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 #ifdef HOST_VERSION
  57 #include "robotsim.h"
  58 #endif
  59
  60 #define I2C_STATE_MAX 4
  61
  62 #define I2C_TIMEOUT 100 /* ms */
  63 #define I2C_MAX_ERRORS 40
  64
  65 static volatile uint8_t i2c_poll_num = 0;
  66 static volatile uint8_t i2c_state = 0;
  67 static volatile uint16_t i2c_errors = 0;
  68
  69 #define OP_READY 0 /* no i2c op running */
  70 #define OP_POLL  1 /* a user command is running */
  71 #define OP_CMD   2 /* a polling (req / ans) is running */
  72
  73 static volatile uint8_t running_op = OP_READY;
  74
  75 #define I2C_MAX_LOG 3
  76 #ifndef HOST_VERSION
  77 static uint8_t error_log = 0;
  78
  79 static int8_t i2c_req_cobboard_status(void);
  80 static int8_t i2c_req_ballboard_status(void);
  81
  82 #endif
  83
  84 /* used for commands */
  85 uint8_t command_buf[I2C_SEND_BUFFER_SIZE];
  86 volatile int8_t command_dest=-1;
  87 volatile uint8_t command_size=0;
  88
  89 #define I2C_ERROR(args...) do {                                         \
  90                 if (error_log < I2C_MAX_LOG) {                          \
  91                         ERROR(E_USER_I2C_PROTO, args);                  \
  92                         error_log ++;                                   \
  93                         if (error_log == I2C_MAX_LOG) {                 \
  94                                 ERROR(E_USER_I2C_PROTO,                 \
  95                                       "i2c logs are now warnings");     \
  96                         }                                               \
  97                 }                                                       \
  98                 else                                                    \
  99                         WARNING(E_USER_I2C_PROTO, args);                \
 100         } while(0)
 101
 102 void i2c_protocol_init(void)
 103 {
 104 }
 105
 106 void i2c_protocol_debug(void)
 107 {
 108 #ifdef HOST_VERSION
 109         return;
 110 #else
 111         printf_P(PSTR("I2C protocol debug infos:\r\n"));
 112         printf_P(PSTR("  i2c_state=%d\r\n"), i2c_state);
 113         printf_P(PSTR("  i2c_errors=%d\r\n"), i2c_errors);
 114         printf_P(PSTR("  running_op=%d\r\n"), running_op);
 115         printf_P(PSTR("  command_size=%d\r\n"), command_size);
 116         printf_P(PSTR("  command_dest=%d\r\n"), command_dest);
 117         printf_P(PSTR("  i2c_status=%x\r\n"), i2c_status());
 118 #endif
 119 }
 120
 121 #ifndef HOST_VERSION
 122 static void i2cproto_next_state(uint8_t inc)
 123 {
 124         i2c_state += inc;
 125         if (i2c_state >= I2C_STATE_MAX) {
 126                 i2c_state = 0;
 127                 i2c_poll_num ++;
 128         }
 129 }
 130
 131 void i2cproto_wait_update(void)
 132 {
 133         uint8_t poll_num;
 134         poll_num = i2c_poll_num;
 135         WAIT_COND_OR_TIMEOUT((i2c_poll_num-poll_num) > 1, 150);
 136 }
 137
 138 /* called periodically : the goal of this 'thread' is to send requests
 139  * and read answers on i2c slaves in the correct order. */
 140 void i2c_poll_slaves(void *dummy)
 141 {
 142         uint8_t flags;
 143         int8_t err;
 144         static uint8_t a = 0;
 145
 146         a++;
 147         if (a & 0x4)
 148                 LED2_TOGGLE();
 149
 150         /* already running */
 151         IRQ_LOCK(flags);
 152         if (running_op != OP_READY) {
 153                 IRQ_UNLOCK(flags);
 154                 return;
 155         }
 156
 157         /* if a command is ready to be sent, so send it */
 158         if (command_size) {
 159                 running_op = OP_CMD;
 160                 err = i2c_send(command_dest, command_buf, command_size,
 161                              I2C_CTRL_GENERIC);
 162                 if (err < 0)
 163                         goto error;
 164                 IRQ_UNLOCK(flags);
 165                 return;
 166         }
 167
 168         /* no command, so do the polling */
 169         running_op = OP_POLL;
 170
 171         switch(i2c_state) {
 172
 173         /* poll status of cobboard */
 174 #define I2C_REQ_COBBOARD 0
 175         case I2C_REQ_COBBOARD:
 176                 if ((err = i2c_req_cobboard_status()))
 177                         goto error;
 178                 break;
 179
 180 #define I2C_ANS_COBBOARD 1
 181         case I2C_ANS_COBBOARD:
 182                 if ((err = i2c_recv(I2C_COBBOARD_ADDR,
 183                                     sizeof(struct i2c_ans_cobboard_status),
 184                                     I2C_CTRL_GENERIC)))
 185                         goto error;
 186                 break;
 187
 188         /* poll status of ballboard */
 189 #define I2C_REQ_BALLBOARD 2
 190         case I2C_REQ_BALLBOARD:
 191                 if ((err = i2c_req_ballboard_status()))
 192                         goto error;
 193                 break;
 194
 195 #define I2C_ANS_BALLBOARD 3
 196         case I2C_ANS_BALLBOARD:
 197                 if ((err = i2c_recv(I2C_BALLBOARD_ADDR,
 198                                     sizeof(struct i2c_ans_ballboard_status),
 199                                     I2C_CTRL_GENERIC)))
 200                         goto error;
 201                 break;
 202
 203         /* nothing, go to the first request */
 204         default:
 205                 i2c_state = 0;
 206                 running_op = OP_READY;
 207         }
 208         IRQ_UNLOCK(flags);
 209
 210         return;
 211
 212  error:
 213         running_op = OP_READY;
 214         IRQ_UNLOCK(flags);
 215         i2c_errors++;
 216         if (i2c_errors > I2C_MAX_ERRORS) {
 217                 I2C_ERROR("I2C send is_cmd=%d proto_state=%d "
 218                       "err=%d i2c_status=%x", !!command_size, i2c_state, err, i2c_status());
 219                 i2c_reset();
 220                 i2c_errors = 0;
 221         }
 222 }
 223
 224 /* called when the xmit is finished */
 225 void i2c_sendevent(int8_t size)
 226 {
 227         if (size > 0) {
 228                 if (running_op == OP_POLL) {
 229                         i2cproto_next_state(1);
 230                 }
 231                 else
 232                         command_size = 0;
 233         }
 234         else {
 235                 i2c_errors++;
 236                 NOTICE(E_USER_I2C_PROTO, "send error state=%d size=%d "
 237                         "op=%d", i2c_state, size, running_op);
 238                 if (i2c_errors > I2C_MAX_ERRORS) {
 239                         I2C_ERROR("I2C error, slave not ready");
 240                         i2c_reset();
 241                         i2c_errors = 0;
 242                 }
 243
 244                 if (running_op == OP_POLL) {
 245                         /* skip associated answer */
 246                         i2cproto_next_state(2);
 247                 }
 248         }
 249         running_op = OP_READY;
 250 }
 251
 252 /* called rx event */
 253 void i2c_recvevent(uint8_t * buf, int8_t size)
 254 {
 255         if (running_op == OP_POLL)
 256                 i2cproto_next_state(1);
 257
 258         /* recv is only trigged after a poll */
 259         running_op = OP_READY;
 260
 261         if (size < 0) {
 262                 goto error;
 263         }
 264
 265         switch (buf[0]) {
 266
 267         case I2C_ANS_COBBOARD_STATUS: {
 268                 struct i2c_ans_cobboard_status * ans =
 269                         (struct i2c_ans_cobboard_status *)buf;
 270
 271                 if (size != sizeof (*ans))
 272                         goto error;
 273
 274                 /* status */
 275                 //cobboard.mode = ans->mode;
 276                 cobboard.status = ans->status;
 277                 cobboard.left_cobroller_speed = ans->left_cobroller_speed;
 278                 cs_set_consign(&mainboard.left_cobroller.cs, cobboard.left_cobroller_speed);
 279                 cobboard.right_cobroller_speed = ans->right_cobroller_speed;
 280                 cs_set_consign(&mainboard.right_cobroller.cs, cobboard.right_cobroller_speed);
 281
 282                 break;
 283         }
 284
 285         case I2C_ANS_BALLBOARD_STATUS: {
 286                 struct i2c_ans_ballboard_status * ans =
 287                         (struct i2c_ans_ballboard_status *)buf;
 288
 289                 if (size != sizeof (*ans))
 290                         goto error;
 291                 ballboard.mode = ans->mode;
 292                 ballboard.status = ans->status;
 293                 ballboard.ball_count = ans->ball_count;
 294                 break;
 295         }
 296
 297         default:
 298                 break;
 299         }
 300
 301         return;
 302  error:
 303         i2c_errors++;
 304         NOTICE(E_USER_I2C_PROTO, "recv error state=%d op=%d",
 305                i2c_state, running_op);
 306         if (i2c_errors > I2C_MAX_ERRORS) {
 307                 I2C_ERROR("I2C error, slave not ready");
 308                 i2c_reset();
 309                 i2c_errors = 0;
 310         }
 311 }
 312
 313 void i2c_recvbyteevent(uint8_t hwstatus, uint8_t i, uint8_t c)
 314 {
 315 }
 316 #endif /* !HOST_VERSION */
 317
 318 /* ******** ******** ******** ******** */
 319 /* commands */
 320 /* ******** ******** ******** ******** */
 321
 322
 323 static int8_t
 324 i2c_send_command(uint8_t addr, uint8_t * buf, uint8_t size)
 325 {
 326 #ifdef HOST_VERSION
 327         return robotsim_i2c(addr, buf, size);
 328 #else
 329         uint8_t flags;
 330         microseconds us = time_get_us2();
 331
 332         while ((time_get_us2() - us) < (I2C_TIMEOUT)*1000L) {
 333                 IRQ_LOCK(flags);
 334                 if (command_size == 0) {
 335                         memcpy(command_buf, buf, size);
 336                         command_size = size;
 337                         command_dest = addr;
 338                         IRQ_UNLOCK(flags);
 339                         return 0;
 340                 }
 341                 IRQ_UNLOCK(flags);
 342         }
 343         /* this should not happen... except if we are called from an
 344          * interrupt context, but it's forbidden */
 345         I2C_ERROR("I2C command send failed");
 346         return -EBUSY;
 347 #endif
 348 }
 349
 350 #ifndef HOST_VERSION
 351 static int8_t i2c_req_cobboard_status(void)
 352 {
 353         struct i2c_req_cobboard_status buf;
 354         int8_t err;
 355
 356         buf.hdr.cmd = I2C_REQ_COBBOARD_STATUS;
 357         buf.mode = cobboard.mode;
 358         err = i2c_send(I2C_COBBOARD_ADDR, (uint8_t*)&buf,
 359                         sizeof(buf), I2C_CTRL_GENERIC);
 360
 361         return err;
 362 }
 363
 364 static int8_t i2c_req_ballboard_status(void)
 365 {
 366         struct i2c_req_ballboard_status buf;
 367
 368         buf.hdr.cmd = I2C_REQ_BALLBOARD_STATUS;
 369         return i2c_send(I2C_BALLBOARD_ADDR, (uint8_t*)&buf,
 370                         sizeof(buf), I2C_CTRL_GENERIC);
 371 }
 372 #endif /* !HOST_VERSION */
 373
 374 int8_t i2c_set_color(uint8_t addr, uint8_t color)
 375 {
 376         struct i2c_cmd_generic_color buf;
 377
 378         if (addr == I2C_BALLBOARD_ADDR)
 379                 return 0; /* XXX disabled for now */
 380         buf.hdr.cmd = I2C_CMD_GENERIC_SET_COLOR;
 381         buf.color = color;
 382         return i2c_send_command(addr, (uint8_t*)&buf, sizeof(buf));
 383 }
 384
 385 int8_t i2c_led_control(uint8_t addr, uint8_t led, uint8_t state)
 386 {
 387         struct i2c_cmd_led_control buf;
 388         buf.hdr.cmd = I2C_CMD_GENERIC_LED_CONTROL;
 389         buf.led_num = led;
 390         buf.state = state;
 391         return i2c_send_command(addr, (uint8_t*)&buf, sizeof(buf));
 392 }
 393
 394 static int8_t i2c_cobboard_set_mode(uint8_t mode)
 395 {
 396 #ifdef HOST_VERSION
 397         return robotsim_i2c_cobboard_set_mode(mode);
 398 #else
 399         cobboard.mode = mode;
 400         return 0;
 401 #endif
 402
 403 #if 0 /* old */
 404         struct i2c_cmd_cobboard_set_mode buf;
 405         buf.hdr.cmd = I2C_CMD_COBBOARD_SET_MODE;
 406         buf.mode = cobboard.mode | I2C_COBBOARD_MODE_EJECT;
 407         return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 408 #endif
 409 }
 410
 411 int8_t i2c_cobboard_mode_eject(void)
 412 {
 413         /* XXXXXXXXX bad bad bad */
 414         uint8_t mode = cobboard.mode | I2C_COBBOARD_MODE_EJECT;
 415         i2c_cobboard_set_mode(mode);
 416         time_wait_ms(500);
 417         mode = cobboard.mode & (~I2C_COBBOARD_MODE_EJECT);
 418         i2c_cobboard_set_mode(mode);
 419         return 0;
 420 }
 421
 422 int8_t i2c_cobboard_mode_harvest(uint8_t side)
 423 {
 424         uint8_t mode = cobboard.mode;
 425
 426         if (side == I2C_LEFT_SIDE) {
 427                 mode |= I2C_COBBOARD_MODE_L_DEPLOY;
 428                 mode |= I2C_COBBOARD_MODE_L_HARVEST;
 429         }
 430         else {
 431                 mode |= I2C_COBBOARD_MODE_R_DEPLOY;
 432                 mode |= I2C_COBBOARD_MODE_R_HARVEST;
 433         }
 434         return i2c_cobboard_set_mode(mode);
 435 }
 436
 437 int8_t i2c_cobboard_mode_deploy(uint8_t side)
 438 {
 439         uint8_t mode = cobboard.mode;
 440
 441         if (side == I2C_LEFT_SIDE) {
 442                 mode &= ~(I2C_COBBOARD_MODE_L_DEPLOY | I2C_COBBOARD_MODE_L_HARVEST);
 443                 mode |= I2C_COBBOARD_MODE_L_DEPLOY;
 444         }
 445         else {
 446                 mode &= ~(I2C_COBBOARD_MODE_R_DEPLOY | I2C_COBBOARD_MODE_R_HARVEST);
 447                 mode |= I2C_COBBOARD_MODE_R_DEPLOY;
 448         }
 449         return i2c_cobboard_set_mode(mode);
 450 }
 451
 452 int8_t i2c_cobboard_mode_pack(uint8_t side)
 453 {
 454         uint8_t mode = cobboard.mode;
 455
 456         if (side == I2C_LEFT_SIDE)
 457                 mode &= ~(I2C_COBBOARD_MODE_L_DEPLOY | I2C_COBBOARD_MODE_L_HARVEST);
 458         else
 459                 mode &= ~(I2C_COBBOARD_MODE_R_DEPLOY | I2C_COBBOARD_MODE_R_HARVEST);
 460         return i2c_cobboard_set_mode(mode);
 461 }
 462
 463 int8_t i2c_cobboard_mode_init(void)
 464 {
 465         return i2c_cobboard_set_mode(I2C_COBBOARD_MODE_INIT);
 466 }
 467
 468 int8_t i2c_ballboard_set_mode(uint8_t mode)
 469 {
 470         struct i2c_cmd_ballboard_set_mode buf;
 471         buf.hdr.cmd = I2C_CMD_BALLBOARD_SET_MODE;
 472         buf.mode = mode;
 473         return i2c_send_command(I2C_BALLBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 474 }
 475