projects/microb2010/ballboard/i2c_protocol.c

   1 /*
   2  *  Copyright Droids Corporation (2010)
   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 "beacon.h"
  52 #include "actuator.h"
  53
  54 void i2c_protocol_init(void)
  55 {
  56 }
  57
  58 /*** LED CONTROL ***/
  59 void i2c_led_control(uint8_t l, uint8_t state)
  60 {
  61         switch(l) {
  62         case 1:
  63                 state? LED1_ON():LED1_OFF();
  64                 break;
  65         case 2:
  66                 state? LED2_ON():LED2_OFF();
  67                 break;
  68         default:
  69                 break;
  70         }
  71 }
  72
  73 void i2c_send_status(void)
  74 {
  75         struct i2c_ans_ballboard_status ans;
  76         i2c_flush();
  77         ans.hdr.cmd =  I2C_ANS_BALLBOARD_STATUS;
  78         ans.status = state_get_status();
  79         ans.ball_count = state_get_ball_count();
  80         ans.lcob = cob_detect_left();
  81         ans.rcob = cob_detect_right();
  82         ans.opponent_x = beacon.opponent_x;
  83         ans.opponent_y = beacon.opponent_y;
  84         ans.opponent_a = beacon.opponent_angle;
  85         ans.opponent_d = beacon.opponent_dist;
  86
  87         i2c_send(I2C_ADD_MASTER, (uint8_t *) &ans,
  88                  sizeof(ans), I2C_CTRL_GENERIC);
  89 }
  90
  91 static int8_t i2c_set_mode(struct i2c_cmd_ballboard_set_mode *cmd)
  92 {
  93         state_set_mode(cmd->mode);
  94         return 0;
  95 }
  96
  97 void i2c_recvevent(uint8_t * buf, int8_t size)
  98 {
  99         void *void_cmd = buf;
 100         static uint8_t a=0;
 101         a=!a;
 102         if (a)
 103                 LED2_ON();
 104         else
 105                 LED2_OFF();
 106
 107         if (size <= 0) {
 108                 goto error;
 109         }
 110
 111         switch (buf[0]) {
 112
 113         /* Commands (no answer needed) */
 114         case I2C_CMD_GENERIC_LED_CONTROL:
 115                 {
 116                         struct i2c_cmd_led_control *cmd = void_cmd;
 117                         if (size != sizeof (*cmd))
 118                                 goto error;
 119                         i2c_led_control(cmd->led_num, cmd->state);
 120                         break;
 121                 }
 122
 123         case I2C_CMD_GENERIC_SET_COLOR:
 124                 {
 125                         struct i2c_cmd_generic_color *cmd = void_cmd;
 126                         if (size != sizeof (*cmd))
 127                                 goto error;
 128                         ballboard.our_color = cmd->color;
 129                         break;
 130                 }
 131
 132         case I2C_CMD_BALLBOARD_SET_BEACON:
 133                 {
 134                         struct i2c_cmd_ballboard_start_beacon *cmd = void_cmd;
 135                         if (size != sizeof (*cmd))
 136                                 goto error;
 137
 138                         if (cmd->enable)
 139                                 beacon_start();
 140                         else
 141                                 beacon_stop();
 142                         break;
 143                 }
 144
 145         case I2C_CMD_BALLBOARD_SET_MODE:
 146                 {
 147                         struct i2c_cmd_ballboard_set_mode *cmd = void_cmd;
 148                         if (size != sizeof(struct i2c_cmd_ballboard_set_mode))
 149                                 goto error;
 150                         i2c_set_mode(cmd);
 151                         break;
 152                 }
 153
 154
 155         /* Add other commands here ...*/
 156
 157
 158         case I2C_REQ_BALLBOARD_STATUS:
 159                 {
 160                         struct i2c_req_ballboard_status *cmd = void_cmd;
 161                         if (size != sizeof (*cmd))
 162                                 goto error;
 163
 164                         i2c_send_status();
 165                         break;
 166                 }
 167
 168         default:
 169                 goto error;
 170         }
 171
 172  error:
 173         /* log error on a led ? */
 174         return;
 175 }
 176
 177 void i2c_recvbyteevent(uint8_t hwstatus, uint8_t i, uint8_t c)
 178 {
 179 }
 180
 181 void i2c_sendevent(int8_t size)
 182 {
 183 }
 184
 185