root / trunk / code / projects / forklift_demo / Forklift.cpp @ 2006
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1 | 2005 | tmullins | #include "Forklift.h" |
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2 | 2006 | tmullins | extern "C" |
3 | { |
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4 | #include "i2c.h" |
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5 | 2005 | tmullins | #include <util/delay.h> |
6 | 2006 | tmullins | } |
7 | 2005 | tmullins | |
8 | #define SCOUT_AVR_ADDR 0x01 |
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9 | |||
10 | #define FORKLIFT_ADDR 0x41 |
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11 | |||
12 | // indicies for forklift internal data
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13 | #define FORKLIFT_TRACKING_ID 0 |
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14 | #define FORKLIFT_SERIAL_NUMBER 1 |
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15 | #define FORKLIFT_HEIGHT 2 |
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16 | #define FORKLIFT_HEIGHT_SETPOINT 3 // r/w |
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17 | #define FORKLIFT_LINE_POS 4 |
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18 | #define FORKLIFT_LINE_THRESH_HIGH 5 // r/w |
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19 | #define FORKLIFT_LINE_THRESH_LOW 6 // r/w |
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20 | |||
21 | #define FORKLIFT_DATA_LEN 7 |
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22 | |||
23 | using namespace Forklift; |
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24 | |||
25 | char volatile response; |
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26 | char volatile received; |
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27 | |||
28 | int mrecv(char data) |
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29 | { |
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30 | response = data; |
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31 | received = 1;
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32 | } |
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33 | |||
34 | void srecv(char) {} |
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35 | char ssend() {}
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36 | |||
37 | int read_addr(char addr) |
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38 | { |
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39 | if (i2c_send(FORKLIFT_ADDR, &addr, 1)) |
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40 | return FORKLIFT_ERROR;
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41 | received = 0;
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42 | if (i2c_request(FORKLIFT_ADDR))
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43 | return FORKLIFT_ERROR;
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44 | for (int i = 0; i < 500; i++) // waits up to ~50 ms |
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45 | { |
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46 | _delay_ms(.1);
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47 | if (received)
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48 | return response;
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49 | } |
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50 | return FORKLIFT_ERROR;
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51 | } |
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52 | |||
53 | int write_addr(char addr, char data) |
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54 | { |
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55 | char buf[2]; |
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56 | buf[0] = addr;
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57 | buf[1] = data;
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58 | if (i2c_send(FORKLIFT_ADDR, buf, 2)) |
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59 | return FORKLIFT_ERROR;
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60 | else
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61 | return 0; |
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62 | } |
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63 | |||
64 | void forklift_init()
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65 | { |
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66 | i2c_init(SCOUT_AVR_ADDR, mrecv, srecv, ssend); |
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67 | } |
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68 | |||
69 | int get_tracking_id()
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70 | { |
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71 | return read_addr(FORKLIFT_TRACKING_ID);
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72 | } |
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73 | |||
74 | int get_serial_number()
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75 | { |
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76 | return read_addr(FORKLIFT_SERIAL_NUMBER);
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77 | } |
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78 | |||
79 | int get_height()
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80 | { |
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81 | return read_addr(FORKLIFT_HEIGHT);
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82 | } |
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83 | |||
84 | int get_height_setpoint()
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85 | { |
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86 | return read_addr(FORKLIFT_HEIGHT_SETPOINT);
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87 | } |
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88 | |||
89 | int set_height_setpoint(char setpoint) |
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90 | { |
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91 | return write_addr(FORKLIFT_HEIGHT_SETPOINT, setpoint);
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92 | } |