projects/microb2010/sensorboard/i2c_protocol.c

   1 /*
   2  *  Copyright Droids Corporation (2007)
   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 <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 "actuator.h"
  50 #include "beacon.h"
  51 #include "scanner.h"
  52
  53 void i2c_protocol_init(void)
  54 {
  55 }
  56
  57 /*** LED CONTROL ***/
  58 void i2c_led_control(uint8_t l, uint8_t state)
  59 {
  60         switch(l) {
  61         case 1:
  62                 state? LED1_ON():LED1_OFF();
  63                 break;
  64         case 2:
  65                 state? LED2_ON():LED2_OFF();
  66                 break;
  67         default:
  68                 break;
  69         }
  70 }
  71
  72 void i2c_send_status(void)
  73 {
  74         struct i2c_ans_sensorboard_status ans;
  75         i2c_flush();
  76         ans.hdr.cmd =  I2C_ANS_SENSORBOARD_STATUS;
  77         ans.status = 0x55; /* XXX */
  78         ans.opponent_x = beacon.opponent_x;
  79         ans.opponent_y = beacon.opponent_y;
  80         ans.opponent_a = beacon.opponent_angle;
  81         ans.opponent_d = beacon.opponent_dist;
  82
  83         ans.scan_status = 0;
  84         ans.scan_status |= scan_params.working ? 0 : I2C_SCAN_DONE;
  85         ans.scan_status |= scan_params.max_column_detected ? I2C_SCAN_MAX_COLUMN : 0;
  86
  87
  88         ans.dropzone_x = scan_params.dropzone_x;
  89         ans.dropzone_y = scan_params.dropzone_y;
  90         ans.dropzone_h = scan_params.dropzone_h;
  91
  92         i2c_send(I2C_ADD_MASTER, (uint8_t *) &ans,
  93                  sizeof(ans), I2C_CTRL_GENERIC);
  94 }
  95
  96
  97 void i2c_scanner_calibre_laser(void* dummy)
  98 {
  99         scanner_calibre_laser();
 100 }
 101
 102 void i2c_scanner_end_process(void* dummy)
 103 {
 104         scanner_end_process();
 105 }
 106
 107 void i2c_recvevent(uint8_t * buf, int8_t size)
 108 {
 109         void *void_cmd = buf;
 110         static uint8_t a=0;
 111         a=!a;
 112         if (a)
 113                 LED2_ON();
 114         else
 115                 LED2_OFF();
 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_GENERIC_SET_COLOR:
 134                 {
 135                         struct i2c_cmd_generic_color *cmd = void_cmd;
 136                         if (size != sizeof (*cmd))
 137                                 goto error;
 138                         sensorboard.our_color = cmd->color;
 139                         break;
 140                 }
 141
 142         case I2C_CMD_SENSORBOARD_SET_BEACON:
 143                 {
 144                         struct i2c_cmd_sensorboard_start_beacon *cmd = void_cmd;
 145                         if (size != sizeof (*cmd))
 146                                 goto error;
 147
 148                         if (cmd->enable)
 149                                 beacon_start();
 150                         else
 151                                 beacon_stop();
 152
 153                         break;
 154                 }
 155
 156         case I2C_CMD_SENSORBOARD_SET_SCANNER:
 157                 {
 158                         struct i2c_cmd_sensorboard_scanner *cmd = void_cmd;
 159                         if (size != sizeof (*cmd))
 160                                 goto error;
 161
 162                         scanner_set_mode(cmd->mode);
 163                         break;
 164
 165                 }
 166
 167
 168         case I2C_CMD_SENSORBOARD_SCANNER_ALGO:
 169                 {
 170                         struct i2c_cmd_sensorboard_scanner_algo *cmd = void_cmd;
 171                         if (size != sizeof (*cmd))
 172                                 goto error;
 173
 174                         scan_params.algo = cmd->algo;
 175
 176                         if (cmd->algo == I2C_SCANNER_ALGO_COLUMN_DROPZONE){
 177                                 scan_params.drop_zone.working_zone = cmd->drop_zone.working_zone;
 178                                 scan_params.drop_zone.center_x = cmd->drop_zone.center_x;
 179                                 scan_params.drop_zone.center_y = cmd->drop_zone.center_y;
 180                         }
 181                         else if (cmd->algo == I2C_SCANNER_ALGO_CHECK_TEMPLE) {
 182                                 scan_params.check_temple.level = cmd->check_temple.level;
 183                                 scan_params.check_temple.temple_x = cmd->check_temple.temple_x;
 184                                 scan_params.check_temple.temple_y = cmd->check_temple.temple_y;
 185                         }
 186                         else if (cmd->algo == I2C_SCANNER_ALGO_TEMPLE_DROPZONE){
 187                                 scan_params.drop_zone.working_zone = cmd->drop_zone.working_zone;
 188                                 scan_params.drop_zone.center_x = cmd->drop_zone.center_x;
 189                                 scan_params.drop_zone.center_y = cmd->drop_zone.center_y;
 190                         }
 191                         else{
 192                                 /* new command */
 193                         }
 194
 195                         scan_params.working = 1;
 196                         scheduler_add_single_event_priority(i2c_scanner_end_process, NULL,
 197                                                             1,
 198                                                             CS_PRIO-1);
 199                         break;
 200
 201                 }
 202
 203         case I2C_CMD_SENSORBOARD_CALIB_SCANNER:
 204                 {
 205                         struct i2c_cmd_sensorboard_calib_scanner *cmd = void_cmd;
 206                         if (size != sizeof (*cmd))
 207                                 goto error;
 208
 209                         scheduler_add_single_event_priority(i2c_scanner_calibre_laser, NULL,
 210                                                             1,
 211                                                             CS_PRIO-1);
 212                         break;
 213                 }
 214
 215
 216
 217         /* Add other commands here ...*/
 218
 219
 220         case I2C_REQ_SENSORBOARD_STATUS:
 221                 {
 222                         struct i2c_req_sensorboard_status *cmd = void_cmd;
 223                         if (size != sizeof (*cmd))
 224                                 goto error;
 225
 226                         beacon.robot_x = cmd->x;
 227                         beacon.robot_y = cmd->y;
 228                         beacon.robot_angle = cmd->a;
 229
 230                         if (cmd->enable_pickup_wheels)
 231                                 pickup_wheels_on();
 232                         else
 233                                 pickup_wheels_off();
 234
 235                         i2c_send_status();
 236                         break;
 237                 }
 238
 239         default:
 240                 goto error;
 241         }
 242
 243  error:
 244         /* log error on a led ? */
 245         return;
 246 }
 247
 248 void i2c_recvbyteevent(uint8_t hwstatus, uint8_t i, uint8_t c)
 249 {
 250 }
 251
 252 void i2c_sendevent(int8_t size)
 253 {
 254 }
 255
 256