/*
* Copyright Droids Corporation (2009)
- *
+ *
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
#include "main.h"
#include "sensor.h"
#include "i2c_protocol.h"
+#ifdef HOST_VERSION
+#include "robotsim.h"
+#endif
#define I2C_STATE_MAX 4
static volatile uint8_t running_op = OP_READY;
#define I2C_MAX_LOG 3
+#ifndef HOST_VERSION
static uint8_t error_log = 0;
+static int8_t i2c_req_cobboard_status(void);
+static int8_t i2c_req_ballboard_status(void);
+
+#endif
+
/* used for commands */
uint8_t command_buf[I2C_SEND_BUFFER_SIZE];
volatile int8_t command_dest=-1;
volatile uint8_t command_size=0;
-static int8_t i2c_req_cobboard_status(void);
-static int8_t i2c_req_ballboard_status(void);
-
#define I2C_ERROR(args...) do { \
if (error_log < I2C_MAX_LOG) { \
ERROR(E_USER_I2C_PROTO, args); \
void i2c_protocol_debug(void)
{
+#ifdef HOST_VERSION
+ return;
+#else
printf_P(PSTR("I2C protocol debug infos:\r\n"));
printf_P(PSTR(" i2c_state=%d\r\n"), i2c_state);
printf_P(PSTR(" i2c_errors=%d\r\n"), i2c_errors);
printf_P(PSTR(" command_size=%d\r\n"), command_size);
printf_P(PSTR(" command_dest=%d\r\n"), command_dest);
printf_P(PSTR(" i2c_status=%x\r\n"), i2c_status());
+#endif
}
+#ifndef HOST_VERSION
static void i2cproto_next_state(uint8_t inc)
{
i2c_state += inc;
uint8_t flags;
int8_t err;
static uint8_t a = 0;
-
+
a++;
if (a & 0x4)
LED2_TOGGLE();
-
+
/* already running */
IRQ_LOCK(flags);
if (running_op != OP_READY) {
#define I2C_ANS_COBBOARD 1
case I2C_ANS_COBBOARD:
- if ((err = i2c_recv(I2C_COBBOARD_ADDR,
- sizeof(struct i2c_ans_cobboard_status),
+ if ((err = i2c_recv(I2C_COBBOARD_ADDR,
+ sizeof(struct i2c_ans_cobboard_status),
I2C_CTRL_GENERIC)))
goto error;
break;
#define I2C_ANS_BALLBOARD 3
case I2C_ANS_BALLBOARD:
- if ((err = i2c_recv(I2C_BALLBOARD_ADDR,
- sizeof(struct i2c_ans_ballboard_status),
+ if ((err = i2c_recv(I2C_BALLBOARD_ADDR,
+ sizeof(struct i2c_ans_ballboard_status),
I2C_CTRL_GENERIC)))
goto error;
break;
IRQ_UNLOCK(flags);
i2c_errors++;
if (i2c_errors > I2C_MAX_ERRORS) {
- I2C_ERROR("I2C send is_cmd=%d proto_state=%d "
+ I2C_ERROR("I2C send is_cmd=%d proto_state=%d "
"err=%d i2c_status=%x", !!command_size, i2c_state, err, i2c_status());
i2c_reset();
i2c_errors = 0;
i2c_reset();
i2c_errors = 0;
}
-
+
if (running_op == OP_POLL) {
/* skip associated answer */
i2cproto_next_state(2);
/* recv is only trigged after a poll */
running_op = OP_READY;
-
+
if (size < 0) {
goto error;
}
switch (buf[0]) {
case I2C_ANS_COBBOARD_STATUS: {
- struct i2c_ans_cobboard_status * ans =
+ struct i2c_ans_cobboard_status * ans =
(struct i2c_ans_cobboard_status *)buf;
-
+
if (size != sizeof (*ans))
goto error;
/* status */
cobboard.mode = ans->mode;
cobboard.status = ans->status;
+ cobboard.cob_count = ans->cob_count;
cobboard.left_cobroller_speed = ans->left_cobroller_speed;
cs_set_consign(&mainboard.left_cobroller.cs, cobboard.left_cobroller_speed);
cobboard.right_cobroller_speed = ans->right_cobroller_speed;
}
case I2C_ANS_BALLBOARD_STATUS: {
- struct i2c_ans_ballboard_status * ans =
+ uint8_t tmp;
+ struct i2c_ans_ballboard_status * ans =
(struct i2c_ans_ballboard_status *)buf;
if (size != sizeof (*ans))
ballboard.mode = ans->mode;
ballboard.status = ans->status;
ballboard.ball_count = ans->ball_count;
+ tmp = ans->lcob;
+ if (tmp != I2C_COB_NONE)
+ ballboard.lcob = tmp;
+ tmp = ans->rcob;
+ if (tmp != I2C_COB_NONE)
+ ballboard.rcob = tmp;
break;
}
return;
error:
i2c_errors++;
- NOTICE(E_USER_I2C_PROTO, "recv error state=%d op=%d",
+ NOTICE(E_USER_I2C_PROTO, "recv error state=%d op=%d",
i2c_state, running_op);
if (i2c_errors > I2C_MAX_ERRORS) {
I2C_ERROR("I2C error, slave not ready");
void i2c_recvbyteevent(uint8_t hwstatus, uint8_t i, uint8_t c)
{
}
+#endif /* !HOST_VERSION */
/* ******** ******** ******** ******** */
/* commands */
static int8_t
-i2c_send_command(uint8_t addr, uint8_t * buf, uint8_t size)
+i2c_send_command(uint8_t addr, uint8_t * buf, uint8_t size)
{
+#ifdef HOST_VERSION
+ return robotsim_i2c(addr, buf, size);
+#else
uint8_t flags;
microseconds us = time_get_us2();
* interrupt context, but it's forbidden */
I2C_ERROR("I2C command send failed");
return -EBUSY;
+#endif
}
+#ifndef HOST_VERSION
static int8_t i2c_req_cobboard_status(void)
{
struct i2c_req_cobboard_status buf;
int8_t err;
buf.hdr.cmd = I2C_REQ_COBBOARD_STATUS;
+ buf.lspickle = cobboard.lspickle;
+ buf.rspickle = cobboard.rspickle;
err = i2c_send(I2C_COBBOARD_ADDR, (uint8_t*)&buf,
sizeof(buf), I2C_CTRL_GENERIC);
static int8_t i2c_req_ballboard_status(void)
{
struct i2c_req_ballboard_status buf;
-
+
buf.hdr.cmd = I2C_REQ_BALLBOARD_STATUS;
return i2c_send(I2C_BALLBOARD_ADDR, (uint8_t*)&buf,
sizeof(buf), I2C_CTRL_GENERIC);
}
+#endif /* !HOST_VERSION */
int8_t i2c_set_color(uint8_t addr, uint8_t color)
{
return i2c_send_command(addr, (uint8_t*)&buf, sizeof(buf));
}
-int8_t i2c_cobboard_mode_eject(void)
+int8_t i2c_cobboard_set_mode(uint8_t mode)
{
+#ifdef HOST_VERSION
+ cobboard.mode = mode;
+ return 0;
+#else
struct i2c_cmd_cobboard_set_mode buf;
buf.hdr.cmd = I2C_CMD_COBBOARD_SET_MODE;
- buf.mode = cobboard.mode | I2C_COBBOARD_MODE_EJECT;
+ buf.mode = mode;
return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
+#endif
}
-int8_t i2c_cobboard_mode_harvest(uint8_t side)
+static int8_t i2c_cobboard_set_spickle(uint8_t side, uint8_t flags)
{
- struct i2c_cmd_cobboard_set_mode buf;
- uint8_t mode = cobboard.mode;
-
- buf.hdr.cmd = I2C_CMD_COBBOARD_SET_MODE;
- if (side == I2C_LEFT_SIDE) {
- mode |= I2C_COBBOARD_MODE_L_DEPLOY;
- mode |= I2C_COBBOARD_MODE_L_HARVEST;
- }
- else {
- mode |= I2C_COBBOARD_MODE_R_DEPLOY;
- mode |= I2C_COBBOARD_MODE_R_HARVEST;
- }
- buf.mode = mode;
- return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
+#ifdef HOST_VERSION
+ return robotsim_i2c_cobboard_set_spickles(side, flags);
+#else
+ if (side == I2C_LEFT_SIDE)
+ cobboard.lspickle = flags;
+ else
+ cobboard.rspickle = flags;
+ return 0;
+#endif
}
-int8_t i2c_cobboard_mode_deploy(uint8_t side)
+int8_t i2c_cobboard_pack(uint8_t side)
{
- struct i2c_cmd_cobboard_set_mode buf;
- uint8_t mode = cobboard.mode;
+ return i2c_cobboard_set_spickle(side, 0);
+}
- buf.hdr.cmd = I2C_CMD_COBBOARD_SET_MODE;
- if (side == I2C_LEFT_SIDE) {
- mode &= ~(I2C_COBBOARD_MODE_L_DEPLOY | I2C_COBBOARD_MODE_L_HARVEST);
- mode |= I2C_COBBOARD_MODE_L_DEPLOY;
- }
- else {
- mode &= ~(I2C_COBBOARD_MODE_R_DEPLOY | I2C_COBBOARD_MODE_R_HARVEST);
- mode |= I2C_COBBOARD_MODE_R_DEPLOY;
- }
- buf.mode = mode;
- return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
+int8_t i2c_cobboard_autoharvest(uint8_t side)
+{
+ return i2c_cobboard_set_spickle(side,
+ I2C_COBBOARD_SPK_DEPLOY |
+ I2C_COBBOARD_SPK_AUTOHARVEST);
}
-int8_t i2c_cobboard_mode_pack(uint8_t side)
+int8_t i2c_cobboard_deploy(uint8_t side)
{
- struct i2c_cmd_cobboard_set_mode buf;
- uint8_t mode = cobboard.mode;
+ return i2c_cobboard_set_spickle(side, I2C_COBBOARD_SPK_DEPLOY);
+}
- buf.hdr.cmd = I2C_CMD_COBBOARD_SET_MODE;
- if (side == I2C_LEFT_SIDE)
- mode &= ~(I2C_COBBOARD_MODE_L_DEPLOY | I2C_COBBOARD_MODE_L_HARVEST);
- else
- mode &= ~(I2C_COBBOARD_MODE_R_DEPLOY | I2C_COBBOARD_MODE_R_HARVEST);
- buf.mode = mode;
- return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
+int8_t i2c_cobboard_autoharvest_nomove(uint8_t side)
+{
+ return i2c_cobboard_set_spickle(side,
+ I2C_COBBOARD_SPK_DEPLOY |
+ I2C_COBBOARD_SPK_AUTOHARVEST |
+ I2C_COBBOARD_SPK_NO_MOVE);
}
-int8_t i2c_cobboard_mode_init(void)
+int8_t i2c_cobboard_deploy_nomove(uint8_t side)
{
- struct i2c_cmd_cobboard_set_mode buf;
- buf.hdr.cmd = I2C_CMD_COBBOARD_SET_MODE;
- buf.mode = I2C_COBBOARD_MODE_INIT;
- return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
+ return i2c_cobboard_set_spickle(side, I2C_COBBOARD_SPK_DEPLOY |
+ I2C_COBBOARD_SPK_NO_MOVE);
}
int8_t i2c_ballboard_set_mode(uint8_t mode)
struct i2c_cmd_ballboard_set_mode buf;
buf.hdr.cmd = I2C_CMD_BALLBOARD_SET_MODE;
buf.mode = mode;
- return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
+ return i2c_send_command(I2C_BALLBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
}
git.droids-corp.org / aversive.git / blobdiff