X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fi2c_protocol.h;fp=projects%2Fmicrob2010%2Fmainboard%2Fi2c_protocol.h;h=0d40205b149f10eb3c6a375f81102cd505c976d2;hp=0000000000000000000000000000000000000000;hb=5918edd6f4f713ef3c8b0b0020dd30a4fb8222ae;hpb=9d2d9100592e18fed985730298215884127fc568

diff --git a/projects/microb2010/mainboard/i2c_protocol.h b/projects/microb2010/mainboard/i2c_protocol.h
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+++ b/projects/microb2010/mainboard/i2c_protocol.h
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+/*
+ *  Copyright Droids Corporation (2009)
+ * 
+ *  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_protocol.h,v 1.6 2009-11-08 17:24:33 zer0 Exp $
+ *
+ */
+
+#ifndef _I2C_PROTOCOL_H_
+#define _I2C_PROTOCOL_H_
+
+void i2c_protocol_init(void);
+void i2c_protocol_debug(void);
+
+void i2cproto_wait_update(void);
+void i2c_poll_slaves(void *dummy);
+
+void i2c_recvevent(uint8_t *buf, int8_t size);
+void i2c_recvbyteevent(uint8_t hwstatus, uint8_t i, uint8_t c);
+void i2c_sendevent(int8_t size);
+
+int8_t i2c_set_color(uint8_t addr, uint8_t color);
+int8_t i2c_led_control(uint8_t addr, uint8_t led, uint8_t state);
+
+int8_t i2c_mechboard_mode_manual(void);
+int8_t i2c_mechboard_mode_harvest(void);
+int8_t i2c_mechboard_mode_lazy_harvest(void);
+int8_t i2c_mechboard_mode_prepare_pickup(uint8_t side);
+int8_t i2c_mechboard_mode_prepare_pickup_next(uint8_t side, uint8_t next_mode);
+int8_t i2c_mechboard_mode_pickup(void);
+int8_t i2c_mechboard_mode_eject(void);
+int8_t i2c_mechboard_mode_lazy_pickup(void);
+
+int8_t i2c_mechboard_mode_prepare_build_both(uint8_t level);
+int8_t i2c_mechboard_mode_prepare_build_select(int8_t level_l, int8_t level_r);
+int8_t i2c_mechboard_mode_prepare_inside_both(uint8_t level);
+int8_t i2c_mechboard_mode_prepare_inside_select(int8_t level_l, int8_t level_r);
+int8_t i2c_mechboard_mode_simple_autobuild(uint8_t level);
+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);
+int8_t i2c_mechboard_mode_init(void);
+int8_t i2c_mechboard_mode_eject(void);
+int8_t i2c_mechboard_mode_prepare_get_lintel(void);
+int8_t i2c_mechboard_mode_get_lintel(void);
+int8_t i2c_mechboard_mode_put_lintel(void);
+int8_t i2c_mechboard_mode_clear(void);
+int8_t i2c_mechboard_mode_loaded(void);
+int8_t i2c_mechboard_mode_store(void);
+int8_t i2c_mechboard_mode_manivelle(void);
+int8_t i2c_mechboard_mode_push_temple(uint8_t level);
+int8_t i2c_mechboard_mode_push_temple_disc(uint8_t side);
+
+int8_t i2c_sensorboard_set_beacon(uint8_t enable);
+
+int8_t i2c_sensorboard_scanner_set(uint8_t mode);
+static inline int8_t i2c_sensorboard_scanner_stop(void) {
+	return i2c_sensorboard_scanner_set(I2C_SENSORBOARD_SCANNER_STOP);
+}
+static inline int8_t i2c_sensorboard_scanner_start(void) {
+	return i2c_sensorboard_scanner_set(I2C_SENSORBOARD_SCANNER_START);
+}
+static inline int8_t i2c_sensorboard_scanner_prepare(void) {
+	return i2c_sensorboard_scanner_set(I2C_SENSORBOARD_SCANNER_PREPARE);
+}
+
+int8_t i2c_sensorboard_scanner_calib(void);
+
+int8_t i2c_sensorboard_scanner_algo_column(uint8_t zone,
+					   int16_t x, int16_t y);
+int8_t i2c_sensorboard_scanner_algo_check(uint8_t level,
+					  int16_t x, int16_t y);
+int8_t i2c_sensorboard_scanner_algo_temple(uint8_t zone,
+					   int16_t x, int16_t y);
+
+
+#endif