SRC += sd_raw.c
SRC += gps_venus.c
SRC += sd_log.c
+SRC += i2c_protocol.c
CFLAGS += -W -Wall -Werror
-/*
+/*
* Copyright Droids Corporation, Microb Technology, Eirbot (2005)
- *
+ *
* 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
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: i2c_config.h,v 1.2 2009-03-05 23:01:32 zer0 Exp $
+ * Revision : $Id: i2c_config.h,v 1.1 2009-03-05 22:52:35 zer0 Exp $
*
*/
-#define I2C_BITRATE 1 // divider dor i2c baudrate, see TWBR in doc
+#define I2C_BITRATE 1 // divider dor i2c baudrate, see TWBR in doc
#define I2C_PRESCALER 3 // prescaler config, rate = 2^(n*2)
/* Size of transmission buffer */
#include <aversive/wait.h>
#include <uart.h>
-#include <i2c.h>
-
-
+#include "i2cm_sw.h"
uint8_t read_reg(uint8_t address_dev, uint8_t address_reg, uint8_t * value)
{
uint8_t err = 0;
- err = i2c_send(address_dev, &address_reg, 1, I2C_CTRL_SYNC);
+ err = i2cm_send(address_dev, &address_reg, 1);
if (err) {
printf("read reg: i2c error send\r\n");
return err;
}
- err = i2c_recv(address_dev, 1, I2C_CTRL_SYNC);
+ err = i2cm_recv(address_dev, 1);
if (err) {
printf("read reg: i2c error recv\r\n");
return err;
}
- err = i2c_get_recv_buffer(value, 1);
+ err = i2cm_get_recv_buffer(value, 1);
if (err != 1) {
printf("read reg: i2c error get recv\r\n");
return 0xff;
}
-uint8_t read_reg_len(uint8_t address_dev, uint8_t address_reg, uint8_t * values, uint8_t len)
+uint8_t read_reg_len(uint8_t address_dev, uint8_t address_reg,
+ uint8_t *values, uint8_t len)
{
uint8_t err = 0;
- err = i2c_send(address_dev, &address_reg, 1, I2C_CTRL_SYNC);
+ err = i2cm_send(address_dev, &address_reg, 1);
if (err) {
printf("read reg len: i2c error send\r\n");
return err;
}
- err = i2c_recv(address_dev, len, I2C_CTRL_SYNC);
+ err = i2cm_recv(address_dev, len);
if (err) {
printf("read reg len: i2c error recv\r\n");
return err;
}
- err = i2c_get_recv_buffer(values, len);
+ err = i2cm_get_recv_buffer(values, len);
if (err != len) {
printf("read reg len: i2c error get recv\r\n");
return 0xFF;
--- /dev/null
+/*
+ * Copyright (c) 2014, Olivier MATZ <zer0@droids-corp.org>
+ * All rights reserved.
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * * Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * * Neither the name of the University of California, Berkeley nor the
+ * names of its contributors may be used to endorse or promote products
+ * derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE REGENTS AND CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <string.h>
+
+#include <aversive.h>
+#include <aversive/error.h>
+
+#include <i2c.h>
+
+#include "../fpv-common/i2c_commands.h"
+#include "main.h"
+
+void i2c_protocol_init(void)
+{
+}
+
+/*** LED CONTROL ***/
+void i2c_led_control(uint8_t l, uint8_t state)
+{
+ switch(l) {
+ case 1:
+ state? LED1_ON():LED1_OFF();
+ break;
+ case 2:
+ state? LED2_ON():LED2_OFF();
+ break;
+ default:
+ break;
+ }
+}
+
+#ifdef notyet
+static void i2c_test(uint16_t val)
+{
+ static uint16_t prev=0;
+
+ if ( (val-prev) != 1 ) {
+ WARNING(E_USER_I2C_PROTO, "Dupplicated msg %d", val);
+ }
+ prev = val;
+ ext.nb_test_cmd ++;
+}
+#endif
+
+static void i2c_send_status(void)
+{
+ struct i2c_ans_imuboard_status ans;
+ static uint8_t x;
+
+ i2c_flush();
+ ans.hdr.cmd = I2C_ANS_IMUBOARD_STATUS;
+
+ /* status */
+ ans.test = x++; /* XXX */
+#if 0
+ ans.mode = state_get_mode();
+ ans.status = state_get_status();
+
+ ans.left_cobroller_speed = imuboard.left_cobroller_speed;
+ ans.right_cobroller_speed = imuboard.right_cobroller_speed;
+
+ ans.cob_count = state_get_cob_count();
+#endif
+
+ i2c_send(I2C_ADD_MASTER, (uint8_t *) &ans,
+ sizeof(ans), I2C_CTRL_GENERIC);
+}
+
+void i2c_recvevent(uint8_t * buf, int8_t size)
+{
+ void *void_cmd = buf;
+
+#if 0 /* XXX */
+ static uint8_t a = 0;
+
+ a++;
+ if (a & 0x10)
+ LED2_TOGGLE();
+
+ if (size <= 0) {
+ goto error;
+ }
+#endif
+
+ switch (buf[0]) {
+
+ /* Commands (no answer needed) */
+ case I2C_CMD_GENERIC_LED_CONTROL:
+ {
+ struct i2c_cmd_led_control *cmd = void_cmd;
+ if (size != sizeof (*cmd))
+ goto error;
+ i2c_led_control(cmd->led_num, cmd->state);
+ break;
+ }
+
+
+ /* Add other commands here ...*/
+
+ case I2C_REQ_IMUBOARD_STATUS:
+ {
+ //struct i2c_req_imuboard_status *cmd = void_cmd;
+ if (size != sizeof (struct i2c_req_imuboard_status))
+ goto error;
+
+ i2c_send_status();
+ break;
+ }
+
+ default:
+ goto error;
+ }
+
+ error:
+ /* log error on a led ? */
+ return;
+}
+
+void i2c_recvbyteevent(__attribute__((unused)) uint8_t hwstatus,
+ __attribute__((unused)) uint8_t i,
+ __attribute__((unused)) int8_t c)
+{
+}
+
+void i2c_sendevent(__attribute__((unused)) int8_t size)
+{
+}
+
+
--- /dev/null
+/*
+ * Copyright Droids Corporation (2007)
+ *
+ * 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
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: i2c_protocol.h,v 1.1 2009-03-05 22:52:35 zer0 Exp $
+ *
+ */
+
+#include <aversive.h>
+
+void i2c_protocol_init(void);
+
+void i2c_recvevent(uint8_t * buf, int8_t size);
+void i2c_recvbyteevent(uint8_t hwstatus, uint8_t i, uint8_t c);
+void i2c_sendevent(int8_t size);
+
+int debug_send(char c, FILE* f);
}
-
-uint8_t i2c_send(uint8_t addr, uint8_t* data, uint8_t len, uint8_t ctrl)
+uint8_t i2cm_send(uint8_t addr, uint8_t* data, uint8_t len)
{
uint8_t i;
uint8_t err = 0;
- (void)ctrl; /* ignored */
-
err = i2cm_send_start((addr<<1) | 0);
if (err)
return err;
}
-uint8_t i2c_buf[0x20];
+uint8_t i2c_buf[0x20]; /* XXX */
-uint8_t i2c_recv(uint8_t addr, uint8_t len, uint8_t ctrl)
+uint8_t i2cm_recv(uint8_t addr, uint8_t len)
{
uint8_t i;
uint8_t err = 0;
- (void)ctrl; /* ignored */
-
err = i2cm_send_start((addr<<1) | 1);
if (err)
return err;
}
-uint8_t i2c_get_recv_buffer(uint8_t* buf, uint8_t len)
+uint8_t i2cm_get_recv_buffer(uint8_t* buf, uint8_t len)
{
uint8_t i;
for (i=0; i<len; i++)
buf[i] = i2c_buf[i];
return len;
}
-
-
uint8_t i2cm_send_stop(void);
uint8_t i2cm_receive_byte(uint8_t last);
-#define I2C_CTRL_SYNC 0
+uint8_t i2cm_send(uint8_t addr, uint8_t* data, uint8_t len);
+uint8_t i2cm_recv(uint8_t addr, uint8_t len);
+uint8_t i2cm_get_recv_buffer(uint8_t* buf, uint8_t len);
#define I2C_ERR_SEND_START 1
int mag_z;
-void i2c_recvevent(uint8_t *buf, int8_t size)
-{
- (void)buf;
- (void)size;
-}
-
-void i2c_sendevent(int8_t size)
-{
- (void)size;
-}
-
#if 0
static void main_timer_interrupt(void)
{
#include <rdline.h>
#include <timer.h>
#include <i2cm_sw.h>
+#include <i2c.h>
#include "eeprom_config.h"
#include "gps_venus.h"
#include "sd_log.h"
+#include "../fpv-common/i2c_commands.h"
+#include "i2c_protocol.h"
#include "main.h"
struct imuboard imuboard;
/* communication with mpu6050 */
i2cm_init();
+ /* i2c hw with mainboard */
+ i2c_init(I2C_MODE_SLAVE, I2C_IMUBOARD_ADDR);
+ i2c_protocol_init();
+ i2c_register_recv_event(i2c_recvevent);
+ i2c_register_send_event(i2c_sendevent);
+
sei();
eeprom_load_config();
git.droids-corp.org / protos / imu.git / commitdiff