2 * Copyright Droids Corporation (2007)
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful,
10 * but WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12 * GNU General Public License for more details.
14 * You should have received a copy of the GNU General Public License
15 * along with this program; if not, write to the Free Software
16 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
18 * Revision : $Id: i2c_commands.h,v 1.9 2009-05-27 20:04:06 zer0 Exp $
22 #ifndef _I2C_COMMANDS_H_
23 #define _I2C_COMMANDS_H_
25 #define I2C_OPPONENT_NOT_THERE -1000
27 #define I2C_MAINBOARD_ADDR 1
28 #define I2C_COBBOARD_ADDR 2
29 #define I2C_BALLBOARD_ADDR 3
31 #define I2C_LEFT_SIDE 0
32 #define I2C_RIGHT_SIDE 1
33 #define I2C_AUTO_SIDE 2
34 #define I2C_CENTER_SIDE 3
36 #define I2C_COLOR_YELLOW 0
37 #define I2C_COLOR_BLUE 1
39 #define I2C_COB_BLACK 0
40 #define I2C_COB_WHITE 1
47 /* commands that do not need and answer */
50 #define I2C_CMD_GENERIC_LED_CONTROL 0x00
52 struct i2c_cmd_led_control {
53 struct i2c_cmd_hdr hdr;
60 #define I2C_CMD_GENERIC_SET_COLOR 0x01
62 struct i2c_cmd_generic_color {
63 struct i2c_cmd_hdr hdr;
69 #define I2C_CMD_COBBOARD_SET_MODE 0x02
71 struct i2c_cmd_cobboard_set_mode {
72 struct i2c_cmd_hdr hdr;
74 #define I2C_COBBOARD_MODE_L_DEPLOY 0x01 /* deploy the spickle */
75 #define I2C_COBBOARD_MODE_L_HARVEST 0x02 /* auto harvest withe cobs */
76 #define I2C_COBBOARD_MODE_R_DEPLOY 0x04 /* deploy the spickle */
77 #define I2C_COBBOARD_MODE_R_HARVEST 0x08 /* auto harvest withe cobs */
78 #define I2C_COBBOARD_MODE_EJECT 0x10 /* eject cobs */
79 #define I2C_COBBOARD_MODE_INIT 0x20 /* init state machine */
83 #define I2C_CMD_BALLBOARD_SET_MODE 0x10
85 struct i2c_cmd_ballboard_set_mode {
86 struct i2c_cmd_hdr hdr;
88 #define I2C_BALLBOARD_MODE_INIT 0x00
89 #define I2C_BALLBOARD_MODE_OFF 0x01
90 #define I2C_BALLBOARD_MODE_HARVEST 0x02
91 #define I2C_BALLBOARD_MODE_EJECT 0x03
92 #define I2C_BALLBOARD_MODE_PREP_L_FORK 0x04
93 #define I2C_BALLBOARD_MODE_TAKE_L_FORK 0x05
94 #define I2C_BALLBOARD_MODE_PREP_R_FORK 0x06
95 #define I2C_BALLBOARD_MODE_TAKE_R_FORK 0x07
100 /* requests and their answers */
104 #define I2C_REQ_COBBOARD_STATUS 0x80
106 struct i2c_req_cobboard_status {
107 struct i2c_cmd_hdr hdr;
108 int16_t sickle_left1_current;
111 #define I2C_ANS_COBBOARD_STATUS 0x81
113 struct i2c_ans_cobboard_status {
114 struct i2c_cmd_hdr hdr;
115 /* mode type are defined above: I2C_COBBOARD_MODE_xxx */
118 #define I2C_COBBOARD_STATUS_F_READY 0x00
119 #define I2C_COBBOARD_STATUS_F_BUSY 0x01
120 #define I2C_COBBOARD_STATUS_F_EXCPT 0x02
125 int16_t left_cobroller_speed;
126 int16_t right_cobroller_speed;
129 #define I2C_REQ_BALLBOARD_STATUS 0x82
131 struct i2c_req_ballboard_status {
132 struct i2c_cmd_hdr hdr;
135 #define I2C_ANS_BALLBOARD_STATUS 0x83
137 struct i2c_ans_ballboard_status {
138 struct i2c_cmd_hdr hdr;
142 #define I2C_BALLBOARD_STATUS_F_READY 0x00
143 #define I2C_BALLBOARD_STATUS_F_BUSY 0x01
144 #define I2C_BALLBOARD_STATUS_F_EXCPT 0x02
150 #endif /* _I2C_PROTOCOL_H_ */