+++ /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.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 <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"
-#include "beacon.h"
-#include "scanner.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_sensorboard_status ans;
- i2c_flush();
- ans.hdr.cmd = I2C_ANS_SENSORBOARD_STATUS;
- ans.status = 0x55; /* XXX */
- ans.opponent_x = beacon.opponent_x;
- ans.opponent_y = beacon.opponent_y;
- ans.opponent_a = beacon.opponent_angle;
- ans.opponent_d = beacon.opponent_dist;
-
- ans.scan_status = 0;
- ans.scan_status |= scan_params.working ? 0 : I2C_SCAN_DONE;
- ans.scan_status |= scan_params.max_column_detected ? I2C_SCAN_MAX_COLUMN : 0;
-
-
- ans.dropzone_x = scan_params.dropzone_x;
- ans.dropzone_y = scan_params.dropzone_y;
- ans.dropzone_h = scan_params.dropzone_h;
-
- i2c_send(I2C_ADD_MASTER, (uint8_t *) &ans,
- sizeof(ans), I2C_CTRL_GENERIC);
-}
-
-
-void i2c_scanner_calibre_laser(void* dummy)
-{
- scanner_calibre_laser();
-}
-
-void i2c_scanner_end_process(void* dummy)
-{
- scanner_end_process();
-}
-
-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;
- sensorboard.our_color = cmd->color;
- break;
- }
-
- case I2C_CMD_SENSORBOARD_SET_BEACON:
- {
- struct i2c_cmd_sensorboard_start_beacon *cmd = void_cmd;
- if (size != sizeof (*cmd))
- goto error;
-
- if (cmd->enable)
- beacon_start();
- else
- beacon_stop();
-
- break;
- }
-
- case I2C_CMD_SENSORBOARD_SET_SCANNER:
- {
- struct i2c_cmd_sensorboard_scanner *cmd = void_cmd;
- if (size != sizeof (*cmd))
- goto error;
-
- scanner_set_mode(cmd->mode);
- break;
-
- }
-
-
- case I2C_CMD_SENSORBOARD_SCANNER_ALGO:
- {
- struct i2c_cmd_sensorboard_scanner_algo *cmd = void_cmd;
- if (size != sizeof (*cmd))
- goto error;
-
- scan_params.algo = cmd->algo;
-
- if (cmd->algo == I2C_SCANNER_ALGO_COLUMN_DROPZONE){
- scan_params.drop_zone.working_zone = cmd->drop_zone.working_zone;
- scan_params.drop_zone.center_x = cmd->drop_zone.center_x;
- scan_params.drop_zone.center_y = cmd->drop_zone.center_y;
- }
- else if (cmd->algo == I2C_SCANNER_ALGO_CHECK_TEMPLE) {
- scan_params.check_temple.level = cmd->check_temple.level;
- scan_params.check_temple.temple_x = cmd->check_temple.temple_x;
- scan_params.check_temple.temple_y = cmd->check_temple.temple_y;
- }
- else if (cmd->algo == I2C_SCANNER_ALGO_TEMPLE_DROPZONE){
- scan_params.drop_zone.working_zone = cmd->drop_zone.working_zone;
- scan_params.drop_zone.center_x = cmd->drop_zone.center_x;
- scan_params.drop_zone.center_y = cmd->drop_zone.center_y;
- }
- else{
- /* new command */
- }
-
- scan_params.working = 1;
- scheduler_add_single_event_priority(i2c_scanner_end_process, NULL,
- 1,
- CS_PRIO-1);
- break;
-
- }
-
- case I2C_CMD_SENSORBOARD_CALIB_SCANNER:
- {
- struct i2c_cmd_sensorboard_calib_scanner *cmd = void_cmd;
- if (size != sizeof (*cmd))
- goto error;
-
- scheduler_add_single_event_priority(i2c_scanner_calibre_laser, NULL,
- 1,
- CS_PRIO-1);
- break;
- }
-
-
-
- /* Add other commands here ...*/
-
-
- case I2C_REQ_SENSORBOARD_STATUS:
- {
- struct i2c_req_sensorboard_status *cmd = void_cmd;
- if (size != sizeof (*cmd))
- goto error;
-
- beacon.robot_x = cmd->x;
- beacon.robot_y = cmd->y;
- beacon.robot_angle = cmd->a;
-
- if (cmd->enable_pickup_wheels)
- pickup_wheels_on();
- else
- pickup_wheels_off();
-
- 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)
-{
-}
-
-
git.droids-corp.org / aversive.git / blobdiff