2 * Copyright (c) 2014, Olivier MATZ <zer0@droids-corp.org>
4 * Redistribution and use in source and binary forms, with or without
5 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the University of California, Berkeley nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
16 * THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE REGENTS AND CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
31 #include <aversive/error.h>
35 #include "../fpv-common/i2c_commands.h"
38 void i2c_protocol_init(void)
43 void i2c_led_control(uint8_t l, uint8_t state)
47 state? LED1_ON():LED1_OFF();
50 state? LED2_ON():LED2_OFF();
58 static void i2c_test(uint16_t val)
60 static uint16_t prev=0;
62 if ( (val-prev) != 1 ) {
63 WARNING(E_USER_I2C_PROTO, "Dupplicated msg %d", val);
70 static void i2c_send_status(void)
72 struct i2c_ans_imuboard_status ans;
76 ans.hdr.cmd = I2C_ANS_IMUBOARD_STATUS;
79 ans.test = x++; /* XXX */
81 ans.mode = state_get_mode();
82 ans.status = state_get_status();
84 ans.left_cobroller_speed = imuboard.left_cobroller_speed;
85 ans.right_cobroller_speed = imuboard.right_cobroller_speed;
87 ans.cob_count = state_get_cob_count();
90 i2c_send(I2C_ADD_MASTER, (uint8_t *) &ans,
91 sizeof(ans), I2C_CTRL_GENERIC);
94 void i2c_recvevent(uint8_t * buf, int8_t size)
112 /* Commands (no answer needed) */
113 case I2C_CMD_GENERIC_LED_CONTROL:
115 struct i2c_cmd_led_control *cmd = void_cmd;
116 if (size != sizeof (*cmd))
118 i2c_led_control(cmd->led_num, cmd->state);
123 /* Add other commands here ...*/
125 case I2C_REQ_IMUBOARD_STATUS:
127 //struct i2c_req_imuboard_status *cmd = void_cmd;
128 if (size != sizeof (struct i2c_req_imuboard_status))
140 /* log error on a led ? */
144 void i2c_recvbyteevent(__attribute__((unused)) uint8_t hwstatus,
145 __attribute__((unused)) uint8_t i,
146 __attribute__((unused)) int8_t c)
150 void i2c_sendevent(__attribute__((unused)) int8_t size)