X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcommon%2Fi2c_commands.h;h=d6794afefe90591527b5a304376908b4de986c57;hp=fb4829f929dbc07c641bd571871f9ec114cc45ac;hb=6914527de2ecfef9d790740c71739e7418246b96;hpb=31bb619b1046f561cff432cb116735b1423a8d89

diff --git a/projects/microb2010/common/i2c_commands.h b/projects/microb2010/common/i2c_commands.h
index fb4829f..d6794af 100644
--- a/projects/microb2010/common/i2c_commands.h
+++ b/projects/microb2010/common/i2c_commands.h
@@ -52,7 +52,7 @@ 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;
 };
 
 /****/
@@ -80,6 +80,22 @@ struct i2c_cmd_cobboard_set_mode {
 	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;
+};
+
 /****/
 /* requests and their answers */
 /****/
@@ -99,9 +115,10 @@ 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 +138,7 @@ 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