X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcommon%2Fi2c_commands.h;h=312a18e153abb0a93a1b0166ffa30ca946862e9a;hp=35605b8b54eceb3d3cc902fbd3f4b9334752243e;hb=28da5858ac871c626153f47566e968ecb05ff52b;hpb=8d6a47e9e21a9a31f4bc12d32fb3d11091a4b305

diff --git a/projects/microb2010/common/i2c_commands.h b/projects/microb2010/common/i2c_commands.h
index 35605b8..312a18e 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
@@ -22,17 +22,26 @@
 #ifndef _I2C_COMMANDS_H_
 #define _I2C_COMMANDS_H_
 
+#define I2C_OPPONENT_NOT_THERE -1000
+
 #define I2C_MAINBOARD_ADDR   1
 #define I2C_COBBOARD_ADDR    2
 #define I2C_BALLBOARD_ADDR   3
 
-#define I2C_LEFT_SIDE   0
-#define I2C_RIGHT_SIDE  1
-#define I2C_AUTO_SIDE   2
-#define I2C_CENTER_SIDE 3
+#define I2C_LEFT_SIDE    0
+#define I2C_RIGHT_SIDE   1
+#define I2C_AUTO_SIDE    2
+#define I2C_CENTER_SIDE  3
+#define I2C_NO_SIDE      4
 
-#define I2C_COLOR_RED   0
-#define I2C_COLOR_GREEN 1
+#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;
@@ -47,7 +56,7 @@ struct i2c_cmd_hdr {
 struct i2c_cmd_led_control {
 	struct i2c_cmd_hdr hdr;
 	uint8_t led_num:7;
-	uint8_t state:1;	
+	uint8_t state:1;
 };
 
 /****/
@@ -65,18 +74,27 @@ struct i2c_cmd_generic_color {
 
 struct i2c_cmd_cobboard_set_mode {
 	struct i2c_cmd_hdr hdr;
-#define I2C_COBBOARD_MODE_INIT               0x00
-#define I2C_COBBOARD_MODE_MANUAL             0x01
-#define I2C_COBBOARD_MODE_HARVEST            0x02
-#define I2C_COBBOARD_MODE_EXIT               0xFF
+
+#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;
-	union {
-		struct {
-		} manual;
+};
+
+#define I2C_CMD_BALLBOARD_SET_MODE 0x10
+
+struct i2c_cmd_ballboard_set_mode {
+	struct i2c_cmd_hdr hdr;
 
-		struct {
-		} harvest;
-	};
+#define I2C_BALLBOARD_MODE_INIT        0x00
+#define I2C_BALLBOARD_MODE_OFF         0x01
+#define I2C_BALLBOARD_MODE_HARVEST     0x02
+#define I2C_BALLBOARD_MODE_EJECT       0x03
+#define I2C_BALLBOARD_MODE_PREP_FORK   0x04
+#define I2C_BALLBOARD_MODE_TAKE_FORK   0x05
+	uint8_t mode;
 };
 
 /****/
@@ -88,22 +106,36 @@ struct i2c_cmd_cobboard_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 */
+#define I2C_COBBOARD_SPK_WEAK 0x08 /* if enabled, current limit */
+	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_F_READY         0x00
-#define I2C_COBBOARD_STATUS_F_BUSY          0x01
-#define I2C_COBBOARD_STATUS_F_EXCPT         0x02
+#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;
+
+	int16_t left_cobroller_speed;
+	int16_t right_cobroller_speed;
 };
 
 #define I2C_REQ_BALLBOARD_STATUS 0x82
@@ -117,6 +149,7 @@ struct i2c_req_ballboard_status {
 struct i2c_ans_ballboard_status {
 	struct i2c_cmd_hdr hdr;
 
+	uint8_t mode;
 
 #define I2C_BALLBOARD_STATUS_F_READY         0x00
 #define I2C_BALLBOARD_STATUS_F_BUSY          0x01
@@ -124,6 +157,10 @@ 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_ */