go fast between corn cobs

[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 d6794af..bbebd32 100644 (file)
--- a/projects/microb2010/common/i2c_commands.h
+++ b/projects/microb2010/common/i2c_commands.h
@@ -32,12 +32,16 @@
 #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
 
 #define I2C_COB_BLACK   0
 #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;
@@ -71,12 +75,9 @@ struct i2c_cmd_generic_color {
 struct i2c_cmd_cobboard_set_mode {
        struct i2c_cmd_hdr hdr;
 
-#define I2C_COBBOARD_MODE_L_DEPLOY     0x01 /* deploy the spickle */
-#define I2C_COBBOARD_MODE_L_HARVEST    0x02 /* auto harvest withe cobs */
-#define I2C_COBBOARD_MODE_R_DEPLOY     0x04 /* deploy the spickle */
-#define I2C_COBBOARD_MODE_R_HARVEST    0x08 /* auto harvest withe cobs */
-#define I2C_COBBOARD_MODE_EJECT        0x10 /* eject cobs */
-#define I2C_COBBOARD_MODE_INIT         0x20 /* init state machine */
+#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 */
        uint8_t mode;
 };
 
@@ -105,20 +106,27 @@ struct i2c_cmd_ballboard_set_mode {
 
 struct i2c_req_cobboard_status {
        struct i2c_cmd_hdr hdr;
-       int16_t sickle_left1_current;
+
+#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 */
+       uint8_t lspickle;
+       uint8_t rspickle;
 };
 
 #define I2C_ANS_COBBOARD_STATUS 0x81
 
 struct i2c_ans_cobboard_status {
        struct i2c_cmd_hdr hdr;
+
        /* mode type are defined above: I2C_COBBOARD_MODE_xxx */
        uint8_t mode;
 
 #define I2C_COBBOARD_STATUS_READY         0x00
-#define I2C_COBBOARD_STATUS_LBUSY         0x01
-#define I2C_COBBOARD_STATUS_RBUSY         0x02
-#define I2C_COBBOARD_STATUS_EJECT         0x03
+#define I2C_COBBOARD_STATUS_OFF           0x01
+#define I2C_COBBOARD_STATUS_LBUSY         0x02
+#define I2C_COBBOARD_STATUS_RBUSY         0x03
+#define I2C_COBBOARD_STATUS_EJECT         0x04
        uint8_t status;
 
        uint8_t cob_count;
@@ -146,6 +154,10 @@ 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_ */