prepare cobboard and ballboard

[aversive.git] / projects / microb2010 / ballboard / i2c_protocol.c

diff --git a/projects/microb2010/ballboard/i2c_protocol.c b/projects/microb2010/ballboard/i2c_protocol.c
new file mode 100644 (file)
index 0000000..8995e55
--- /dev/null
+++ b/projects/microb2010/ballboard/i2c_protocol.c
@@ -0,0 +1,147 @@
+/*
+ *  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.c,v 1.3 2009-05-27 20:04:07 zer0 Exp $
+ *
+ */
+
+#include <string.h>
+
+#include <aversive.h>
+#include <aversive/list.h>
+#include <aversive/error.h>
+
+#include <scheduler.h>
+
+#include <i2c.h>
+#include <ax12.h>
+#include <uart.h>
+#include <pwm_ng.h>
+#include <clock_time.h>
+#include <spi.h>
+
+#include <pid.h>
+#include <quadramp.h>
+#include <control_system_manager.h>
+#include <blocking_detection_manager.h>
+
+#include <rdline.h>
+#include <parse.h>
+#include <parse_string.h>
+#include <parse_num.h>
+
+#include "../common/i2c_commands.h"
+#include "main.h"
+#include "actuator.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;
+       }
+}
+
+void i2c_send_status(void)
+{
+       struct i2c_ans_ballboard_status ans;
+       i2c_flush();
+       ans.hdr.cmd =  I2C_ANS_BALLBOARD_STATUS;
+       ans.status = 0x55; /* XXX */
+
+       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;
+       static uint8_t a=0;
+       a=!a;
+       if (a)
+               LED2_ON();
+       else
+               LED2_OFF();
+
+       if (size <= 0) {
+               goto error;
+       }
+       
+       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;
+               }
+               
+       case I2C_CMD_GENERIC_SET_COLOR:
+               {
+                       struct i2c_cmd_generic_color *cmd = void_cmd;
+                       if (size != sizeof (*cmd))
+                               goto error;
+                       ballboard.our_color = cmd->color;
+                       break;
+               }
+
+
+       /* Add other commands here ...*/
+
+
+       case I2C_REQ_BALLBOARD_STATUS:
+               {
+                       struct i2c_req_ballboard_status *cmd = void_cmd;                        
+                       if (size != sizeof (*cmd))
+                               goto error;
+                               
+                       i2c_send_status();
+                       break;
+               }
+
+       default:
+               goto error;
+       }
+
+ error:
+       /* log error on a led ? */
+       return;
+}
+
+void i2c_recvbyteevent(uint8_t hwstatus, uint8_t i, uint8_t c)
+{
+}
+
+void i2c_sendevent(int8_t size)
+{
+}
+
+