+++ /dev/null
-/*
- * Copyright Droids Corporation (2009)
- *
- * 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 1.6 2009-11-08 17:25:00 zer0 Exp $
- *
- */
-
-#include <string.h>
-
-#include <aversive.h>
-#include <aversive/list.h>
-#include <aversive/error.h>
-
-#include <i2c.h>
-#include <ax12.h>
-#include <uart.h>
-#include <pwm_ng.h>
-#include <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 "sensor.h"
-#include "state.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;
- case 3:
- state? LED3_ON():LED3_OFF();
- break;
- case 4:
- state? LED4_ON():LED4_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_mechboard_status ans;
- i2c_flush();
- ans.hdr.cmd = I2C_ANS_MECHBOARD_STATUS;
-
- /* status */
- ans.mode = state_get_mode();
- ans.status = mechboard.status;
-
- ans.lintel_count = mechboard.lintel_count;
- ans.column_flags = mechboard.column_flags;
- /* pumps pwm */
- ans.pump_left1 = mechboard.pump_left1;
- ans.pump_right1 = mechboard.pump_right1;
- ans.pump_left2 = mechboard.pump_left2;
- ans.pump_right2 = mechboard.pump_right2;
- /* pumps current */
- ans.pump_right1_current = sensor_get_adc(ADC_CSENSE3);
- ans.pump_right2_current = sensor_get_adc(ADC_CSENSE4);
- /* servos */
- ans.servo_lintel_left = mechboard.servo_lintel_left;
- ans.servo_lintel_right = mechboard.servo_lintel_right;
-
- i2c_send(I2C_ADD_MASTER, (uint8_t *) &ans,
- sizeof(ans), I2C_CTRL_GENERIC);
-}
-
-static int8_t i2c_set_mode(struct i2c_cmd_mechboard_set_mode *cmd)
-{
- state_set_mode(cmd);
- return 0;
-}
-
-void i2c_recvevent(uint8_t * buf, int8_t size)
-{
- void *void_cmd = buf;
-
- static uint8_t a = 0;
-
- a++;
- if (a & 0x10)
- LED2_TOGGLE();
-
- 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_MECHBOARD_SET_MODE:
- {
- struct i2c_cmd_mechboard_set_mode *cmd = void_cmd;
- if (size != sizeof(struct i2c_cmd_mechboard_set_mode))
- goto error;
- i2c_set_mode(cmd);
- break;
- }
-
- case I2C_CMD_GENERIC_SET_COLOR:
- {
- struct i2c_cmd_generic_color *cmd = void_cmd;
- if (size != sizeof (*cmd))
- goto error;
- mechboard.our_color = cmd->color;
- break;
- }
-
-#ifdef notyet
- case I2C_CMD_EXTENSION_TEST:
- {
- struct i2c_cmd_extension_test *cmd = void_cmd;
- if (size != sizeof (*cmd))
- goto error;
- i2c_test(cmd->val);
- break;
- }
-#endif
-
- /* Add other commands here ...*/
-
-
- case I2C_REQ_MECHBOARD_STATUS:
- {
- struct i2c_req_mechboard_status *cmd = void_cmd;
- if (size != sizeof (struct i2c_req_mechboard_status))
- goto error;
-
- mechboard.pump_left1_current = cmd->pump_left1_current;
- mechboard.pump_left2_current = cmd->pump_left2_current;
- 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)
-{
-}
-
-
git.droids-corp.org / aversive.git / blobdiff