--- /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;
+ } push_temple;
+
+ 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