Revision 2004
Added api for communicating with the forklift over i2c, minus line following,
which is handled elsewhere.
trunk/code/projects/warehouse/Forklift.cpp | ||
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#include "Forklift.h" |
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#include "libdragonfly/i2c.h" |
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#include <util/delay.h> |
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#define SCOUT_AVR_ADDR 0x01 |
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#define FORKLIFT_ADDR 0x41 |
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// indicies for forklift internal data |
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#define FORKLIFT_TRACKING_ID 0 |
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#define FORKLIFT_SERIAL_NUMBER 1 |
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#define FORKLIFT_HEIGHT 2 |
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#define FORKLIFT_HEIGHT_SETPOINT 3 // r/w |
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#define FORKLIFT_LINE_POS 4 |
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#define FORKLIFT_LINE_THRESH_HIGH 5 // r/w |
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#define FORKLIFT_LINE_THRESH_LOW 6 // r/w |
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#define FORKLIFT_DATA_LEN 7 |
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using namespace Forklift; |
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char volatile response; |
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char volatile received; |
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int mrecv(char data) |
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{ |
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response = data; |
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received = 1; |
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} |
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void srecv(char) {} |
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char ssend() {} |
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int read_addr(char addr) |
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{ |
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if (i2c_send(FORKLIFT_ADDR, &addr, 1)) |
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return FORKLIFT_ERROR; |
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received = 0; |
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if (i2c_request(FORKLIFT_ADDR)) |
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return FORKLIFT_ERROR; |
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for (int i = 0; i < 500; i++) // waits up to ~50 ms |
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{ |
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_delay_ms(.1); |
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if (received) |
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return response; |
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} |
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return FORKLIFT_ERROR; |
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} |
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int write_addr(char addr, char data) |
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{ |
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char buf[2]; |
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buf[0] = addr; |
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buf[1] = data; |
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if (i2c_send(FORKLIFT_ADDR, buf, 2)) |
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return FORKLIFT_ERROR; |
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else |
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return 0; |
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} |
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void forklift_init() |
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{ |
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i2c_init(SCOUT_AVR_ADDR, mrecv, srecv, ssend); |
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} |
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int get_tracking_id() |
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{ |
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return read_addr(FORKLIFT_TRACKING_ID); |
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} |
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int get_serial_number() |
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{ |
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return read_addr(FORKLIFT_SERIAL_NUMBER); |
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} |
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int get_height() |
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{ |
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return read_addr(FORKLIFT_HEIGHT); |
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} |
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int get_height_setpoint() |
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{ |
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return read_addr(FORKLIFT_HEIGHT_SETPOINT); |
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} |
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int set_height_setpoint(char setpoint) |
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{ |
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return write_addr(FORKLIFT_HEIGHT_SETPOINT, setpoint); |
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} |
trunk/code/projects/warehouse/Forklift.h | ||
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#ifndef _FORKLIFT_H_ |
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#define _FORKLIFT_H_ |
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#define FORKLIFT_ERROR -1 |
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namespace Forklift |
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{ |
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void forklift_init(); |
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int get_tracking_id(); // 0x41 for all forklifts |
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int get_serial_number(); // unique to each forklift |
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int get_height(); |
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int get_height_setpoint(); |
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int set_height_setpoint(int setpoint); |
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}; |
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#endif |
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