X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcommon%2Fi2c_commands.h;h=c0ff8e16e774c153d139e9ec7d634be640a2153c;hp=49cdb8e87e202dfe8cdaa46050e695f435e3a40b;hb=4e7801883ed4076cb14b63a0571467747894c0f8;hpb=4fb57a4dab8bd564445e824696a2dab470af8628

diff --git a/projects/microb2010/common/i2c_commands.h b/projects/microb2010/common/i2c_commands.h
index 49cdb8e..c0ff8e1 100644
--- a/projects/microb2010/common/i2c_commands.h
+++ b/projects/microb2010/common/i2c_commands.h
@@ -28,16 +28,18 @@
 #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_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
 
 struct i2c_cmd_hdr {
 	uint8_t cmd;
@@ -52,7 +54,7 @@ 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;
 };
 
 /****/
@@ -68,6 +70,7 @@ struct i2c_cmd_generic_color {
 
 #define I2C_CMD_COBBOARD_SET_MODE 0x02
 
+/* XXX disabled, use memory sync instead */
 struct i2c_cmd_cobboard_set_mode {
 	struct i2c_cmd_hdr hdr;
 
@@ -77,6 +80,22 @@ struct i2c_cmd_cobboard_set_mode {
 #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 */
+	//uint8_t mode;
+};
+
+#define I2C_CMD_BALLBOARD_SET_MODE 0x10
+
+struct i2c_cmd_ballboard_set_mode {
+	struct i2c_cmd_hdr hdr;
+
+#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_L_FORK 0x04
+#define I2C_BALLBOARD_MODE_TAKE_L_FORK 0x05
+#define I2C_BALLBOARD_MODE_PREP_R_FORK 0x06
+#define I2C_BALLBOARD_MODE_TAKE_R_FORK 0x07
 	uint8_t mode;
 };
 
@@ -89,7 +108,7 @@ struct i2c_cmd_cobboard_set_mode {
 
 struct i2c_req_cobboard_status {
 	struct i2c_cmd_hdr hdr;
-	int16_t sickle_left1_current;
+	uint8_t mode;
 };
 
 #define I2C_ANS_COBBOARD_STATUS 0x81
@@ -99,9 +118,10 @@ struct i2c_ans_cobboard_status {
 	/* 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_LBUSY         0x01
+#define I2C_COBBOARD_STATUS_RBUSY         0x02
+#define I2C_COBBOARD_STATUS_EJECT         0x03
 	uint8_t status;
 
 	uint8_t cob_count;
@@ -121,6 +141,7 @@ 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