root / trunk / code / projects / warehouse / 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 | 2004 | tmullins | #include "Forklift.h" |
4 | 2011 | tmullins | extern "C" |
5 | { |
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6 | 2004 | tmullins | #include <util/delay.h> |
7 | 2011 | tmullins | } |
8 | 2004 | 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 | 2004 | 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 | 2011 | tmullins | static int mrecv(char data) |
37 | 2004 | tmullins | { |
38 | response = data; |
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39 | received = 1;
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40 | 2011 | tmullins | return 0; |
41 | 2004 | tmullins | } |
42 | |||
43 | 2011 | tmullins | static void srecv(char) {} |
44 | static char ssend() {return 0;} |
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45 | 2004 | tmullins | |
46 | 2011 | tmullins | static int read_addr(char addr) |
47 | 2004 | tmullins | { |
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 | 2004 | 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 | 2004 | tmullins | } |
65 | |||
66 | 2011 | tmullins | static int write_addr(char addr, char data) |
67 | 2004 | tmullins | { |
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 | 2004 | 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 | 2004 | tmullins | } |
80 | |||
81 | 2011 | tmullins | void Forklift::forklift_init()
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82 | 2004 | tmullins | { |
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 | 2004 | tmullins | i2c_init(SCOUT_AVR_ADDR, mrecv, srecv, ssend); |
88 | 2011 | tmullins | #endif
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89 | 2004 | tmullins | } |
90 | |||
91 | 2011 | tmullins | int Forklift::get_tracking_id()
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92 | 2004 | tmullins | { |
93 | return read_addr(FORKLIFT_TRACKING_ID);
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94 | } |
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95 | |||
96 | 2011 | tmullins | int Forklift::get_serial_number()
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97 | 2004 | tmullins | { |
98 | return read_addr(FORKLIFT_SERIAL_NUMBER);
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99 | } |
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100 | |||
101 | 2011 | tmullins | int Forklift::get_height()
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102 | 2004 | tmullins | { |
103 | return read_addr(FORKLIFT_HEIGHT);
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104 | } |
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105 | |||
106 | 2011 | tmullins | int Forklift::get_height_setpoint()
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107 | 2004 | tmullins | { |
108 | return read_addr(FORKLIFT_HEIGHT_SETPOINT);
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109 | } |
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110 | |||
111 | 2011 | tmullins | int Forklift::set_height_setpoint(char setpoint) |
112 | 2004 | tmullins | { |
113 | return write_addr(FORKLIFT_HEIGHT_SETPOINT, setpoint);
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114 | } |