projects/microb2010/mainboard/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 1.8 2009-11-08 17:24:33 zer0 Exp $
  19  *
  20  */
  21
  22 #include <stdio.h>
  23 #include <string.h>
  24
  25 #include <aversive/pgmspace.h>
  26 #include <aversive/wait.h>
  27 #include <aversive/error.h>
  28
  29 #include <ax12.h>
  30 #include <uart.h>
  31 #include <pwm_ng.h>
  32 #include <i2c.h>
  33 #include <clock_time.h>
  34
  35 #include <pid.h>
  36 #include <quadramp.h>
  37 #include <control_system_manager.h>
  38 #include <trajectory_manager.h>
  39 #include <vect_base.h>
  40 #include <lines.h>
  41 #include <polygon.h>
  42 #include <obstacle_avoidance.h>
  43 #include <blocking_detection_manager.h>
  44 #include <robot_system.h>
  45 #include <position_manager.h>
  46
  47 #include <rdline.h>
  48 #include <parse.h>
  49 #include <parse_string.h>
  50 #include <parse_num.h>
  51
  52 #include "../common/i2c_commands.h"
  53 #include "main.h"
  54 #include "sensor.h"
  55 #include "i2c_protocol.h"
  56
  57 #define I2C_STATE_MAX 4
  58
  59 #define I2C_TIMEOUT 100 /* ms */
  60 #define I2C_MAX_ERRORS 40
  61
  62 static volatile uint8_t i2c_poll_num = 0;
  63 static volatile uint8_t i2c_state = 0;
  64 static volatile uint16_t i2c_errors = 0;
  65
  66 #define OP_READY 0 /* no i2c op running */
  67 #define OP_POLL  1 /* a user command is running */
  68 #define OP_CMD   2 /* a polling (req / ans) is running */
  69
  70 static volatile uint8_t running_op = OP_READY;
  71
  72 #define I2C_MAX_LOG 3
  73 static uint8_t error_log = 0;
  74
  75 /* used for commands */
  76 uint8_t command_buf[I2C_SEND_BUFFER_SIZE];
  77 volatile int8_t command_dest=-1;
  78 volatile uint8_t command_size=0;
  79
  80 static int8_t i2c_req_cobboard_status(void);
  81 static int8_t i2c_req_ballboard_status(void);
  82
  83 #define I2C_ERROR(args...) do {                                         \
  84                 if (error_log < I2C_MAX_LOG) {                          \
  85                         ERROR(E_USER_I2C_PROTO, args);                  \
  86                         error_log ++;                                   \
  87                         if (error_log == I2C_MAX_LOG) {                 \
  88                                 ERROR(E_USER_I2C_PROTO,                 \
  89                                       "i2c logs are now warnings");     \
  90                         }                                               \
  91                 }                                                       \
  92                 else                                                    \
  93                         WARNING(E_USER_I2C_PROTO, args);                \
  94         } while(0)
  95
  96 void i2c_protocol_init(void)
  97 {
  98 }
  99
 100 void i2c_protocol_debug(void)
 101 {
 102         printf_P(PSTR("I2C protocol debug infos:\r\n"));
 103         printf_P(PSTR("  i2c_state=%d\r\n"), i2c_state);
 104         printf_P(PSTR("  i2c_errors=%d\r\n"), i2c_errors);
 105         printf_P(PSTR("  running_op=%d\r\n"), running_op);
 106         printf_P(PSTR("  command_size=%d\r\n"), command_size);
 107         printf_P(PSTR("  command_dest=%d\r\n"), command_dest);
 108         printf_P(PSTR("  i2c_status=%x\r\n"), i2c_status());
 109 }
 110
 111 static void i2cproto_next_state(uint8_t inc)
 112 {
 113         i2c_state += inc;
 114         if (i2c_state >= I2C_STATE_MAX) {
 115                 i2c_state = 0;
 116                 i2c_poll_num ++;
 117         }
 118 }
 119
 120 void i2cproto_wait_update(void)
 121 {
 122         uint8_t poll_num;
 123         poll_num = i2c_poll_num;
 124         WAIT_COND_OR_TIMEOUT((i2c_poll_num-poll_num) > 1, 150);
 125 }
 126
 127 /* called periodically : the goal of this 'thread' is to send requests
 128  * and read answers on i2c slaves in the correct order. */
 129 void i2c_poll_slaves(void *dummy)
 130 {
 131         uint8_t flags;
 132         int8_t err;
 133         static uint8_t a = 0;
 134
 135         a++;
 136         if (a & 0x4)
 137                 LED2_TOGGLE();
 138
 139         /* already running */
 140         IRQ_LOCK(flags);
 141         if (running_op != OP_READY) {
 142                 IRQ_UNLOCK(flags);
 143                 return;
 144         }
 145
 146         /* if a command is ready to be sent, so send it */
 147         if (command_size) {
 148                 running_op = OP_CMD;
 149                 err = i2c_send(command_dest, command_buf, command_size,
 150                              I2C_CTRL_GENERIC);
 151                 if (err < 0)
 152                         goto error;
 153                 IRQ_UNLOCK(flags);
 154                 return;
 155         }
 156
 157         /* no command, so do the polling */
 158         running_op = OP_POLL;
 159
 160         switch(i2c_state) {
 161
 162         /* poll status of cobboard */
 163 #define I2C_REQ_COBBOARD 0
 164         case I2C_REQ_COBBOARD:
 165                 if ((err = i2c_req_cobboard_status()))
 166                         goto error;
 167                 break;
 168
 169 #define I2C_ANS_COBBOARD 1
 170         case I2C_ANS_COBBOARD:
 171                 if ((err = i2c_recv(I2C_COBBOARD_ADDR,
 172                                     sizeof(struct i2c_ans_cobboard_status),
 173                                     I2C_CTRL_GENERIC)))
 174                         goto error;
 175                 break;
 176
 177         /* poll status of ballboard */
 178 #define I2C_REQ_BALLBOARD 2
 179         case I2C_REQ_BALLBOARD:
 180                 if ((err = i2c_req_ballboard_status()))
 181                         goto error;
 182                 break;
 183
 184 #define I2C_ANS_BALLBOARD 3
 185         case I2C_ANS_BALLBOARD:
 186                 if ((err = i2c_recv(I2C_BALLBOARD_ADDR,
 187                                     sizeof(struct i2c_ans_ballboard_status),
 188                                     I2C_CTRL_GENERIC)))
 189                         goto error;
 190                 break;
 191
 192         /* nothing, go to the first request */
 193         default:
 194                 i2c_state = 0;
 195                 running_op = OP_READY;
 196         }
 197         IRQ_UNLOCK(flags);
 198
 199         return;
 200
 201  error:
 202         running_op = OP_READY;
 203         IRQ_UNLOCK(flags);
 204         i2c_errors++;
 205         if (i2c_errors > I2C_MAX_ERRORS) {
 206                 I2C_ERROR("I2C send is_cmd=%d proto_state=%d "
 207                       "err=%d i2c_status=%x", !!command_size, i2c_state, err, i2c_status());
 208                 i2c_reset();
 209                 i2c_errors = 0;
 210         }
 211 }
 212
 213 /* called when the xmit is finished */
 214 void i2c_sendevent(int8_t size)
 215 {
 216         if (size > 0) {
 217                 if (running_op == OP_POLL) {
 218                         i2cproto_next_state(1);
 219                 }
 220                 else
 221                         command_size = 0;
 222         }
 223         else {
 224                 i2c_errors++;
 225                 NOTICE(E_USER_I2C_PROTO, "send error state=%d size=%d "
 226                         "op=%d", i2c_state, size, running_op);
 227                 if (i2c_errors > I2C_MAX_ERRORS) {
 228                         I2C_ERROR("I2C error, slave not ready");
 229                         i2c_reset();
 230                         i2c_errors = 0;
 231                 }
 232
 233                 if (running_op == OP_POLL) {
 234                         /* skip associated answer */
 235                         i2cproto_next_state(2);
 236                 }
 237         }
 238         running_op = OP_READY;
 239 }
 240
 241 /* called rx event */
 242 void i2c_recvevent(uint8_t * buf, int8_t size)
 243 {
 244         if (running_op == OP_POLL)
 245                 i2cproto_next_state(1);
 246
 247         /* recv is only trigged after a poll */
 248         running_op = OP_READY;
 249
 250         if (size < 0) {
 251                 goto error;
 252         }
 253
 254         switch (buf[0]) {
 255
 256         case I2C_ANS_COBBOARD_STATUS: {
 257                 struct i2c_ans_cobboard_status * ans =
 258                         (struct i2c_ans_cobboard_status *)buf;
 259
 260                 if (size != sizeof (*ans))
 261                         goto error;
 262
 263                 /* status */
 264                 cobboard.mode = ans->mode;
 265                 cobboard.status = ans->status;
 266                 cobboard.left_cobroller_speed = ans->left_cobroller_speed;
 267                 cs_set_consign(&mainboard.left_cobroller.cs, cobboard.left_cobroller_speed);
 268                 cobboard.right_cobroller_speed = ans->right_cobroller_speed;
 269                 cs_set_consign(&mainboard.right_cobroller.cs, cobboard.right_cobroller_speed);
 270
 271                 break;
 272         }
 273
 274         case I2C_ANS_BALLBOARD_STATUS: {
 275                 struct i2c_ans_ballboard_status * ans =
 276                         (struct i2c_ans_ballboard_status *)buf;
 277
 278                 if (size != sizeof (*ans))
 279                         goto error;
 280                 ballboard.mode = ans->mode;
 281                 ballboard.status = ans->status;
 282                 ballboard.ball_count = ans->ball_count;
 283                 break;
 284         }
 285
 286         default:
 287                 break;
 288         }
 289
 290         return;
 291  error:
 292         i2c_errors++;
 293         NOTICE(E_USER_I2C_PROTO, "recv error state=%d op=%d",
 294                i2c_state, running_op);
 295         if (i2c_errors > I2C_MAX_ERRORS) {
 296                 I2C_ERROR("I2C error, slave not ready");
 297                 i2c_reset();
 298                 i2c_errors = 0;
 299         }
 300 }
 301
 302 void i2c_recvbyteevent(uint8_t hwstatus, uint8_t i, uint8_t c)
 303 {
 304 }
 305
 306 /* ******** ******** ******** ******** */
 307 /* commands */
 308 /* ******** ******** ******** ******** */
 309
 310
 311 static int8_t
 312 i2c_send_command(uint8_t addr, uint8_t * buf, uint8_t size)
 313 {
 314         uint8_t flags;
 315         microseconds us = time_get_us2();
 316
 317         while ((time_get_us2() - us) < (I2C_TIMEOUT)*1000L) {
 318                 IRQ_LOCK(flags);
 319                 if (command_size == 0) {
 320                         memcpy(command_buf, buf, size);
 321                         command_size = size;
 322                         command_dest = addr;
 323                         IRQ_UNLOCK(flags);
 324                         return 0;
 325                 }
 326                 IRQ_UNLOCK(flags);
 327         }
 328         /* this should not happen... except if we are called from an
 329          * interrupt context, but it's forbidden */
 330         I2C_ERROR("I2C command send failed");
 331         return -EBUSY;
 332 }
 333
 334 static int8_t i2c_req_cobboard_status(void)
 335 {
 336         struct i2c_req_cobboard_status buf;
 337         int8_t err;
 338
 339         buf.hdr.cmd = I2C_REQ_COBBOARD_STATUS;
 340         err = i2c_send(I2C_COBBOARD_ADDR, (uint8_t*)&buf,
 341                         sizeof(buf), I2C_CTRL_GENERIC);
 342
 343         return err;
 344 }
 345
 346 static int8_t i2c_req_ballboard_status(void)
 347 {
 348         struct i2c_req_ballboard_status buf;
 349
 350         buf.hdr.cmd = I2C_REQ_BALLBOARD_STATUS;
 351         return i2c_send(I2C_BALLBOARD_ADDR, (uint8_t*)&buf,
 352                         sizeof(buf), I2C_CTRL_GENERIC);
 353 }
 354
 355 int8_t i2c_set_color(uint8_t addr, uint8_t color)
 356 {
 357         struct i2c_cmd_generic_color buf;
 358
 359         if (addr == I2C_BALLBOARD_ADDR)
 360                 return 0; /* XXX disabled for now */
 361         buf.hdr.cmd = I2C_CMD_GENERIC_SET_COLOR;
 362         buf.color = color;
 363         return i2c_send_command(addr, (uint8_t*)&buf, sizeof(buf));
 364 }
 365
 366 int8_t i2c_led_control(uint8_t addr, uint8_t led, uint8_t state)
 367 {
 368         struct i2c_cmd_led_control buf;
 369         buf.hdr.cmd = I2C_CMD_GENERIC_LED_CONTROL;
 370         buf.led_num = led;
 371         buf.state = state;
 372         return i2c_send_command(addr, (uint8_t*)&buf, sizeof(buf));
 373 }
 374
 375 int8_t i2c_cobboard_mode_eject(void)
 376 {
 377         struct i2c_cmd_cobboard_set_mode buf;
 378         buf.hdr.cmd = I2C_CMD_COBBOARD_SET_MODE;
 379         buf.mode = cobboard.mode | I2C_COBBOARD_MODE_EJECT;
 380         return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 381 }
 382
 383 int8_t i2c_cobboard_mode_harvest(uint8_t side)
 384 {
 385         struct i2c_cmd_cobboard_set_mode buf;
 386         uint8_t mode = cobboard.mode;
 387
 388         buf.hdr.cmd = I2C_CMD_COBBOARD_SET_MODE;
 389         if (side == I2C_LEFT_SIDE) {
 390                 mode |= I2C_COBBOARD_MODE_L_DEPLOY;
 391                 mode |= I2C_COBBOARD_MODE_L_HARVEST;
 392         }
 393         else {
 394                 mode |= I2C_COBBOARD_MODE_R_DEPLOY;
 395                 mode |= I2C_COBBOARD_MODE_R_HARVEST;
 396         }
 397         buf.mode = mode;
 398         return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 399 }
 400
 401 int8_t i2c_cobboard_mode_deploy(uint8_t side)
 402 {
 403         struct i2c_cmd_cobboard_set_mode buf;
 404         uint8_t mode = cobboard.mode;
 405
 406         buf.hdr.cmd = I2C_CMD_COBBOARD_SET_MODE;
 407         if (side == I2C_LEFT_SIDE) {
 408                 mode &= ~(I2C_COBBOARD_MODE_L_DEPLOY | I2C_COBBOARD_MODE_L_HARVEST);
 409                 mode |= I2C_COBBOARD_MODE_L_DEPLOY;
 410         }
 411         else {
 412                 mode &= ~(I2C_COBBOARD_MODE_R_DEPLOY | I2C_COBBOARD_MODE_R_HARVEST);
 413                 mode |= I2C_COBBOARD_MODE_R_DEPLOY;
 414         }
 415         buf.mode = mode;
 416         return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 417 }
 418
 419 int8_t i2c_cobboard_mode_pack(uint8_t side)
 420 {
 421         struct i2c_cmd_cobboard_set_mode buf;
 422         uint8_t mode = cobboard.mode;
 423
 424         buf.hdr.cmd = I2C_CMD_COBBOARD_SET_MODE;
 425         if (side == I2C_LEFT_SIDE)
 426                 mode &= ~(I2C_COBBOARD_MODE_L_DEPLOY | I2C_COBBOARD_MODE_L_HARVEST);
 427         else
 428                 mode &= ~(I2C_COBBOARD_MODE_R_DEPLOY | I2C_COBBOARD_MODE_R_HARVEST);
 429         buf.mode = mode;
 430         return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 431 }
 432
 433 int8_t i2c_cobboard_mode_init(void)
 434 {
 435         struct i2c_cmd_cobboard_set_mode buf;
 436         buf.hdr.cmd = I2C_CMD_COBBOARD_SET_MODE;
 437         buf.mode = I2C_COBBOARD_MODE_INIT;
 438         return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 439 }
 440
 441 int8_t i2c_ballboard_set_mode(uint8_t mode)
 442 {
 443         struct i2c_cmd_ballboard_set_mode buf;
 444         buf.hdr.cmd = I2C_CMD_BALLBOARD_SET_MODE;
 445         buf.mode = mode;
 446         return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 447 }
 448