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 "actuator.h"
  51
  52 void i2c_protocol_init(void)
  53 {
  54 }
  55
  56 /*** LED CONTROL ***/
  57 void i2c_led_control(uint8_t l, uint8_t state)
  58 {
  59         switch(l) {
  60         case 1:
  61                 state? LED1_ON():LED1_OFF();
  62                 break;
  63         case 2:
  64                 state? LED2_ON():LED2_OFF();
  65                 break;
  66         default:
  67                 break;
  68         }
  69 }
  70
  71 void i2c_send_status(void)
  72 {
  73         struct i2c_ans_ballboard_status ans;
  74         i2c_flush();
  75         ans.hdr.cmd =  I2C_ANS_BALLBOARD_STATUS;
  76         ans.status = 0x55; /* XXX */
  77         ans.ball_count = state_get_ball_count();
  78
  79         i2c_send(I2C_ADD_MASTER, (uint8_t *) &ans,
  80                  sizeof(ans), I2C_CTRL_GENERIC);
  81 }
  82
  83 static int8_t i2c_set_mode(struct i2c_cmd_ballboard_set_mode *cmd)
  84 {
  85         state_set_mode(cmd->mode);
  86         return 0;
  87 }
  88
  89 void i2c_recvevent(uint8_t * buf, int8_t size)
  90 {
  91         void *void_cmd = buf;
  92         static uint8_t a=0;
  93         a=!a;
  94         if (a)
  95                 LED2_ON();
  96         else
  97                 LED2_OFF();
  98
  99         if (size <= 0) {
 100                 goto error;
 101         }
 102
 103         switch (buf[0]) {
 104
 105         /* Commands (no answer needed) */
 106         case I2C_CMD_GENERIC_LED_CONTROL:
 107                 {
 108                         struct i2c_cmd_led_control *cmd = void_cmd;
 109                         if (size != sizeof (*cmd))
 110                                 goto error;
 111                         i2c_led_control(cmd->led_num, cmd->state);
 112                         break;
 113                 }
 114
 115         case I2C_CMD_GENERIC_SET_COLOR:
 116                 {
 117                         struct i2c_cmd_generic_color *cmd = void_cmd;
 118                         if (size != sizeof (*cmd))
 119                                 goto error;
 120                         ballboard.our_color = cmd->color;
 121                         break;
 122                 }
 123
 124         case I2C_CMD_BALLBOARD_SET_MODE:
 125                 {
 126                         struct i2c_cmd_ballboard_set_mode *cmd = void_cmd;
 127                         if (size != sizeof(struct i2c_cmd_ballboard_set_mode))
 128                                 goto error;
 129                         i2c_set_mode(cmd);
 130                         break;
 131                 }
 132
 133
 134         /* Add other commands here ...*/
 135
 136
 137         case I2C_REQ_BALLBOARD_STATUS:
 138                 {
 139                         struct i2c_req_ballboard_status *cmd = void_cmd;
 140                         if (size != sizeof (*cmd))
 141                                 goto error;
 142
 143                         i2c_send_status();
 144                         break;
 145                 }
 146
 147         default:
 148                 goto error;
 149         }
 150
 151  error:
 152         /* log error on a led ? */
 153         return;
 154 }
 155
 156 void i2c_recvbyteevent(uint8_t hwstatus, uint8_t i, uint8_t c)
 157 {
 158 }
 159
 160 void i2c_sendevent(int8_t size)
 161 {
 162 }
 163
 164