X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcommon%2Fi2c_commands.h;h=d64ed8b8093102bdec4d8c5986ef8c496fcd511b;hp=d08e58023a7940fdf62fca7d1caf4cf05f888718;hb=aa68be2d5d596693bda1109e4ccd6489f613b4f7;hpb=c5092ef0e45256f7e5ff2ceea8e1aa1cb33027db

diff --git a/projects/microb2010/common/i2c_commands.h b/projects/microb2010/common/i2c_commands.h
index d08e580..d64ed8b 100644
--- a/projects/microb2010/common/i2c_commands.h
+++ b/projects/microb2010/common/i2c_commands.h
@@ -38,6 +38,9 @@
 
 #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;
@@ -52,7 +55,7 @@ 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;
 };
 
 /****/
@@ -71,12 +74,9 @@ 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;
 };
 
@@ -85,13 +85,14 @@ struct i2c_cmd_cobboard_set_mode {
 struct i2c_cmd_ballboard_set_mode {
 	struct i2c_cmd_hdr hdr;
 
-#define I2C_BALLBOARD_MODE_OFF         0x00
-#define I2C_BALLBOARD_MODE_HARVEST     0x01
-#define I2C_BALLBOARD_MODE_EJECT       0x02
-#define I2C_BALLBOARD_MODE_PREP_L_FORK 0x03
-#define I2C_BALLBOARD_MODE_TAKE_L_FORK 0x04
-#define I2C_BALLBOARD_MODE_PREP_R_FORK 0x05
-#define I2C_BALLBOARD_MODE_TAKE_R_FORK 0x06
+#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;
 };
 
@@ -104,19 +105,27 @@ 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_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
 	uint8_t status;
 
 	uint8_t cob_count;
@@ -136,6 +145,7 @@ 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
@@ -143,6 +153,10 @@ 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_ */