summaryrefslogtreecommitdiffhomepage
path: root/digital/ai/src/twi_master
diff options
context:
space:
mode:
Diffstat (limited to 'digital/ai/src/twi_master')
-rw-r--r--digital/ai/src/twi_master/beacon.c84
-rw-r--r--digital/ai/src/twi_master/beacon.h58
-rw-r--r--digital/ai/src/twi_master/twi_master.c6
3 files changed, 148 insertions, 0 deletions
diff --git a/digital/ai/src/twi_master/beacon.c b/digital/ai/src/twi_master/beacon.c
new file mode 100644
index 00000000..6f3a3b2b
--- /dev/null
+++ b/digital/ai/src/twi_master/beacon.c
@@ -0,0 +1,84 @@
+/* beacon.c */
+/* ai - Robot Artificial Intelligence. {{{
+ *
+ * Copyright (C) 2012 Nicolas Schodet
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * 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.
+ *
+ * }}} */
+#include "common.h"
+#include "beacon.h"
+
+#include "twi_master.h"
+
+#include "modules/utils/byte.h"
+
+/** Global context. */
+struct beacon_t
+{
+ /** Obstacles position. */
+ vect_t position[AC_BEACON_POSITION_NB];
+ /** Obstacles trust. */
+ uint8_t trust[AC_BEACON_POSITION_NB];
+};
+struct beacon_t beacon;
+
+void
+beacon_init (void)
+{
+ uint8_t i;
+ for (i = 0; i < AC_BEACON_POSITION_NB; i++)
+ beacon.trust[i] = 0;
+}
+
+void
+beacon_status_cb (uint8_t *status)
+{
+ uint8_t i, index = 3;
+ for (i = 0; i < AC_BEACON_POSITION_NB; i++)
+ {
+ beacon.position[i].x = v8_to_v16 (status[index], status[index + 1]);
+ index += 2;
+ beacon.position[i].y = v8_to_v16 (status[index], status[index + 1]);
+ index += 2;
+ beacon.trust[i] = status[index];
+ index++;
+ }
+}
+
+void
+beacon_on (uint8_t on_off)
+{
+ uint8_t *buffer = twi_master_get_buffer (BEACON_SLAVE);
+ buffer[0] = on_off;
+ twi_master_send_buffer (1);
+}
+
+uint8_t
+beacon_get_position (uint8_t index, vect_t *position)
+{
+ if (index < AC_BEACON_POSITION_NB)
+ {
+ *position = beacon.position[index];
+ return beacon.trust[index];
+ }
+ else
+ return 0;
+}
+
diff --git a/digital/ai/src/twi_master/beacon.h b/digital/ai/src/twi_master/beacon.h
new file mode 100644
index 00000000..2ff4e635
--- /dev/null
+++ b/digital/ai/src/twi_master/beacon.h
@@ -0,0 +1,58 @@
+#ifndef beacon_h
+#define beacon_h
+/* beacon.h */
+/* ai - Robot Artificial Intelligence. {{{
+ *
+ * Copyright (C) 2012 Nicolas Schodet
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * 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.
+ *
+ * }}} */
+#include "defs.h"
+
+/** Interface with beacon board using the TWI protocol. */
+
+/** Slave number in the twi_master list. */
+#define BEACON_SLAVE 2
+
+/** Beacon TWI address. */
+#define BEACON_TWI_ADDRESS 10
+
+/** Length of status buffer (not including CRC). */
+#define BEACON_STATUS_LENGTH (3 + 5 * AC_BEACON_POSITION_NB)
+
+/** Initialise module. */
+void
+beacon_init (void);
+
+/** Called when a new status buffer is received, update the beacon
+ * information. */
+void
+beacon_status_cb (uint8_t *status);
+
+/** Turn on (1) or off (0). */
+void
+beacon_on (uint8_t on_off);
+
+/** Get a detected position, return trust (0 for invalid, 100 for full
+ * trust). */
+uint8_t
+beacon_get_position (uint8_t index, vect_t *position);
+
+#endif /* beacon_h */
diff --git a/digital/ai/src/twi_master/twi_master.c b/digital/ai/src/twi_master/twi_master.c
index 90977fd3..ee401d7d 100644
--- a/digital/ai/src/twi_master/twi_master.c
+++ b/digital/ai/src/twi_master/twi_master.c
@@ -27,6 +27,9 @@
#include "asserv.h"
#include "mimot.h"
+#if AC_AI_TWI_MASTER_BEACON
+# include "beacon.h"
+#endif
#include "modules/twi/twi.h"
#include "modules/utils/utils.h"
@@ -100,6 +103,9 @@ struct twi_master_slave_t
static struct twi_master_slave_t twi_master_slaves[] = {
{ ASSERV_TWI_ADDRESS, 0, ASSERV_STATUS_LENGTH, asserv_status_cb },
{ MIMOT_TWI_ADDRESS, 0, MIMOT_STATUS_LENGTH, mimot_status_cb },
+#if AC_AI_TWI_MASTER_BEACON
+ { BEACON_TWI_ADDRESS, 0, BEACON_STATUS_LENGTH, beacon_status_cb },
+#endif
};
/** Send first pending message if available. */