X-Git-Url: http://git.droids-corp.org/?p=protos%2Fimu.git;a=blobdiff_plain;f=i2c_protocol.c;fp=i2c_protocol.c;h=f62bfb22a90845faade322c1e3d17a93e021a19a;hp=0000000000000000000000000000000000000000;hb=da1d0e96fa1b3f2ec6598351b10ba7348b3f8c1d;hpb=004f99ba874339e50629141ac39e888070b5378e

diff --git a/i2c_protocol.c b/i2c_protocol.c
new file mode 100644
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)
+{
+}
+
+