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=902207b8899176e1bee7f0f4ee1a17ed0aa17ea7;hp=0000000000000000000000000000000000000000;hb=5918edd6f4f713ef3c8b0b0020dd30a4fb8222ae;hpb=9d2d9100592e18fed985730298215884127fc568

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