common: add can id bumpers and repair can msg. def.

diff --git a/src/common/can_ids.h b/src/common/can_ids.h
index 925119e5438038e6e50269e33c64af6699006b30..fc7b0d35ae92644871dc76f1cf0bee7f750f9d55 100644 (file)
--- a/src/common/can_ids.h
+++ b/src/common/can_ids.h
@@ -33,6 +33,7 @@
 #define CAN_MOTION_STATUS          to_boa(0x23) /* MOT->BOA */
 
 #define CAN_ROBOT_SWITCHES     to_boa(0x30)
+#define CAN_ROBOT_BUMPERS      to_boa(0x31)
 
 // ids of can-peripherials
 #define CAN_PWR to_per(0x40)           /* BOA->PER */

diff --git a/src/common/can_msg_def.h b/src/common/can_msg_def.h
index b0160594ce4ae3a2145aa903847ff664af6e4ef3..510dd64948bdfcde811beeeb058166da2301b91f 100644 (file)
--- a/src/common/can_msg_def.h
+++ b/src/common/can_msg_def.h
@@ -1,26 +1,26 @@
 
-/* Flags sent in CAN_VIDLE_STATUS message  */
-#define CAN_LIFT_INITIALIZING    0x01
-#define CAN_LIFT_TIMEOUT         0x02
-#define CAN_LIFT_OUT_OF_BOUNDS   0x04
-#define CAN_LIFT_SWITCH_UP      0x08
-#define CAN_LIFT_SWITCH_DOWN    0x0F
-#define CAN_LIFT_SWITCH_HOME    0x20
-#define CAN_LIFT_HOMED          0x040
-#define CAN_LIFT_START          0x080
+//flags sent in CAN_LIFT_STATUS message  
+#define CAN_LIFT_INITIALIZING   1
+#define CAN_LIFT_TIMEOUT       2
+#define CAN_LIFT_OUT_OF_BOUNDS  4
+#define CAN_LIFT_SWITCH_UP      8
+#define CAN_LIFT_SWITCH_DOWN    16
+#define CAN_LIFT_SWITCH_HOME    32
+#define CAN_LIFT_HOMED          64
+#define CAN_LIFT_START          128
 
+//flags sent in CAN_JAW_RIGHT_STATUS, CAN_JAW_LEFT_STATUS message  
+#define CAN_JAW_INITIALIZING            0x01
+#define CAN_JAW_TIMEOUT                0x02
+#define CAN_JAW_OUT_OF_BOUNDS           0x04
 
-/* Flags sent in CAN_JAW_RIGHT_STATUS, CAN_JAW_LEFT_STATUS message  */
-#define CAN_JAW_INITIALIZING    0x01
-#define CAN_JAW_TIMEOUT          0x02
-#define CAN_JAW_OUT_OF_BOUNDS   0x04
-
-#define CAN_SWITCH_BUMPER        0x01
-#define CAN_SWITCH_COLOR         0x02
-#define CAN_SWITCH_LEFT                  0x04
-#define CAN_SWITCH_RIGHT         0x08
-#define CAN_SWITCH_LEFT_ACROSS   0x16
-#define CAN_SWITCH_RIGHT_ACROSS          0x32
-
+//flags sent in CAN_SWITCHES
+#define CAN_SWITCH_COLOR         2
 
+//flags sent in CAN_ROBOT_BUMPERS
+#define CAN_BUMPER_REAR                 1
+#define CAN_BUMPER_LEFT                 2
+#define CAN_BUMPER_RIGHT                4
+#define CAN_BUMPER_LEFT_ACROSS          8
+#define CAN_BUMPER_RIGHT_ACROSS         16
 

diff --git a/src/eb_jaws_11/main.c b/src/eb_jaws_11/main.c
index e6dbfbc2fcdf9e86de62dedf47ba6584dc5e7fcc..054e7a1c2070a5ac97754b2e8888eec97125e74f 100644 (file)
--- a/src/eb_jaws_11/main.c
+++ b/src/eb_jaws_11/main.c
@@ -250,21 +250,21 @@ void handle_bumper()
                        
                        
                if (IO0PIN & (1<<BUMPER_REAR)){
-                       sw &= ~CAN_SWITCH_BUMPER;
+                       sw &= ~CAN_BUMPER_REAR;
                        
 //                     send_rs_str("rear\n");
                        
 //                     deb_led_on(LEDY);
                }
                else{
-                       sw |= CAN_SWITCH_BUMPER;
+                       sw |= CAN_BUMPER_REAR;
                        
 //                     deb_led_off(LEDY);
                }
 
                if (IO0PIN & (1<<BUMPER_LEFT)){
                        
-                       sw &= ~CAN_SWITCH_LEFT;
+                       sw &= ~CAN_BUMPER_LEFT;
                        
 //                     send_rs_str("left\n");
                        
@@ -272,42 +272,42 @@ void handle_bumper()
                }
                else{
                
-                   sw |= CAN_SWITCH_LEFT;
+                   sw |= CAN_BUMPER_LEFT;
                
 //                 deb_led_off(LEDB);
                }
                if (IO0PIN & (1<<BUMPER_RIGHT)){
-                       sw &= ~CAN_SWITCH_RIGHT;
+                       sw &= ~CAN_BUMPER_RIGHT;
 //                     send_rs_str("right\n");
 //                     deb_led_on(LEDG);
                }
                else{
-                       sw |= CAN_SWITCH_RIGHT;
+                       sw |= CAN_BUMPER_RIGHT;
                
 //                     deb_led_off(LEDG);
                }
                if (IO0PIN & (1<<BUMPER_LEFT_ACROSS)){
-                       sw &= ~CAN_SWITCH_LEFT_ACROSS;
+                       sw &= ~CAN_BUMPER_LEFT_ACROSS;
 //                     send_rs_str("left_across\n");
 //                     deb_led_on(LEDR);
                }
                else{
-                       sw |= CAN_SWITCH_LEFT_ACROSS;
+                       sw |= CAN_BUMPER_LEFT_ACROSS;
                
 //                     deb_led_off(LEDR);
                }
                if (IO0PIN & (1<<BUMPER_RIGHT_ACROSS)){
-                       sw &= ~CAN_SWITCH_RIGHT_ACROSS;
+                       sw &= ~CAN_BUMPER_RIGHT_ACROSS;
 //                     send_rs_str("right_across\n");
 //                     deb_led_on(LEDY);
                }
                else{
-                       sw |= CAN_SWITCH_RIGHT_ACROSS;
+                       sw |= CAN_BUMPER_RIGHT_ACROSS;
                
 //                     deb_led_off(LEDY);
                }
                
-               if (sw & (CAN_SWITCH_BUMPER|CAN_SWITCH_LEFT|CAN_SWITCH_RIGHT))
+               if (sw & (CAN_BUMPER_REAR | CAN_BUMPER_LEFT | CAN_BUMPER_RIGHT | CAN_BUMPER_LEFT_ACROSS | CAN_BUMPER_RIGHT_ACROSS))
                        deb_led_on(LEDR);
                else
                        deb_led_off(LEDR);
@@ -317,7 +317,7 @@ void handle_bumper()
 //             send_rs_str("\n");
 //             
                        
-               tx_msg.id = CAN_ROBOT_SWITCHES;
+               tx_msg.id = CAN_ROBOT_BUMPERS;
                tx_msg.dlc = 1;
                tx_msg.flags = 0;
                tx_msg.data[0] = sw;