projects/microb2010/mechboard/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 <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_mechboard_status ans;
  91         i2c_flush();
  92         ans.hdr.cmd =  I2C_ANS_MECHBOARD_STATUS;
  93
  94         /* status */
  95         ans.mode = state_get_mode();
  96         ans.status = mechboard.status;
  97
  98         ans.lintel_count = mechboard.lintel_count;
  99         ans.column_flags = mechboard.column_flags;
 100         /* pumps pwm */
 101         ans.pump_left1 = mechboard.pump_left1;
 102         ans.pump_right1 = mechboard.pump_right1;
 103         ans.pump_left2 = mechboard.pump_left2;
 104         ans.pump_right2 = mechboard.pump_right2;
 105         /* pumps current */
 106         ans.pump_right1_current = sensor_get_adc(ADC_CSENSE3);
 107         ans.pump_right2_current = sensor_get_adc(ADC_CSENSE4);
 108         /* servos */
 109         ans.servo_lintel_left = mechboard.servo_lintel_left;
 110         ans.servo_lintel_right = mechboard.servo_lintel_right;
 111
 112         i2c_send(I2C_ADD_MASTER, (uint8_t *) &ans,
 113                  sizeof(ans), I2C_CTRL_GENERIC);
 114 }
 115
 116 static int8_t i2c_set_mode(struct i2c_cmd_mechboard_set_mode *cmd)
 117 {
 118         state_set_mode(cmd);
 119         return 0;
 120 }
 121
 122 void i2c_recvevent(uint8_t * buf, int8_t size)
 123 {
 124         void *void_cmd = buf;
 125
 126         static uint8_t a = 0;
 127
 128         a++;
 129         if (a & 0x10)
 130                 LED2_TOGGLE();
 131
 132         if (size <= 0) {
 133                 goto error;
 134         }
 135
 136         switch (buf[0]) {
 137
 138         /* Commands (no answer needed) */
 139         case I2C_CMD_GENERIC_LED_CONTROL:
 140                 {
 141                         struct i2c_cmd_led_control *cmd = void_cmd;
 142                         if (size != sizeof (*cmd))
 143                                 goto error;
 144                         i2c_led_control(cmd->led_num, cmd->state);
 145                         break;
 146                 }
 147
 148         case I2C_CMD_MECHBOARD_SET_MODE:
 149                 {
 150                         struct i2c_cmd_mechboard_set_mode *cmd = void_cmd;
 151                         if (size != sizeof(struct i2c_cmd_mechboard_set_mode))
 152                                 goto error;
 153                         i2c_set_mode(cmd);
 154                         break;
 155                 }
 156
 157         case I2C_CMD_GENERIC_SET_COLOR:
 158                 {
 159                         struct i2c_cmd_generic_color *cmd = void_cmd;
 160                         if (size != sizeof (*cmd))
 161                                 goto error;
 162                         mechboard.our_color = cmd->color;
 163                         break;
 164                 }
 165
 166 #ifdef notyet
 167         case I2C_CMD_EXTENSION_TEST:
 168                 {
 169                         struct i2c_cmd_extension_test *cmd = void_cmd;
 170                         if (size != sizeof (*cmd))
 171                                 goto error;
 172                         i2c_test(cmd->val);
 173                         break;
 174                 }
 175 #endif
 176
 177         /* Add other commands here ...*/
 178
 179
 180         case I2C_REQ_MECHBOARD_STATUS:
 181                 {
 182                         struct i2c_req_mechboard_status *cmd = void_cmd;
 183                         if (size != sizeof (struct i2c_req_mechboard_status))
 184                                 goto error;
 185
 186                         mechboard.pump_left1_current = cmd->pump_left1_current;
 187                         mechboard.pump_left2_current = cmd->pump_left2_current;
 188                         i2c_send_status();
 189                         break;
 190                 }
 191
 192         default:
 193                 goto error;
 194         }
 195
 196  error:
 197         /* log error on a led ? */
 198         return;
 199 }
 200
 201 void i2c_recvbyteevent(__attribute__((unused)) uint8_t hwstatus,
 202                        __attribute__((unused)) uint8_t i,
 203                        __attribute__((unused)) int8_t c)
 204 {
 205 }
 206
 207 void i2c_sendevent(__attribute__((unused)) int8_t size)
 208 {
 209 }
 210
 211