2 * Copyright Droids Corporation (2007)
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful,
10 * but WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12 * GNU General Public License for more details.
14 * You should have received a copy of the GNU General Public License
15 * along with this program; if not, write to the Free Software
16 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
18 * Revision : $Id: i2c_protocol.c,v 1.3 2009-05-27 20:04:07 zer0 Exp $
25 #include <aversive/list.h>
26 #include <aversive/error.h>
28 #include <scheduler.h>
34 #include <clock_time.h>
39 #include <control_system_manager.h>
40 #include <blocking_detection_manager.h>
44 #include <parse_string.h>
45 #include <parse_num.h>
47 #include "../common/i2c_commands.h"
52 void i2c_protocol_init(void)
57 void i2c_led_control(uint8_t l, uint8_t state)
61 state? LED1_ON():LED1_OFF();
64 state? LED2_ON():LED2_OFF();
71 void i2c_send_status(void)
73 struct i2c_ans_ballboard_status ans;
75 ans.hdr.cmd = I2C_ANS_BALLBOARD_STATUS;
76 ans.status = 0x55; /* XXX */
77 ans.ball_count = state_get_ball_count();
79 i2c_send(I2C_ADD_MASTER, (uint8_t *) &ans,
80 sizeof(ans), I2C_CTRL_GENERIC);
83 static int8_t i2c_set_mode(struct i2c_cmd_ballboard_set_mode *cmd)
85 state_set_mode(cmd->mode);
89 void i2c_recvevent(uint8_t * buf, int8_t size)
105 /* Commands (no answer needed) */
106 case I2C_CMD_GENERIC_LED_CONTROL:
108 struct i2c_cmd_led_control *cmd = void_cmd;
109 if (size != sizeof (*cmd))
111 i2c_led_control(cmd->led_num, cmd->state);
115 case I2C_CMD_GENERIC_SET_COLOR:
117 struct i2c_cmd_generic_color *cmd = void_cmd;
118 if (size != sizeof (*cmd))
120 ballboard.our_color = cmd->color;
124 case I2C_CMD_BALLBOARD_SET_MODE:
126 struct i2c_cmd_ballboard_set_mode *cmd = void_cmd;
127 if (size != sizeof(struct i2c_cmd_ballboard_set_mode))
134 /* Add other commands here ...*/
137 case I2C_REQ_BALLBOARD_STATUS:
139 struct i2c_req_ballboard_status *cmd = void_cmd;
140 if (size != sizeof (*cmd))
152 /* log error on a led ? */
156 void i2c_recvbyteevent(uint8_t hwstatus, uint8_t i, uint8_t c)
160 void i2c_sendevent(int8_t size)