X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fi2c_protocol.c;h=aed92c7b17b32a5a1002b2a2db821e065ea68919;hp=4e5c1746aae0fd1fd549a690d21b76acc54bd709;hb=b022f257a5ee568737e1a684a83d0154397fffcb;hpb=ebfaaedd491e61696cc93b353471be15408d23e4

diff --git a/projects/microb2010/mainboard/i2c_protocol.c b/projects/microb2010/mainboard/i2c_protocol.c
index 4e5c174..aed92c7 100644
--- a/projects/microb2010/mainboard/i2c_protocol.c
+++ b/projects/microb2010/mainboard/i2c_protocol.c
@@ -53,6 +53,9 @@
 #include "main.h"
 #include "sensor.h"
 #include "i2c_protocol.h"
+#ifdef HOST_VERSION
+#include "robotsim.h"
+#endif
 
 #define I2C_STATE_MAX 4
 
@@ -269,7 +272,7 @@ void i2c_recvevent(uint8_t * buf, int8_t size)
 			goto error;
 
 		/* status */
-		cobboard.mode = ans->mode;
+		//cobboard.mode = ans->mode;
 		cobboard.status = ans->status;
 		cobboard.left_cobroller_speed = ans->left_cobroller_speed;
 		cs_set_consign(&mainboard.left_cobroller.cs, cobboard.left_cobroller_speed);
@@ -321,7 +324,7 @@ static int8_t
 i2c_send_command(uint8_t addr, uint8_t * buf, uint8_t size)
 {
 #ifdef HOST_VERSION
-	return 0;
+	return robotsim_i2c(addr, buf, size);
 #else
 	uint8_t flags;
         microseconds us = time_get_us2();
@@ -351,6 +354,7 @@ static int8_t i2c_req_cobboard_status(void)
 	int8_t err;
 
 	buf.hdr.cmd = I2C_REQ_COBBOARD_STATUS;
+	buf.mode = cobboard.mode;
 	err = i2c_send(I2C_COBBOARD_ADDR, (uint8_t*)&buf,
 			sizeof(buf), I2C_CTRL_GENERIC);
 
@@ -387,20 +391,38 @@ int8_t i2c_led_control(uint8_t addr, uint8_t led, uint8_t state)
 	return i2c_send_command(addr, (uint8_t*)&buf, sizeof(buf));
 }
 
-int8_t i2c_cobboard_mode_eject(void)
+static int8_t i2c_cobboard_set_mode(uint8_t mode)
 {
+#ifdef HOST_VERSION
+	return robotsim_i2c_cobboard_set_mode(mode);
+#else
+	cobboard.mode = mode;
+	return 0;
+#endif
+
+#if 0 /* old */
 	struct i2c_cmd_cobboard_set_mode buf;
 	buf.hdr.cmd = I2C_CMD_COBBOARD_SET_MODE;
 	buf.mode = cobboard.mode | I2C_COBBOARD_MODE_EJECT;
 	return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
+#endif
+}
+
+int8_t i2c_cobboard_mode_eject(void)
+{
+	/* XXXXXXXXX bad bad bad */
+	uint8_t mode = cobboard.mode | I2C_COBBOARD_MODE_EJECT;
+	i2c_cobboard_set_mode(mode);
+	time_wait_ms(500);
+	mode = cobboard.mode & (~I2C_COBBOARD_MODE_EJECT);
+	i2c_cobboard_set_mode(mode);
+	return 0;
 }
 
 int8_t i2c_cobboard_mode_harvest(uint8_t side)
 {
-	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;
@@ -409,16 +431,13 @@ int8_t i2c_cobboard_mode_harvest(uint8_t side)
 		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));
+	return i2c_cobboard_set_mode(mode);
 }
 
 int8_t i2c_cobboard_mode_deploy(uint8_t side)
 {
-	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 | I2C_COBBOARD_MODE_L_HARVEST);
 		mode |= I2C_COBBOARD_MODE_L_DEPLOY;
@@ -427,30 +446,23 @@ int8_t i2c_cobboard_mode_deploy(uint8_t side)
 		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));
+	return i2c_cobboard_set_mode(mode);
 }
 
 int8_t i2c_cobboard_mode_pack(uint8_t side)
 {
-	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 | 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));
+	return i2c_cobboard_set_mode(mode);
 }
 
 int8_t i2c_cobboard_mode_init(void)
 {
-	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_mode(I2C_COBBOARD_MODE_INIT);
 }
 
 int8_t i2c_ballboard_set_mode(uint8_t mode)
@@ -458,6 +470,6 @@ 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));
 }