#include <uart.h>
#include <pwm_ng.h>
#include <i2c.h>
-#include <time.h>
+#include <clock_time.h>
#include <pid.h>
#include <quadramp.h>
volatile int8_t command_dest=-1;
volatile uint8_t command_size=0;
-static int8_t i2c_req_mechboard_status(void);
-static int8_t i2c_req_sensorboard_status(void);
+static int8_t i2c_req_cobboard_status(void);
+static int8_t i2c_req_ballboard_status(void);
#define I2C_ERROR(args...) do { \
if (error_log < I2C_MAX_LOG) { \
switch(i2c_state) {
- /* poll status of mechboard */
-#define I2C_REQ_MECHBOARD 0
- case I2C_REQ_MECHBOARD:
- if ((err = i2c_req_mechboard_status()))
+ /* poll status of cobboard */
+#define I2C_REQ_COBBOARD 0
+ case I2C_REQ_COBBOARD:
+ if ((err = i2c_req_cobboard_status()))
goto error;
break;
-#define I2C_ANS_MECHBOARD 1
- case I2C_ANS_MECHBOARD:
- if ((err = i2c_recv(I2C_MECHBOARD_ADDR,
- sizeof(struct i2c_ans_mechboard_status),
+#define I2C_ANS_COBBOARD 1
+ case I2C_ANS_COBBOARD:
+ if ((err = i2c_recv(I2C_COBBOARD_ADDR,
+ sizeof(struct i2c_ans_cobboard_status),
I2C_CTRL_GENERIC)))
goto error;
break;
- /* poll status of sensorboard */
-#define I2C_REQ_SENSORBOARD 2
- case I2C_REQ_SENSORBOARD:
- if ((err = i2c_req_sensorboard_status()))
+ /* poll status of ballboard */
+#define I2C_REQ_BALLBOARD 2
+ case I2C_REQ_BALLBOARD:
+ if ((err = i2c_req_ballboard_status()))
goto error;
break;
-#define I2C_ANS_SENSORBOARD 3
- case I2C_ANS_SENSORBOARD:
- if ((err = i2c_recv(I2C_SENSORBOARD_ADDR,
- sizeof(struct i2c_ans_sensorboard_status),
+#define I2C_ANS_BALLBOARD 3
+ case I2C_ANS_BALLBOARD:
+ if ((err = i2c_recv(I2C_BALLBOARD_ADDR,
+ sizeof(struct i2c_ans_ballboard_status),
I2C_CTRL_GENERIC)))
goto error;
break;
switch (buf[0]) {
- case I2C_ANS_MECHBOARD_STATUS: {
- struct i2c_ans_mechboard_status * ans =
- (struct i2c_ans_mechboard_status *)buf;
+ case I2C_ANS_COBBOARD_STATUS: {
+ struct i2c_ans_cobboard_status * ans =
+ (struct i2c_ans_cobboard_status *)buf;
if (size != sizeof (*ans))
goto error;
/* status */
- mechboard.mode = ans->mode;
- mechboard.status = ans->status;
- mechboard.lintel_count = ans->lintel_count;
- mechboard.column_flags = ans->column_flags;
- /* pumps pwm */
- mechboard.pump_left1 = ans->pump_left1;
- mechboard.pump_left2 = ans->pump_left2;
- mechboard.pump_right1 = ans->pump_right1;
- mechboard.pump_right2 = ans->pump_right2;
- pwm_ng_set(LEFT_PUMP1_PWM, mechboard.pump_left1);
- pwm_ng_set(LEFT_PUMP2_PWM, mechboard.pump_left2);
- /* pumps current */
- mechboard.pump_right1_current = ans->pump_right1_current;
- mechboard.pump_right2_current = ans->pump_right2_current;
- /* servos */
- mechboard.servo_lintel_left = ans->servo_lintel_left;
- mechboard.servo_lintel_right = ans->servo_lintel_right;
- pwm_ng_set(&gen.servo2, mechboard.servo_lintel_right);
- pwm_ng_set(&gen.servo3, mechboard.servo_lintel_left);
+ cobboard.mode = ans->mode;
+ cobboard.status = ans->status;
break;
}
- case I2C_ANS_SENSORBOARD_STATUS: {
- struct i2c_ans_sensorboard_status * ans =
- (struct i2c_ans_sensorboard_status *)buf;
+ case I2C_ANS_BALLBOARD_STATUS: {
+ struct i2c_ans_ballboard_status * ans =
+ (struct i2c_ans_ballboard_status *)buf;
if (size != sizeof (*ans))
goto error;
- sensorboard.status = ans->status;
- sensorboard.opponent_x = ans->opponent_x;
- sensorboard.opponent_y = ans->opponent_y;
- sensorboard.opponent_a = ans->opponent_a;
- sensorboard.opponent_d = ans->opponent_d;
-
- sensorboard.scan_status = ans->scan_status;
- sensorboard.dropzone_h = ans->dropzone_h;
- sensorboard.dropzone_x = ans->dropzone_x;
- sensorboard.dropzone_y = ans->dropzone_y;
+ ballboard.status = ans->status;
break;
}
return -EBUSY;
}
-static int8_t i2c_req_mechboard_status(void)
+static int8_t i2c_req_cobboard_status(void)
{
- struct i2c_req_mechboard_status buf;
+ struct i2c_req_cobboard_status buf;
int8_t err;
- buf.hdr.cmd = I2C_REQ_MECHBOARD_STATUS;
- buf.pump_left1_current = sensor_get_adc(ADC_CSENSE3);
- buf.pump_left2_current = sensor_get_adc(ADC_CSENSE4);
- err = i2c_send(I2C_MECHBOARD_ADDR, (uint8_t*)&buf,
+ buf.hdr.cmd = I2C_REQ_COBBOARD_STATUS;
+ err = i2c_send(I2C_COBBOARD_ADDR, (uint8_t*)&buf,
sizeof(buf), I2C_CTRL_GENERIC);
return err;
}
-static int8_t i2c_req_sensorboard_status(void)
+static int8_t i2c_req_ballboard_status(void)
{
- struct i2c_req_sensorboard_status buf;
+ struct i2c_req_ballboard_status buf;
- buf.hdr.cmd = I2C_REQ_SENSORBOARD_STATUS;
- /* robot position */
- buf.x = position_get_x_s16(&mainboard.pos);
- buf.y = position_get_y_s16(&mainboard.pos);
- buf.a = position_get_a_deg_s16(&mainboard.pos);
- /* pickup wheels */
- buf.enable_pickup_wheels = mainboard.enable_pickup_wheels;
-
- return i2c_send(I2C_SENSORBOARD_ADDR, (uint8_t*)&buf,
+ buf.hdr.cmd = I2C_REQ_BALLBOARD_STATUS;
+ return i2c_send(I2C_BALLBOARD_ADDR, (uint8_t*)&buf,
sizeof(buf), I2C_CTRL_GENERIC);
}
{
struct i2c_cmd_generic_color buf;
- if (addr == I2C_SENSORBOARD_ADDR)
+ if (addr == I2C_BALLBOARD_ADDR)
return 0; /* XXX disabled for now */
buf.hdr.cmd = I2C_CMD_GENERIC_SET_COLOR;
buf.color = color;
return i2c_send_command(addr, (uint8_t*)&buf, sizeof(buf));
}
-int8_t i2c_mechboard_mode_manual(void)
-{
- struct i2c_cmd_mechboard_set_mode buf;
- buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
- buf.mode = I2C_MECHBOARD_MODE_MANUAL;
- return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
-}
-
-int8_t i2c_mechboard_mode_harvest(void)
+int8_t i2c_cobboard_mode_manual(void)
{
- struct i2c_cmd_mechboard_set_mode buf;
- buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
- buf.mode = I2C_MECHBOARD_MODE_HARVEST;
- return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
+ struct i2c_cmd_cobboard_set_mode buf;
+ buf.hdr.cmd = I2C_CMD_COBBOARD_SET_MODE;
+ buf.mode = I2C_COBBOARD_MODE_MANUAL;
+ return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
}
-int8_t i2c_mechboard_mode_lazy_harvest(void)
+int8_t i2c_cobboard_mode_harvest(void)
{
- struct i2c_cmd_mechboard_set_mode buf;
- buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
- buf.mode = I2C_MECHBOARD_MODE_LAZY_HARVEST;
- return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
+ struct i2c_cmd_cobboard_set_mode buf;
+ buf.hdr.cmd = I2C_CMD_COBBOARD_SET_MODE;
+ buf.mode = I2C_COBBOARD_MODE_HARVEST;
+ return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
}
-int8_t i2c_mechboard_mode_prepare_pickup(uint8_t side)
+int8_t i2c_cobboard_mode_init(void)
{
- struct i2c_cmd_mechboard_set_mode buf;
- buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
- buf.mode = I2C_MECHBOARD_MODE_PREPARE_PICKUP;
- buf.prep_pickup.next_mode = I2C_MECHBOARD_MODE_PREPARE_PICKUP;
- buf.prep_pickup.side = side;
- return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
+ struct i2c_cmd_cobboard_set_mode buf;
+ buf.hdr.cmd = I2C_CMD_COBBOARD_SET_MODE;
+ buf.mode = I2C_COBBOARD_MODE_INIT;
+ return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
}
-int8_t i2c_mechboard_mode_push_temple_disc(uint8_t side)
-{
- struct i2c_cmd_mechboard_set_mode buf;
- buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
- buf.mode = I2C_MECHBOARD_MODE_PUSH_TEMPLE_DISC;
- buf.prep_pickup.side = side;
- return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
-}
-
-int8_t i2c_mechboard_mode_prepare_pickup_next(uint8_t side, uint8_t next_mode)
-{
- struct i2c_cmd_mechboard_set_mode buf;
- buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
- buf.mode = I2C_MECHBOARD_MODE_PREPARE_PICKUP;
- buf.prep_pickup.next_mode = next_mode;
- buf.prep_pickup.side = side;
- return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
-}
-
-int8_t i2c_mechboard_mode_pickup(void)
-{
- struct i2c_cmd_mechboard_set_mode buf;
- buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
- buf.mode = I2C_MECHBOARD_MODE_PICKUP;
- return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
-}
-
-int8_t i2c_mechboard_mode_eject(void)
-{
- struct i2c_cmd_mechboard_set_mode buf;
- buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
- buf.mode = I2C_MECHBOARD_MODE_EJECT;
- return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
-}
-
-int8_t i2c_mechboard_mode_manivelle(void)
-{
- struct i2c_cmd_mechboard_set_mode buf;
- buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
- buf.mode = I2C_MECHBOARD_MODE_MANIVELLE;
- return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
-}
-
-int8_t i2c_mechboard_mode_push_temple(uint8_t level)
-{
- struct i2c_cmd_mechboard_set_mode buf;
- buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
- buf.mode = I2C_MECHBOARD_MODE_PUSH_TEMPLE;
- buf.push_temple.level = level;
- return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf,sizeof(buf));
-}
-
-int8_t i2c_mechboard_mode_prepare_build_both(uint8_t level)
-{
- struct i2c_cmd_mechboard_set_mode buf;
- buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
- buf.mode = I2C_MECHBOARD_MODE_PREPARE_BUILD;
- buf.prep_build.level_l = level;
- buf.prep_build.level_r = level;
- return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
-}
-
-int8_t i2c_mechboard_mode_prepare_build_select(int8_t level_l, int8_t level_r)
-{
- struct i2c_cmd_mechboard_set_mode buf;
- buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
- buf.mode = I2C_MECHBOARD_MODE_PREPARE_BUILD;
- buf.prep_build.level_l = level_l;
- buf.prep_build.level_r = level_r;
- return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
-}
-
-int8_t i2c_mechboard_mode_prepare_inside_both(uint8_t level)
-{
- struct i2c_cmd_mechboard_set_mode buf;
- buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
- buf.mode = I2C_MECHBOARD_MODE_PREPARE_INSIDE;
- buf.prep_inside.level_l = level;
- buf.prep_inside.level_r = level;
- return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
-}
-
-int8_t i2c_mechboard_mode_prepare_inside_select(int8_t level_l, int8_t level_r)
-{
- struct i2c_cmd_mechboard_set_mode buf;
- buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
- buf.mode = I2C_MECHBOARD_MODE_PREPARE_INSIDE;
- buf.prep_inside.level_l = level_l;
- buf.prep_inside.level_r = level_r;
- return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
-}
-
-int8_t i2c_mechboard_mode_simple_autobuild(uint8_t level)
-{
- struct i2c_cmd_mechboard_set_mode buf;
- buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
- buf.mode = I2C_MECHBOARD_MODE_AUTOBUILD;
- buf.autobuild.level_left = level;
- buf.autobuild.level_right = level;
- buf.autobuild.count_left = 2;
- buf.autobuild.count_right = 2;
- buf.autobuild.do_lintel = 1;
- buf.autobuild.distance_left = 210;
- buf.autobuild.distance_right = 210;
- return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
-}
-
-int8_t i2c_mechboard_mode_autobuild(uint8_t level_l, uint8_t count_l,
- uint8_t dist_l,
- uint8_t level_r, uint8_t count_r,
- uint8_t dist_r,
- uint8_t do_lintel)
-{
- struct i2c_cmd_mechboard_set_mode buf;
- buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
- buf.mode = I2C_MECHBOARD_MODE_AUTOBUILD;
- buf.autobuild.level_left = level_l;
- buf.autobuild.level_right = level_r;
- buf.autobuild.count_left = count_l;
- buf.autobuild.count_right = count_r;
- buf.autobuild.distance_left = dist_l;
- buf.autobuild.distance_right = dist_r;
- buf.autobuild.do_lintel = do_lintel;
- return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
-}
-
-int8_t i2c_mechboard_mode_init(void)
-{
- struct i2c_cmd_mechboard_set_mode buf;
- buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
- buf.mode = I2C_MECHBOARD_MODE_INIT;
- return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
-}
-
-int8_t i2c_mechboard_mode_prepare_get_lintel(void)
-{
- struct i2c_cmd_mechboard_set_mode buf;
- buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
- buf.mode = I2C_MECHBOARD_MODE_PREPARE_GET_LINTEL;
- return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
-}
-
-int8_t i2c_mechboard_mode_get_lintel(void)
-{
- struct i2c_cmd_mechboard_set_mode buf;
- buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
- buf.mode = I2C_MECHBOARD_MODE_GET_LINTEL;
- return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
-}
-
-int8_t i2c_mechboard_mode_put_lintel(void)
-{
- struct i2c_cmd_mechboard_set_mode buf;
- buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
- buf.mode = I2C_MECHBOARD_MODE_PUT_LINTEL;
- return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
-}
-
-int8_t i2c_mechboard_mode_clear(void)
-{
- struct i2c_cmd_mechboard_set_mode buf;
- buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
- buf.mode = I2C_MECHBOARD_MODE_CLEAR;
- return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
-}
-
-int8_t i2c_mechboard_mode_loaded(void)
-{
- struct i2c_cmd_mechboard_set_mode buf;
- buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
- buf.mode = I2C_MECHBOARD_MODE_LOADED;
- return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
-}
-
-int8_t i2c_mechboard_mode_store(void)
-{
- struct i2c_cmd_mechboard_set_mode buf;
- buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
- buf.mode = I2C_MECHBOARD_MODE_STORE;
- return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
-}
-
-int8_t i2c_mechboard_mode_lazy_pickup(void)
-{
- struct i2c_cmd_mechboard_set_mode buf;
- buf.hdr.cmd = I2C_CMD_MECHBOARD_SET_MODE;
- buf.mode = I2C_MECHBOARD_MODE_LAZY_PICKUP;
- return i2c_send_command(I2C_MECHBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
-}
-
-int8_t i2c_sensorboard_set_beacon(uint8_t enable)
-{
- struct i2c_cmd_sensorboard_start_beacon buf;
- buf.hdr.cmd = I2C_CMD_SENSORBOARD_SET_BEACON;
- buf.enable = enable;
- return i2c_send_command(I2C_SENSORBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
-}
-
-int8_t i2c_sensorboard_scanner_set(uint8_t mode)
-{
- struct i2c_cmd_sensorboard_scanner buf;
- buf.hdr.cmd = I2C_CMD_SENSORBOARD_SET_SCANNER;
- buf.mode = mode;
- return i2c_send_command(I2C_SENSORBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
-}
-
-int8_t i2c_sensorboard_scanner_calib(void)
-{
- struct i2c_cmd_sensorboard_calib_scanner buf;
- buf.hdr.cmd = I2C_CMD_SENSORBOARD_CALIB_SCANNER;
- return i2c_send_command(I2C_SENSORBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
-}
-
-int8_t i2c_sensorboard_scanner_algo_column(uint8_t zone,
- int16_t x, int16_t y)
-{
- struct i2c_cmd_sensorboard_scanner_algo buf;
- buf.hdr.cmd = I2C_CMD_SENSORBOARD_SCANNER_ALGO;
- buf.algo = I2C_SCANNER_ALGO_COLUMN_DROPZONE;
- buf.drop_zone.working_zone = zone;
- buf.drop_zone.center_x = x;
- buf.drop_zone.center_y = y;
- return i2c_send_command(I2C_SENSORBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
-}
-
-int8_t i2c_sensorboard_scanner_algo_temple(uint8_t zone,
- int16_t x, int16_t y)
-{
- struct i2c_cmd_sensorboard_scanner_algo buf;
- buf.hdr.cmd = I2C_CMD_SENSORBOARD_SCANNER_ALGO;
- buf.algo = I2C_SCANNER_ALGO_TEMPLE_DROPZONE;
- buf.drop_zone.working_zone = zone;
- buf.drop_zone.center_x = x;
- buf.drop_zone.center_y = y;
- return i2c_send_command(I2C_SENSORBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
-}
-
-int8_t i2c_sensorboard_scanner_algo_check(uint8_t level,
- int16_t x, int16_t y)
-{
- struct i2c_cmd_sensorboard_scanner_algo buf;
- buf.hdr.cmd = I2C_CMD_SENSORBOARD_SCANNER_ALGO;
- buf.algo = I2C_SCANNER_ALGO_CHECK_TEMPLE;
- buf.check_temple.level = level;
- buf.check_temple.temple_x = x;
- buf.check_temple.temple_y = y;
- return i2c_send_command(I2C_SENSORBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
-}
git.droids-corp.org / aversive.git / blobdiff