Revision 2011
Some fixes to forklift demo, and added most recent forklift code to warehouse project.
| Forklift.cpp | ||
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#define USE_ALT_TWI // an alternative to libdragonfly's i2c code, in twi.cpp |
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#include "Forklift.h" |
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#include "libdragonfly/i2c.h" |
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extern "C" |
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{
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#include <util/delay.h> |
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} |
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#ifdef USE_ALT_TWI |
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# include "twi.h" |
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#else |
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extern "C" |
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{
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# include "i2c.h" |
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} |
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#endif |
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#define SCOUT_AVR_ADDR 0x01 |
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#define FORKLIFT_ADDR 0x41 |
| ... | ... | |
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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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static int mrecv(char data)
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{
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response = data; |
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received = 1; |
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return 0; |
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} |
| 30 | 42 |
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void srecv(char) {}
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char ssend() {}
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static void srecv(char) {}
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static char ssend() {return 0;}
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int read_addr(char addr) |
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static int read_addr(char addr)
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{
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#ifdef USE_ALT_TWI |
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return FORKLIFT_ERROR; |
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#else |
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if (i2c_send(FORKLIFT_ADDR, &addr, 1)) |
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return FORKLIFT_ERROR; |
| 38 | 53 |
received = 0; |
| ... | ... | |
| 45 | 60 |
return response; |
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} |
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return FORKLIFT_ERROR; |
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#endif |
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} |
| 49 | 65 |
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int write_addr(char addr, char data) |
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static 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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#ifdef USE_ALT_TWI |
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if (twi_writeTo(FORKLIFT_ADDR, (uint8_t*) buf, 2, 1)) |
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return FORKLIFT_ERROR; |
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#else |
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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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#endif
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return 0; |
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} |
| 60 | 80 |
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void forklift_init() |
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void Forklift::forklift_init()
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{
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#ifdef USE_ALT_TWI |
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twi_init(); |
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twi_setAddress(SCOUT_AVR_ADDR); |
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#else |
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i2c_init(SCOUT_AVR_ADDR, mrecv, srecv, ssend); |
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#endif |
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} |
| 65 | 90 |
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int get_tracking_id() |
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int Forklift::get_tracking_id()
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{
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return read_addr(FORKLIFT_TRACKING_ID); |
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} |
| 70 | 95 |
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int get_serial_number() |
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int Forklift::get_serial_number()
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{
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return read_addr(FORKLIFT_SERIAL_NUMBER); |
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} |
| 75 | 100 |
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int get_height() |
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int Forklift::get_height()
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{
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return read_addr(FORKLIFT_HEIGHT); |
| 79 | 104 |
} |
| 80 | 105 |
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int get_height_setpoint() |
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int Forklift::get_height_setpoint()
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| 82 | 107 |
{
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return read_addr(FORKLIFT_HEIGHT_SETPOINT); |
| 84 | 109 |
} |
| 85 | 110 |
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int set_height_setpoint(char setpoint) |
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int Forklift::set_height_setpoint(char setpoint)
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| 87 | 112 |
{
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| 88 | 113 |
return write_addr(FORKLIFT_HEIGHT_SETPOINT, setpoint); |
| 89 | 114 |
} |
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