;
 562         buf.autobuild.do_lintel = do_lintel;
 563         return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 564 }
 565
 566 int8_t i2c_mechboard_mode_init(void)
 567 {
 568         struct i2c_cmd_mechboard_set_mode buf;
 569         buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
 570         buf.mode = I2C_MECHBOARD_MODE_INIT;
 571         return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 572 }
 573
 574 int8_t i2c_mechboard_mode_prepare_get_lintel(void)
 575 {
 576         struct i2c_cmd_mechboard_set_mode buf;
 577         buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
 578         buf.mode = I2C_MECHBOARD_MODE_PREPARE_GET_LINTEL;
 579         return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 580 }
 581
 582 int8_t i2c_mechboard_mode_get_lintel(void)
 583 {
 584         struct i2c_cmd_mechboard_set_mode buf;
 585         buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
 586         buf.mode = I2C_MECHBOARD_MODE_GET_LINTEL;
 587         return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 588 }
 589
 590 int8_t i2c_mechboard_mode_put_lintel(void)
 591 {
 592         struct i2c_cmd_mechboard_set_mode buf;
 593         buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
 594         buf.mode = I2C_MECHBOARD_MODE_PUT_LINTEL;
 595         return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 596 }
 597
 598 int8_t i2c_mechboard_mode_clear(void)
 599 {
 600         struct i2c_cmd_mechboard_set_mode buf;
 601         buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
 602         buf.mode = I2C_MECHBOARD_MODE_CLEAR;
 603         return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 604 }
 605
 606 int8_t i2c_mechboard_mode_loaded(void)
 607 {
 608         struct i2c_cmd_mechboard_set_mode buf;
 609         buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
 610         buf.mode = I2C_MECHBOARD_MODE_LOADED;
 611         return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 612 }
 613
 614 int8_t i2c_mechboard_mode_store(void)
 615 {
 616         struct i2c_cmd_mechboard_set_mode buf;
 617         buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
 618         buf.mode = I2C_MECHBOARD_MODE_STORE;
 619         return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 620 }
 621
 622 int8_t i2c_mechboard_mode_lazy_pickup(void)
 623 {
 624         struct i2c_cmd_mechboard_set_mode buf;
 625         buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
 626         buf.mode = I2C_MECHBOARD_MODE_LAZY_PICKUP;
 627         return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 628 }
 629
 630 int8_t i2c_sensorboard_set_beacon(uint8_t enable)
 631 {
 632         struct i2c_cmd_sensorboard_start_beacon buf;
 633         buf.hdr.cmd = I2C_CMD_SENSORBOARD_SET_BEACON;
 634         buf.enable = enable;
 635         return i2c_send_command(I2C_SENSORBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 636 }
 637
 638 int8_t i2c_sensorboard_scanner_set(uint8_t mode)
 639 {
 640         struct i2c_cmd_sensorboard_scanner buf;
 641         buf.hdr.cmd = I2C_CMD_SENSORBOARD_SET_SCANNER;
 642         buf.mode = mode;
 643         return i2c_send_command(I2C_SENSORBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 644 }
 645
 646 int8_t i2c_sensorboard_scanner_calib(void)
 647 {
 648         struct i2c_cmd_sensorboard_calib_scanner buf;
 649         buf.hdr.cmd = I2C_CMD_SENSORBOARD_CALIB_SCANNER;
 650         return i2c_send_command(I2C_SENSORBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 651 }
 652
 653 int8_t i2c_sensorboard_scanner_algo_column(uint8_t zone,
 654                                            int16_t x, int16_t y)
 655 {
 656         struct i2c_cmd_sensorboard_scanner_algo buf;
 657         buf.hdr.cmd = I2C_CMD_SENSORBOARD_SCANNER_ALGO;
 658         buf.algo = I2C_SCANNER_ALGO_COLUMN_DROPZONE;
 659         buf.drop_zone.working_zone = zone;
 660         buf.drop_zone.center_x = x;
 661         buf.drop_zone.center_y = y;
 662         return i2c_send_command(I2C_SENSORBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 663 }
 664
 665 int8_t i2c_sensorboard_scanner_algo_temple(uint8_t zone,
 666                                            int16_t x, int16_t y)
 667 {
 668         struct i2c_cmd_sensorboard_scanner_algo buf;
 669         buf.hdr.cmd = I2C_CMD_SENSORBOARD_SCANNER_ALGO;
 670         buf.algo = I2C_SCANNER_ALGO_TEMPLE_DROPZONE;
 671         buf.drop_zone.working_zone = zone;
 672         buf.drop_zone.center_x = x;
 673         buf.drop_zone.center_y = y;
 674         return i2c_send_command(I2C_SENSORBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 675 }
 676
 677 int8_t i2c_sensorboard_scanner_algo_check(uint8_t level,
 678                                           int16_t x, int16_t y)
 679 {
 680         struct i2c_cmd_sensorboard_scanner_algo buf;
 681         buf.hdr.cmd = I2C_CMD_SENSORBOARD_SCANNER_ALGO;
 682         buf.algo = I2C_SCANNER_ALGO_CHECK_TEMPLE;
 683         buf.check_temple.level = level;
 684         buf.check_temple.temple_x = x;
 685         buf.check_temple.temple_y = y;
 686         return i2c_send_command(I2C_SENSORBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 687 }