--- /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