state machine and support balls

[aversive.git] / projects / microb2010 / mainboard / i2c_protocol.c

diff --git a/projects/microb2010/mainboard/i2c_protocol.c b/projects/microb2010/mainboard/i2c_protocol.c
index 2ceb7e8..d0726cb 100644 (file)
--- a/projects/microb2010/mainboard/i2c_protocol.c
+++ b/projects/microb2010/mainboard/i2c_protocol.c
@@ -263,6 +263,10 @@ 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;
        }
@@ -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;
+       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;
-       buf.mode = I2C_COBBOARD_MODE_HARVEST;
+       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));
 }