+++ /dev/null
-/*
- * Copyright Droids Corporation (2007)
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- *
- * Revision : $Id: i2c_commands.h,v 1.9 2009-05-27 20:04:06 zer0 Exp $
- *
- */
-
-#ifndef _I2C_COMMANDS_H_
-#define _I2C_COMMANDS_H_
-
-#define I2C_MAINBOARD_ADDR 1
-#define I2C_MECHBOARD_ADDR 2
-#define I2C_SENSORBOARD_ADDR 3
-
-#define I2C_LEFT_SIDE 0
-#define I2C_RIGHT_SIDE 1
-#define I2C_AUTO_SIDE 2 /* for prepare_pickup */
-#define I2C_CENTER_SIDE 3 /* for prepare_pickup */
-
-#define I2C_COLOR_RED 0
-#define I2C_COLOR_GREEN 1
-
-#define I2C_AUTOBUILD_DEFAULT_DIST 210
-
-struct i2c_cmd_hdr {
- uint8_t cmd;
-};
-
-/****/
-/* commands that do not need and answer */
-/****/
-
-#define I2C_CMD_GENERIC_LED_CONTROL 0x00
-
-struct i2c_cmd_led_control {
- struct i2c_cmd_hdr hdr;
- uint8_t led_num:7;
- uint8_t state:1;
-};
-
-/****/
-
-#define I2C_CMD_GENERIC_SET_COLOR 0x01
-
-struct i2c_cmd_generic_color {
- struct i2c_cmd_hdr hdr;
- uint8_t color;
-};
-
-/****/
-
-#define I2C_CMD_MECHBOARD_SET_MODE 0x02
-
-struct i2c_cmd_mechboard_set_mode {
- struct i2c_cmd_hdr hdr;
-#define I2C_MECHBOARD_MODE_MANUAL 0x00
-#define I2C_MECHBOARD_MODE_HARVEST 0x01
-#define I2C_MECHBOARD_MODE_PREPARE_PICKUP 0x02
-#define I2C_MECHBOARD_MODE_PICKUP 0x03
-#define I2C_MECHBOARD_MODE_PREPARE_BUILD 0x04
-#define I2C_MECHBOARD_MODE_AUTOBUILD 0x05
-#define I2C_MECHBOARD_MODE_WAIT 0x06
-#define I2C_MECHBOARD_MODE_INIT 0x07
-#define I2C_MECHBOARD_MODE_PREPARE_GET_LINTEL 0x08
-#define I2C_MECHBOARD_MODE_GET_LINTEL 0x09
-#define I2C_MECHBOARD_MODE_PUT_LINTEL 0x0A
-#define I2C_MECHBOARD_MODE_PREPARE_EJECT 0x0B
-#define I2C_MECHBOARD_MODE_EJECT 0x0C
-#define I2C_MECHBOARD_MODE_CLEAR 0x0D
-#define I2C_MECHBOARD_MODE_LAZY_HARVEST 0x0E
-#define I2C_MECHBOARD_MODE_LOADED 0x0F
-#define I2C_MECHBOARD_MODE_PREPARE_INSIDE 0x10
-#define I2C_MECHBOARD_MODE_STORE 0x11
-#define I2C_MECHBOARD_MODE_LAZY_PICKUP 0x12
-#define I2C_MECHBOARD_MODE_MANIVELLE 0x13
-#define I2C_MECHBOARD_MODE_PUSH_TEMPLE 0x14
-#define I2C_MECHBOARD_MODE_PUSH_TEMPLE_DISC 0x15
-#define I2C_MECHBOARD_MODE_EXIT 0xFF
- uint8_t mode;
- union {
- struct {
-
- } manual;
-
- struct {
- uint8_t side;
- uint8_t next_mode;
- } prep_pickup;
-
- struct {
- uint8_t level_l;
- uint8_t level_r;
- } prep_build;
-
- struct {
- uint8_t side;
- } push_temple_disc;
-
- struct {
- uint8_t level_left;
- uint8_t level_right;
- uint8_t count_left;
- uint8_t count_right;
- uint8_t distance_left;
- uint8_t distance_right;
- uint8_t do_lintel;
- } autobuild;
-
- struct {
- uint8_t level_l;
- uint8_t level_r;
- } prep_inside;
- };
-};
-
-/****/
-
-/* only valid in manual mode */
-#define I2C_CMD_MECHBOARD_ARM_GOTO 0x03
-
-struct i2c_cmd_mechboard_arm_goto {
- struct i2c_cmd_hdr hdr;
-#define I2C_MECHBOARD_ARM_LEFT 0
-#define I2C_MECHBOARD_ARM_RIGHT 1
-#define I2C_MECHBOARD_ARM_BOTH 2
- uint8_t which;
-
- uint8_t height; /* in cm */
- uint8_t distance; /* in cm */
-};
-
-/****/
-
-#define I2C_CMD_SENSORBOARD_SET_BEACON 0x04
-
-struct i2c_cmd_sensorboard_start_beacon {
- struct i2c_cmd_hdr hdr;
- uint8_t enable;
-};
-
-
-/****/
-
-#define I2C_CMD_SENSORBOARD_SET_SCANNER 0x05
-
-struct i2c_cmd_sensorboard_scanner {
- struct i2c_cmd_hdr hdr;
-
-#define I2C_SENSORBOARD_SCANNER_STOP 0x00
-#define I2C_SENSORBOARD_SCANNER_PREPARE 0x01
-#define I2C_SENSORBOARD_SCANNER_START 0x02
- uint8_t mode;
-};
-
-/*****/
-
-#define I2C_CMD_SENSORBOARD_CALIB_SCANNER 0x06
-struct i2c_cmd_sensorboard_calib_scanner {
- struct i2c_cmd_hdr hdr;
-};
-
-/*****/
-
-#define I2C_CMD_SENSORBOARD_SCANNER_ALGO 0x07
-struct i2c_cmd_sensorboard_scanner_algo {
- struct i2c_cmd_hdr hdr;
-
-#define I2C_SCANNER_ALGO_COLUMN_DROPZONE 1
-#define I2C_SCANNER_ALGO_CHECK_TEMPLE 2
-#define I2C_SCANNER_ALGO_TEMPLE_DROPZONE 3
- uint8_t algo;
-
- union {
- struct {
-#define I2C_SCANNER_ZONE_0 0
-#define I2C_SCANNER_ZONE_1 1
-#define I2C_SCANNER_ZONE_DISC 2
- uint8_t working_zone;
- int16_t center_x;
- int16_t center_y;
- } drop_zone;
-
- struct {
- uint8_t level;
- int16_t temple_x;
- int16_t temple_y;
- } check_temple;
- };
-};
-
-/****/
-/* requests and their answers */
-/****/
-
-
-#define I2C_REQ_MECHBOARD_STATUS 0x80
-
-struct i2c_req_mechboard_status {
- struct i2c_cmd_hdr hdr;
-
- int16_t pump_left1_current;
- int16_t pump_left2_current;
-};
-
-#define I2C_ANS_MECHBOARD_STATUS 0x81
-
-struct i2c_ans_mechboard_status {
- struct i2c_cmd_hdr hdr;
- /* mode type are defined above: I2C_MECHBOARD_MODE_xxx */
- uint8_t mode;
-
-#define I2C_MECHBOARD_STATUS_F_READY 0x00
-#define I2C_MECHBOARD_STATUS_F_BUSY 0x01
-#define I2C_MECHBOARD_STATUS_F_EXCPT 0x02
- uint8_t status;
-
- uint8_t lintel_count;
-
- /* flag is there if column was taken by this pump. Note that
- * we should also check ADC (current) to see if the column is
- * still there. */
-#define I2C_MECHBOARD_COLUMN_L1 0x01
-#define I2C_MECHBOARD_COLUMN_L2 0x02
-#define I2C_MECHBOARD_COLUMN_R1 0x04
-#define I2C_MECHBOARD_COLUMN_R2 0x08
- uint8_t column_flags;
-
- int16_t pump_left1;
- int16_t pump_right1;
- int16_t pump_left2;
- int16_t pump_right2;
-
-#define I2C_MECHBOARD_CURRENT_COLUMN 85
- int16_t pump_right1_current;
- int16_t pump_right2_current;
-
- uint16_t servo_lintel_left;
- uint16_t servo_lintel_right;
-};
-
-#define I2C_REQ_SENSORBOARD_STATUS 0x82
-
-struct i2c_req_sensorboard_status {
- struct i2c_cmd_hdr hdr;
-
- /* position sent by mainboard */
- int16_t x;
- int16_t y;
- int16_t a;
-
- /* PWM for pickup */
- uint8_t enable_pickup_wheels;
-};
-
-#define I2C_ANS_SENSORBOARD_STATUS 0x83
-
-struct i2c_ans_sensorboard_status {
- struct i2c_cmd_hdr hdr;
-
- uint8_t status;
-#define I2C_OPPONENT_NOT_THERE -1000
- int16_t opponent_x;
- int16_t opponent_y;
- int16_t opponent_a;
- int16_t opponent_d;
-
-#define I2C_SCAN_DONE 1
-#define I2C_SCAN_MAX_COLUMN 2
- uint8_t scan_status;
-
-#define I2C_COLUMN_NO_DROPZONE -1
- int8_t dropzone_h;
- int16_t dropzone_x;
- int16_t dropzone_y;
-};
-
-#endif /* _I2C_PROTOCOL_H_ */
git.droids-corp.org / aversive.git / blobdiff