X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fi2c_protocol.c;h=403decd0cc63d56f77bb8730ade7adcb7e24cecb;hp=2ceb7e8818146a03cd37001fd480f755deee813b;hb=09e0cfb842943982e9fa3c4792c097bf4be25360;hpb=1714f4ee916fca95ce24120ea6e698237913f947

diff --git a/projects/microb2010/mainboard/i2c_protocol.c b/projects/microb2010/mainboard/i2c_protocol.c
index 2ceb7e8..403decd 100644
--- a/projects/microb2010/mainboard/i2c_protocol.c
+++ b/projects/microb2010/mainboard/i2c_protocol.c
@@ -263,17 +263,23 @@ void i2c_recvevent(uint8_t * buf, int8_t size)
 		/* status */
 		cobboard.mode = ans->mode;
 		cobboard.status = ans->status;
+		cobboard.left_cobroller_speed = ans->left_cobroller_speed;
+		cs_set_consign(&mainboard.left_cobroller.cs, cobboard.left_cobroller_speed);
+		cobboard.right_cobroller_speed = ans->right_cobroller_speed;
+		cs_set_consign(&mainboard.right_cobroller.cs, cobboard.right_cobroller_speed);
 
 		break;
 	}
-		
+
 	case I2C_ANS_BALLBOARD_STATUS: {
 		struct i2c_ans_ballboard_status * ans = 
 			(struct i2c_ans_ballboard_status *)buf;
-		
+
 		if (size != sizeof (*ans))
 			goto error;
+		ballboard.mode = ans->mode;
 		ballboard.status = ans->status;
+		ballboard.ball_count = ans->ball_count;
 		break;
 	}
 
@@ -292,13 +298,11 @@ void i2c_recvevent(uint8_t * buf, int8_t size)
 		i2c_errors = 0;
 	}
 }
-	
+
 void i2c_recvbyteevent(uint8_t hwstatus, uint8_t i, uint8_t c)
 {
 }
 
-
-
 /* ******** ******** ******** ******** */
 /* commands */
 /* ******** ******** ******** ******** */
@@ -368,19 +372,61 @@ int8_t i2c_led_control(uint8_t addr, uint8_t led, uint8_t state)
 	return i2c_send_command(addr, (uint8_t*)&buf, sizeof(buf));
 }
 
-int8_t i2c_cobboard_mode_manual(void)
+int8_t i2c_cobboard_mode_eject(void)
 {
 	struct i2c_cmd_cobboard_set_mode buf;
 	buf.hdr.cmd = I2C_CMD_COBBOARD_SET_MODE;
-	buf.mode = I2C_COBBOARD_MODE_MANUAL;
+	buf.mode = cobboard.mode | I2C_COBBOARD_MODE_EJECT;
 	return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 }
 
-int8_t i2c_cobboard_mode_harvest(void)
+int8_t i2c_cobboard_mode_harvest(uint8_t side)
 {
 	struct i2c_cmd_cobboard_set_mode buf;
+	uint8_t mode = cobboard.mode;
+
 	buf.hdr.cmd = I2C_CMD_COBBOARD_SET_MODE;
-	buf.mode = I2C_COBBOARD_MODE_HARVEST;
+	if (side == I2C_LEFT_SIDE) {
+		mode |= I2C_COBBOARD_MODE_L_DEPLOY;
+		mode |= I2C_COBBOARD_MODE_L_HARVEST;
+	}
+	else {
+		mode |= I2C_COBBOARD_MODE_R_DEPLOY;
+		mode |= I2C_COBBOARD_MODE_R_HARVEST;
+	}
+	buf.mode = mode;
+	return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
+}
+
+int8_t i2c_cobboard_mode_deploy(uint8_t side)
+{
+	struct i2c_cmd_cobboard_set_mode buf;
+	uint8_t mode = cobboard.mode;
+
+	buf.hdr.cmd = I2C_CMD_COBBOARD_SET_MODE;
+	if (side == I2C_LEFT_SIDE) {
+		mode &= ~(I2C_COBBOARD_MODE_L_DEPLOY | I2C_COBBOARD_MODE_L_HARVEST);
+		mode |= I2C_COBBOARD_MODE_L_DEPLOY;
+	}
+	else {
+		mode &= ~(I2C_COBBOARD_MODE_R_DEPLOY | I2C_COBBOARD_MODE_R_HARVEST);
+		mode |= I2C_COBBOARD_MODE_R_DEPLOY;
+	}
+	buf.mode = mode;
+	return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
+}
+
+int8_t i2c_cobboard_mode_pack(uint8_t side)
+{
+	struct i2c_cmd_cobboard_set_mode buf;
+	uint8_t mode = cobboard.mode;
+
+	buf.hdr.cmd = I2C_CMD_COBBOARD_SET_MODE;
+	if (side == I2C_LEFT_SIDE)
+		mode &= ~(I2C_COBBOARD_MODE_L_DEPLOY | I2C_COBBOARD_MODE_L_HARVEST);
+	else
+		mode &= ~(I2C_COBBOARD_MODE_R_DEPLOY | I2C_COBBOARD_MODE_R_HARVEST);
+	buf.mode = mode;
 	return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 }
 
@@ -392,3 +438,11 @@ int8_t i2c_cobboard_mode_init(void)
 	return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 }
 
+int8_t i2c_ballboard_set_mode(uint8_t mode)
+{
+	struct i2c_cmd_ballboard_set_mode buf;
+	buf.hdr.cmd = I2C_CMD_BALLBOARD_SET_MODE;
+	buf.mode = mode;
+	return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
+}
+