/*
- * Copyright Droids Corporation (2007)
- *
+ * Copyright Droids Corporation (2010)
+ *
* 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 "../common/i2c_commands.h"
#include "main.h"
+#include "state.h"
+#include "sensor.h"
#include "actuator.h"
void i2c_protocol_init(void)
struct i2c_ans_ballboard_status ans;
i2c_flush();
ans.hdr.cmd = I2C_ANS_BALLBOARD_STATUS;
- ans.status = 0x55; /* XXX */
+ ans.status = state_get_status();
+ ans.ball_count = state_get_ball_count();
+ ans.lcob = cob_detect_left();
+ ans.rcob = cob_detect_right();
i2c_send(I2C_ADD_MASTER, (uint8_t *) &ans,
sizeof(ans), I2C_CTRL_GENERIC);
}
+static int8_t i2c_set_mode(struct i2c_cmd_ballboard_set_mode *cmd)
+{
+ state_set_mode(cmd->mode);
+ return 0;
+}
+
void i2c_recvevent(uint8_t * buf, int8_t size)
{
void *void_cmd = buf;
if (size <= 0) {
goto error;
}
-
+
switch (buf[0]) {
/* Commands (no answer needed) */
- case I2C_CMD_GENERIC_LED_CONTROL:
+ case I2C_CMD_GENERIC_LED_CONTROL:
{
struct i2c_cmd_led_control *cmd = void_cmd;
if (size != sizeof (*cmd))
i2c_led_control(cmd->led_num, cmd->state);
break;
}
-
+
case I2C_CMD_GENERIC_SET_COLOR:
{
struct i2c_cmd_generic_color *cmd = void_cmd;
break;
}
+ case I2C_CMD_BALLBOARD_SET_MODE:
+ {
+ struct i2c_cmd_ballboard_set_mode *cmd = void_cmd;
+ if (size != sizeof(struct i2c_cmd_ballboard_set_mode))
+ goto error;
+ i2c_set_mode(cmd);
+ break;
+ }
+
/* Add other commands here ...*/
case I2C_REQ_BALLBOARD_STATUS:
{
- struct i2c_req_ballboard_status *cmd = void_cmd;
+ struct i2c_req_ballboard_status *cmd = void_cmd;
if (size != sizeof (*cmd))
goto error;
-
+
i2c_send_status();
break;
}