projects/microb2010/ballboard/i2c_protocol.c

   1 /*
   2  *  Copyright Droids Corporation (2007)
   3  *
   4  *  This program is free software; you can redistribute it and/or modify
   5  *  it under the terms of the GNU General Public License as published by
   6  *  the Free Software Foundation; either version 2 of the License, or
   7  *  (at your option) any later version.
   8  *
   9  *  This program is distributed in the hope that it will be useful,
  10  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  *  GNU General Public License for more details.
  13  *
  14  *  You should have received a copy of the GNU General Public License
  15  *  along with this program; if not, write to the Free Software
  16  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  17  *
  18  *  Revision : $Id: i2c_protocol.c,v 1.3 2009-05-27 20:04:07 zer0 Exp $
  19  *
  20  */
  21
  22 #include <string.h>
  23
  24 #include <aversive.h>
  25 #include <aversive/list.h>
  26 #include <aversive/error.h>
  27
  28 #include <scheduler.h>
  29
  30 #include <i2c.h>
  31 #include <ax12.h>
  32 #include <uart.h>
  33 #include <pwm_ng.h>
  34 #include <clock_time.h>
  35 #include <spi.h>
  36
  37 #include <pid.h>
  38 #include <quadramp.h>
  39 #include <control_system_manager.h>
  40 #include <blocking_detection_manager.h>
  41
  42 #include <rdline.h>
  43 #include <parse.h>
  44 #include <parse_string.h>
  45 #include <parse_num.h>
  46
  47 #include "../common/i2c_commands.h"
  48 #include "main.h"
  49 #include "state.h"
  50 #include "sensor.h"
  51 #include "actuator.h"
  52
  53 void i2c_protocol_init(void)
  54 {
  55 }
  56
  57 /*** LED CONTROL ***/
  58 void i2c_led_control(uint8_t l, uint8_t state)
  59 {
  60         switch(l) {
  61         case 1:
  62                 state? LED1_ON():LED1_OFF();
  63                 break;
  64         case 2:
  65                 state? LED2_ON():LED2_OFF();
  66                 break;
  67         default:
  68                 break;
  69         }
  70 }
  71
  72 void i2c_send_status(void)
  73 {
  74         struct i2c_ans_ballboard_status ans;
  75         i2c_flush();
  76         ans.hdr.cmd =  I2C_ANS_BALLBOARD_STATUS;
  77         ans.status = 0x55; /* XXX */
  78         ans.ball_count = state_get_ball_count();
  79         ans.lcob = cob_detect_left();
  80         ans.rcob = cob_detect_right();
  81
  82         i2c_send(I2C_ADD_MASTER, (uint8_t *) &ans,
  83                  sizeof(ans), I2C_CTRL_GENERIC);
  84 }
  85
  86 static int8_t i2c_set_mode(struct i2c_cmd_ballboard_set_mode *cmd)
  87 {
  88         state_set_mode(cmd->mode);
  89         return 0;
  90 }
  91
  92 void i2c_recvevent(uint8_t * buf, int8_t size)
  93 {
  94         void *void_cmd = buf;
  95         static uint8_t a=0;
  96         a=!a;
  97         if (a)
  98                 LED2_ON();
  99         else
 100                 LED2_OFF();
 101
 102         if (size <= 0) {
 103                 goto error;
 104         }
 105
 106         switch (buf[0]) {
 107
 108         /* Commands (no answer needed) */
 109         case I2C_CMD_GENERIC_LED_CONTROL:
 110                 {
 111                         struct i2c_cmd_led_control *cmd = void_cmd;
 112                         if (size != sizeof (*cmd))
 113                                 goto error;
 114                         i2c_led_control(cmd->led_num, cmd->state);
 115                         break;
 116                 }
 117
 118         case I2C_CMD_GENERIC_SET_COLOR:
 119                 {
 120                         struct i2c_cmd_generic_color *cmd = void_cmd;
 121                         if (size != sizeof (*cmd))
 122                                 goto error;
 123                         ballboard.our_color = cmd->color;
 124                         break;
 125                 }
 126
 127         case I2C_CMD_BALLBOARD_SET_MODE:
 128                 {
 129                         struct i2c_cmd_ballboard_set_mode *cmd = void_cmd;
 130                         if (size != sizeof(struct i2c_cmd_ballboard_set_mode))
 131                                 goto error;
 132                         i2c_set_mode(cmd);
 133                         break;
 134                 }
 135
 136
 137         /* Add other commands here ...*/
 138
 139
 140         case I2C_REQ_BALLBOARD_STATUS:
 141                 {
 142                         struct i2c_req_ballboard_status *cmd = void_cmd;
 143                         if (size != sizeof (*cmd))
 144                                 goto error;
 145
 146                         i2c_send_status();
 147                         break;
 148                 }
 149
 150         default:
 151                 goto error;
 152         }
 153
 154  error:
 155         /* log error on a led ? */
 156         return;
 157 }
 158
 159 void i2c_recvbyteevent(uint8_t hwstatus, uint8_t i, uint8_t c)
 160 {
 161 }
 162
 163 void i2c_sendevent(int8_t size)
 164 {
 165 }
 166
 167