X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmechboard%2Fi2c_protocol.c;fp=projects%2Fmicrob2010%2Fmechboard%2Fi2c_protocol.c;h=0000000000000000000000000000000000000000;hp=902207b8899176e1bee7f0f4ee1a17ed0aa17ea7;hb=8d6a47e9e21a9a31f4bc12d32fb3d11091a4b305;hpb=821f753c0f88aff895d9feae59c442a6c446f96b

diff --git a/projects/microb2010/mechboard/i2c_protocol.c b/projects/microb2010/mechboard/i2c_protocol.c
deleted file mode 100644
index 902207b..0000000
--- a/projects/microb2010/mechboard/i2c_protocol.c
+++ /dev/null
@@ -1,211 +0,0 @@
-/*
- *  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)
-{
-}
-
-