beep when GPS ready

[protos/xbee-avr.git] / i2c_protocol.c

diff --git a/i2c_protocol.c b/i2c_protocol.c
index 6734453..ca4c49c 100644 (file)
--- a/i2c_protocol.c
+++ b/i2c_protocol.c
@@ -30,8 +30,9 @@
 #include <i2c.h>
 
 #include "../fpv-common/i2c_commands.h"
 #include <i2c.h>
 
 #include "../fpv-common/i2c_commands.h"

-#include "main.h"

 #include "i2c_protocol.h"
 #include "i2c_protocol.h"

+#include "beep.h"
+#include "main.h"

 
 #define I2C_STATE_MAX 2
 #define I2C_PERIOD_MS 50
 
 #define I2C_STATE_MAX 2
 #define I2C_PERIOD_MS 50


@@ -39,12 +40,14 @@
 #define I2C_TIMEOUT 100 /* ms */
 #define I2C_MAX_ERRORS 40
 
 #define I2C_TIMEOUT 100 /* ms */
 #define I2C_MAX_ERRORS 40
 

-uint8_t imuboard = 0; /* XXX test */
-

 static volatile uint8_t i2c_poll_num = 0;
 static volatile uint8_t i2c_state = 0;
 static volatile uint8_t i2c_poll_num = 0;
 static volatile uint8_t i2c_state = 0;

+static volatile uint8_t i2c_rx_count = 0;
+static volatile uint8_t i2c_tx_count = 0;

 static volatile uint16_t i2c_errors = 0;
 
 static volatile uint16_t i2c_errors = 0;
 

+static uint8_t gps_ok = 0;
+

 #define OP_READY 0 /* no i2c op running */
 #define OP_POLL  1 /* a user command is running */
 #define OP_CMD   2 /* a polling (req / ans) is running */
 #define OP_READY 0 /* no i2c op running */
 #define OP_POLL  1 /* a user command is running */
 #define OP_CMD   2 /* a polling (req / ans) is running */


@@ -58,6 +61,9 @@ static struct callout i2c_timer;
 
 static int8_t i2c_req_imuboard_status(void);
 
 
 static int8_t i2c_req_imuboard_status(void);
 

+/* latest received imuboard_status */
+struct i2c_ans_imuboard_status imuboard_status;
+

 /* used for commands */
 uint8_t command_buf[I2C_SEND_BUFFER_SIZE];
 volatile int8_t command_dest=-1;
 /* used for commands */
 uint8_t command_buf[I2C_SEND_BUFFER_SIZE];
 volatile int8_t command_dest=-1;


@@ -79,6 +85,8 @@ volatile uint8_t command_size=0;
 void i2c_protocol_debug(void)
 {
        printf_P(PSTR("I2C protocol debug infos:\r\n"));
 void i2c_protocol_debug(void)
 {
        printf_P(PSTR("I2C protocol debug infos:\r\n"));

+       printf_P(PSTR("  i2c_send=%d\r\n"), i2c_tx_count);
+       printf_P(PSTR("  i2c_recv=%d\r\n"), i2c_rx_count);

        printf_P(PSTR("  i2c_state=%d\r\n"), i2c_state);
        printf_P(PSTR("  i2c_errors=%d\r\n"), i2c_errors);
        printf_P(PSTR("  running_op=%d\r\n"), running_op);
        printf_P(PSTR("  i2c_state=%d\r\n"), i2c_state);
        printf_P(PSTR("  i2c_errors=%d\r\n"), i2c_errors);
        printf_P(PSTR("  running_op=%d\r\n"), running_op);


@@ -197,6 +205,7 @@ void i2c_sendevent(int8_t size)
                }
                else
                        command_size = 0;
                }
                else
                        command_size = 0;

+               i2c_tx_count++;

        }
        else {
                i2c_errors++;
        }
        else {
                i2c_errors++;


@@ -229,17 +238,26 @@ void i2c_recvevent(uint8_t * buf, int8_t size)
                goto error;
        }
 
                goto error;
        }
 

+       i2c_rx_count++;
+

        switch (buf[0]) {
 
        case I2C_ANS_IMUBOARD_STATUS: {
        switch (buf[0]) {
 
        case I2C_ANS_IMUBOARD_STATUS: {

-               struct i2c_ans_imuboard_status * ans =
+               struct i2c_ans_imuboard_status *ans =

                        (struct i2c_ans_imuboard_status *)buf;
 
                if (size != sizeof (*ans))
                        goto error;
 
                        (struct i2c_ans_imuboard_status *)buf;
 
                if (size != sizeof (*ans))
                        goto error;
 

-               /* status */
-               imuboard = ans->test;
+               /* copy status in a global struct */
+               memcpy(&imuboard_status, ans, sizeof(imuboard_status));
+
+               if (gps_ok == 0 &&
+                       (imuboard_status.flags & IMUBOARD_STATUS_GPS_OK)) {
+                       gps_ok = 1;
+                       beep(0, 1, 1);
+                       beep(0, 1, 1);
+               }

 
                break;
        }
 
                break;
        }