add i2c support

[protos/imu.git] / i2c_protocol.c

diff --git a/i2c_protocol.c b/i2c_protocol.c
new file mode 100644 (file)
index 0000000..f62bfb2
--- /dev/null
+++ b/i2c_protocol.c
@@ -0,0 +1,154 @@
+/*
+ * Copyright (c) 2014, Olivier MATZ <zer0@droids-corp.org>
+ * All rights reserved.
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the University of California, Berkeley nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE REGENTS AND CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <string.h>
+
+#include <aversive.h>
+#include <aversive/error.h>
+
+#include <i2c.h>
+
+#include "../fpv-common/i2c_commands.h"
+#include "main.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;
+       }
+}
+
+#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_imuboard_status ans;
+       static uint8_t x;
+
+       i2c_flush();
+       ans.hdr.cmd =  I2C_ANS_IMUBOARD_STATUS;
+
+       /* status */
+       ans.test = x++; /* XXX */
+#if 0
+       ans.mode = state_get_mode();
+       ans.status = state_get_status();
+
+       ans.left_cobroller_speed = imuboard.left_cobroller_speed;
+       ans.right_cobroller_speed = imuboard.right_cobroller_speed;
+
+       ans.cob_count = state_get_cob_count();
+#endif
+
+       i2c_send(I2C_ADD_MASTER, (uint8_t *) &ans,
+                sizeof(ans), I2C_CTRL_GENERIC);
+}
+
+void i2c_recvevent(uint8_t * buf, int8_t size)
+{
+       void *void_cmd = buf;
+
+#if 0 /* XXX */
+       static uint8_t a = 0;
+
+       a++;
+       if (a & 0x10)
+               LED2_TOGGLE();
+
+       if (size <= 0) {
+               goto error;
+       }
+#endif
+
+       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;
+               }
+
+
+       /* Add other commands here ...*/
+
+       case I2C_REQ_IMUBOARD_STATUS:
+               {
+                       //struct i2c_req_imuboard_status *cmd = void_cmd;
+                       if (size != sizeof (struct i2c_req_imuboard_status))
+                               goto error;
+
+                       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)
+{
+}
+
+