projects/microb2010/cobboard/i2c_protocol.c

   1 /*
   2  *  Copyright Droids Corporation (2009)
   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 1.6 2009-11-08 17:25:00 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 <i2c.h>
  29 #include <ax12.h>
  30 #include <uart.h>
  31 #include <pwm_ng.h>
  32 #include <clock_time.h>
  33 #include <spi.h>
  34
  35 #include <pid.h>
  36 #include <quadramp.h>
  37 #include <control_system_manager.h>
  38 #include <blocking_detection_manager.h>
  39
  40 #include <rdline.h>
  41 #include <parse.h>
  42 #include <parse_string.h>
  43 #include <parse_num.h>
  44
  45 #include "../common/i2c_commands.h"
  46 #include "main.h"
  47 #include "sensor.h"
  48 #include "state.h"
  49
  50 void i2c_protocol_init(void)
  51 {
  52 }
  53
  54 /*** LED CONTROL ***/
  55 void i2c_led_control(uint8_t l, uint8_t state)
  56 {
  57         switch(l) {
  58         case 1:
  59                 state? LED1_ON():LED1_OFF();
  60                 break;
  61         case 2:
  62                 state? LED2_ON():LED2_OFF();
  63                 break;
  64         case 3:
  65                 state? LED3_ON():LED3_OFF();
  66                 break;
  67         case 4:
  68                 state? LED4_ON():LED4_OFF();
  69                 break;
  70         default:
  71                 break;
  72         }
  73 }
  74
  75 #ifdef notyet
  76 static void i2c_test(uint16_t val)
  77 {
  78         static uint16_t prev=0;
  79
  80         if ( (val-prev) != 1 ) {
  81                 WARNING(E_USER_I2C_PROTO, "Dupplicated msg %d", val);
  82         }
  83         prev = val;
  84         ext.nb_test_cmd ++;
  85 }
  86 #endif
  87
  88 static void i2c_send_status(void)
  89 {
  90         struct i2c_ans_cobboard_status ans;
  91         i2c_flush();
  92         ans.hdr.cmd =  I2C_ANS_COBBOARD_STATUS;
  93
  94         /* status */
  95         ans.mode = state_get_mode();
  96         ans.status = state_get_status();
  97
  98         ans.left_cobroller_speed = cobboard.left_cobroller_speed;
  99         ans.right_cobroller_speed = cobboard.right_cobroller_speed;
 100
 101         ans.cob_count = state_get_cob_count();
 102
 103         i2c_send(I2C_ADD_MASTER, (uint8_t *) &ans,
 104                  sizeof(ans), I2C_CTRL_GENERIC);
 105 }
 106
 107 void i2c_recvevent(uint8_t * buf, int8_t size)
 108 {
 109         void *void_cmd = buf;
 110
 111         static uint8_t a = 0;
 112
 113         a++;
 114         if (a & 0x10)
 115                 LED2_TOGGLE();
 116
 117         if (size <= 0) {
 118                 goto error;
 119         }
 120
 121         switch (buf[0]) {
 122
 123         /* Commands (no answer needed) */
 124         case I2C_CMD_GENERIC_LED_CONTROL:
 125                 {
 126                         struct i2c_cmd_led_control *cmd = void_cmd;
 127                         if (size != sizeof (*cmd))
 128                                 goto error;
 129                         i2c_led_control(cmd->led_num, cmd->state);
 130                         break;
 131                 }
 132
 133         case I2C_CMD_COBBOARD_SET_MODE:
 134                 {
 135                         struct i2c_cmd_cobboard_set_mode *cmd = void_cmd;
 136                         if (size != sizeof(struct i2c_cmd_cobboard_set_mode))
 137                                 goto error;
 138                         state_set_mode(cmd->mode);
 139                         break;
 140                 }
 141
 142         case I2C_CMD_GENERIC_SET_COLOR:
 143                 {
 144                         struct i2c_cmd_generic_color *cmd = void_cmd;
 145                         if (size != sizeof (*cmd))
 146                                 goto error;
 147                         cobboard.our_color = cmd->color;
 148                         break;
 149                 }
 150
 151 #ifdef notyet
 152         case I2C_CMD_EXTENSION_TEST:
 153                 {
 154                         struct i2c_cmd_extension_test *cmd = void_cmd;
 155                         if (size != sizeof (*cmd))
 156                                 goto error;
 157                         i2c_test(cmd->val);
 158                         break;
 159                 }
 160 #endif
 161
 162         /* Add other commands here ...*/
 163
 164         case I2C_REQ_COBBOARD_STATUS:
 165                 {
 166                         struct i2c_req_cobboard_status *cmd = void_cmd;
 167                         if (size != sizeof (struct i2c_req_cobboard_status))
 168                                 goto error;
 169
 170                         /* mode is in req */
 171                         if (state_get_status() != I2C_COBBOARD_STATUS_OFF) {
 172                                 state_set_spickle(I2C_LEFT_SIDE, cmd->lspickle);
 173                                 state_set_spickle(I2C_RIGHT_SIDE, cmd->rspickle);
 174                         }
 175                         i2c_send_status();
 176                         break;
 177                 }
 178
 179         default:
 180                 goto error;
 181         }
 182
 183  error:
 184         /* log error on a led ? */
 185         return;
 186 }
 187
 188 void i2c_recvbyteevent(__attribute__((unused)) uint8_t hwstatus,
 189                        __attribute__((unused)) uint8_t i,
 190                        __attribute__((unused)) int8_t c)
 191 {
 192 }
 193
 194 void i2c_sendevent(__attribute__((unused)) int8_t size)
 195 {
 196 }
 197
 198