root / trunk / code / projects / warehouse / Forklift.cpp @ 2009
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1 | 2004 | tmullins | #include "Forklift.h" |
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2 | #include "libdragonfly/i2c.h" |
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3 | #include <util/delay.h> |
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4 | |||
5 | #define SCOUT_AVR_ADDR 0x01 |
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6 | |||
7 | #define FORKLIFT_ADDR 0x41 |
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8 | |||
9 | // indicies for forklift internal data
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10 | #define FORKLIFT_TRACKING_ID 0 |
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11 | #define FORKLIFT_SERIAL_NUMBER 1 |
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12 | #define FORKLIFT_HEIGHT 2 |
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13 | #define FORKLIFT_HEIGHT_SETPOINT 3 // r/w |
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14 | #define FORKLIFT_LINE_POS 4 |
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15 | #define FORKLIFT_LINE_THRESH_HIGH 5 // r/w |
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16 | #define FORKLIFT_LINE_THRESH_LOW 6 // r/w |
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17 | |||
18 | #define FORKLIFT_DATA_LEN 7 |
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19 | |||
20 | using namespace Forklift; |
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21 | |||
22 | char volatile response; |
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23 | char volatile received; |
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24 | |||
25 | int mrecv(char data) |
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26 | { |
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27 | response = data; |
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28 | received = 1;
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29 | } |
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30 | |||
31 | void srecv(char) {} |
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32 | char ssend() {}
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33 | |||
34 | int read_addr(char addr) |
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35 | { |
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36 | if (i2c_send(FORKLIFT_ADDR, &addr, 1)) |
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37 | return FORKLIFT_ERROR;
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38 | received = 0;
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39 | if (i2c_request(FORKLIFT_ADDR))
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40 | return FORKLIFT_ERROR;
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41 | for (int i = 0; i < 500; i++) // waits up to ~50 ms |
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42 | { |
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43 | _delay_ms(.1);
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44 | if (received)
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45 | return response;
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46 | } |
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47 | return FORKLIFT_ERROR;
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48 | } |
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49 | |||
50 | int write_addr(char addr, char data) |
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51 | { |
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52 | char buf[2]; |
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53 | buf[0] = addr;
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54 | buf[1] = data;
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55 | if (i2c_send(FORKLIFT_ADDR, buf, 2)) |
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56 | return FORKLIFT_ERROR;
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57 | else
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58 | return 0; |
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59 | } |
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60 | |||
61 | void forklift_init()
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62 | { |
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63 | i2c_init(SCOUT_AVR_ADDR, mrecv, srecv, ssend); |
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64 | } |
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65 | |||
66 | int get_tracking_id()
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67 | { |
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68 | return read_addr(FORKLIFT_TRACKING_ID);
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69 | } |
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70 | |||
71 | int get_serial_number()
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72 | { |
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73 | return read_addr(FORKLIFT_SERIAL_NUMBER);
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74 | } |
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75 | |||
76 | int get_height()
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77 | { |
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78 | return read_addr(FORKLIFT_HEIGHT);
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79 | } |
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80 | |||
81 | int get_height_setpoint()
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82 | { |
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83 | return read_addr(FORKLIFT_HEIGHT_SETPOINT);
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84 | } |
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85 | |||
86 | int set_height_setpoint(char setpoint) |
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87 | { |
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88 | return write_addr(FORKLIFT_HEIGHT_SETPOINT, setpoint);
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89 | } |