weak current limit on spickles

[aversive.git] / projects / microb2010 / common / i2c_commands.h

diff --git a/projects/microb2010/common/i2c_commands.h b/projects/microb2010/common/i2c_commands.h
index 7b04977..b5c9d36 100644 (file)
--- a/projects/microb2010/common/i2c_commands.h
+++ b/projects/microb2010/common/i2c_commands.h
@@ -32,6 +32,7 @@
 #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 +41,7 @@
 #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;
@@ -107,6 +109,8 @@ 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;
 };
@@ -151,6 +155,10 @@ struct i2c_ans_ballboard_status {
        uint8_t status;
 
        uint8_t ball_count;
+
+       /* detection of cobs */
+       uint8_t lcob;
+       uint8_t rcob;
 };
 
 #endif /* _I2C_PROTOCOL_H_ */