--- /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