root / trunk / code / projects / forklift_demo / Forklift.cpp @ 2011
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| 1 | 2011 | tmullins | #define USE_ALT_TWI // an alternative to libdragonfly's i2c code, in twi.cpp |
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| 2 | |||
| 3 | 2005 | tmullins | #include "Forklift.h" |
| 4 | 2006 | tmullins | extern "C" |
| 5 | {
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| 6 | 2005 | tmullins | #include <util/delay.h> |
| 7 | 2006 | tmullins | } |
| 8 | 2005 | tmullins | |
| 9 | 2011 | tmullins | #ifdef USE_ALT_TWI
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| 10 | # include "twi.h" |
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| 11 | #else
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| 12 | extern "C" |
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| 13 | {
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| 14 | # include "i2c.h" |
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| 15 | } |
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| 16 | #endif
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| 17 | |||
| 18 | 2005 | tmullins | #define SCOUT_AVR_ADDR 0x01 |
| 19 | |||
| 20 | #define FORKLIFT_ADDR 0x41 |
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| 21 | |||
| 22 | // indicies for forklift internal data
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| 23 | #define FORKLIFT_TRACKING_ID 0 |
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| 24 | #define FORKLIFT_SERIAL_NUMBER 1 |
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| 25 | #define FORKLIFT_HEIGHT 2 |
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| 26 | #define FORKLIFT_HEIGHT_SETPOINT 3 // r/w |
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| 27 | #define FORKLIFT_LINE_POS 4 |
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| 28 | #define FORKLIFT_LINE_THRESH_HIGH 5 // r/w |
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| 29 | #define FORKLIFT_LINE_THRESH_LOW 6 // r/w |
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| 30 | |||
| 31 | #define FORKLIFT_DATA_LEN 7 |
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| 32 | |||
| 33 | char volatile response; |
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| 34 | char volatile received; |
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| 35 | |||
| 36 | 2008 | tmullins | static int mrecv(char data) |
| 37 | 2005 | tmullins | {
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| 38 | response = data; |
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| 39 | received = 1;
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| 40 | 2008 | tmullins | return 0; |
| 41 | 2005 | tmullins | } |
| 42 | |||
| 43 | 2008 | tmullins | static void srecv(char) {} |
| 44 | static char ssend() {return 0;} |
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| 45 | 2005 | tmullins | |
| 46 | 2008 | tmullins | static int read_addr(char addr) |
| 47 | 2005 | tmullins | {
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| 48 | 2011 | tmullins | #ifdef USE_ALT_TWI
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| 49 | return FORKLIFT_ERROR;
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| 50 | #else
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| 51 | 2005 | tmullins | if (i2c_send(FORKLIFT_ADDR, &addr, 1)) |
| 52 | return FORKLIFT_ERROR;
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| 53 | received = 0;
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| 54 | if (i2c_request(FORKLIFT_ADDR))
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| 55 | return FORKLIFT_ERROR;
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| 56 | for (int i = 0; i < 500; i++) // waits up to ~50 ms |
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| 57 | {
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| 58 | _delay_ms(.1);
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| 59 | if (received)
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| 60 | return response;
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| 61 | } |
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| 62 | return FORKLIFT_ERROR;
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| 63 | 2011 | tmullins | #endif
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| 64 | 2005 | tmullins | } |
| 65 | |||
| 66 | 2008 | tmullins | static int write_addr(char addr, char data) |
| 67 | 2005 | tmullins | {
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| 68 | char buf[2]; |
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| 69 | buf[0] = addr;
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| 70 | buf[1] = data;
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| 71 | 2011 | tmullins | #ifdef USE_ALT_TWI
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| 72 | if (twi_writeTo(FORKLIFT_ADDR, (uint8_t*) buf, 2, 1)) |
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| 73 | return FORKLIFT_ERROR;
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| 74 | #else
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| 75 | 2005 | tmullins | if (i2c_send(FORKLIFT_ADDR, buf, 2)) |
| 76 | return FORKLIFT_ERROR;
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| 77 | 2011 | tmullins | #endif
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| 78 | return 0; |
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| 79 | 2005 | tmullins | } |
| 80 | |||
| 81 | 2008 | tmullins | void Forklift::forklift_init()
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| 82 | 2005 | tmullins | {
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| 83 | 2011 | tmullins | #ifdef USE_ALT_TWI
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| 84 | twi_init(); |
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| 85 | twi_setAddress(SCOUT_AVR_ADDR); |
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| 86 | #else
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| 87 | 2005 | tmullins | i2c_init(SCOUT_AVR_ADDR, mrecv, srecv, ssend); |
| 88 | 2011 | tmullins | #endif
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| 89 | 2005 | tmullins | } |
| 90 | |||
| 91 | 2008 | tmullins | int Forklift::get_tracking_id()
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| 92 | 2005 | tmullins | {
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| 93 | return read_addr(FORKLIFT_TRACKING_ID);
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| 94 | } |
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| 95 | |||
| 96 | 2008 | tmullins | int Forklift::get_serial_number()
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| 97 | 2005 | tmullins | {
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| 98 | return read_addr(FORKLIFT_SERIAL_NUMBER);
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| 99 | } |
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| 100 | |||
| 101 | 2008 | tmullins | int Forklift::get_height()
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| 102 | 2005 | tmullins | {
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| 103 | return read_addr(FORKLIFT_HEIGHT);
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| 104 | } |
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| 105 | |||
| 106 | 2008 | tmullins | int Forklift::get_height_setpoint()
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| 107 | 2005 | tmullins | {
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| 108 | return read_addr(FORKLIFT_HEIGHT_SETPOINT);
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| 109 | } |
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| 110 | |||
| 111 | 2008 | tmullins | int Forklift::set_height_setpoint(char setpoint) |
| 112 | 2005 | tmullins | {
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| 113 | return write_addr(FORKLIFT_HEIGHT_SETPOINT, setpoint);
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| 114 | } |