root / branches / autonomous_recharging / code / projects / autonomous_recharging / dragonfly / recharge_i2c.c @ 1390
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1 | 820 | cmar | /**
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2 | * @file recharge_i2c.c
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3 | * @brief Handles I2C data
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4 | *
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5 | * Handles I2C data received from charge board and updates battery status
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6 | *
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7 | * @author Colony Project, CMU Robotics Club
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8 | **/
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9 | |||
10 | 105 | bcoltin | #include "recharge_i2c.h" |
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12 | 137 | bcoltin | #include "recharge_defs.h" |
13 | 105 | bcoltin | #include <i2c.h> |
14 | |||
15 | // definitions for I2C messages
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16 | #define I2C_MSG_ACKNOWLEDGE 'A' |
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17 | #define I2C_MSG_BATTERY_CHARGING 'C' |
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18 | #define I2C_MSG_DATA 'D' |
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19 | #define I2C_MSG_CONTACT_ERROR 'E' |
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20 | #define I2C_MSG_BATTERY_FULL 'F' |
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21 | #define I2C_MSG_HOMING_DATA 'H' |
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22 | #define I2C_MSG_NO_CONTACT 'N' |
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23 | #define I2C_MSG_REQUEST_DATA 'R' |
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24 | #define I2C_MSG_GO_TO_SLEEP 'Y' |
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25 | #define I2C_MSG_ENTERING_SLEEP 'Z' |
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26 | |||
27 | // function prototypes
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28 | void recharge_i2c_receive(char i2c_byte); |
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29 | |||
30 | // global variables
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31 | char recharge_i2c_prev_byte = 0; |
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32 | char recharge_i2c_homing_sensor_data = 0; |
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33 | char recharge_i2c_battery_full = 0; |
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34 | char recharge_i2c_battery_charging = 0; |
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35 | |||
36 | void recharge_i2c_init()
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37 | { |
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38 | i2c_init(1, NULL, recharge_i2c_receive, NULL); |
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39 | } |
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40 | |||
41 | /**
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42 | * Returns the latest reading from the homing sensor.
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43 | *
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44 | * @return the latest reading from the homing sensor
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45 | **/
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46 | int recharge_i2c_get_homing_reading()
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47 | { |
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48 | return (int)recharge_i2c_homing_sensor_data; |
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49 | } |
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50 | |||
51 | 820 | cmar | /**
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52 | * Check if battery is fully charged.
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53 | *
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54 | * @return 1 is battery is full, 0 if not
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55 | **/
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56 | 105 | bcoltin | int recharge_i2c_is_battery_full()
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57 | { |
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58 | return recharge_i2c_battery_full;
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59 | } |
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60 | |||
61 | 820 | cmar | /**
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62 | * Set battery status.
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63 | *
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64 | * @param 1 is battery is full, 0 if not
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65 | **/
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66 | 210 | bcoltin | void recharge_i2c_set_battery_full(int full) |
67 | { |
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68 | recharge_i2c_battery_full = full; |
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69 | } |
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70 | |||
71 | 820 | cmar | /**
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72 | * Check if battery is charging.
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73 | *
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74 | * @return 1 is battery is charging, 0 if not
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75 | **/
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76 | 105 | bcoltin | int recharge_i2c_is_battery_charging()
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77 | { |
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78 | return recharge_i2c_battery_charging;
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79 | } |
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80 | |||
81 | /**
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82 | * Called when we receive a byte through i2c.
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83 | *
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84 | * @param c the byte we receive
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85 | **/
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86 | void recharge_i2c_receive(char i2c_byte) |
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87 | { |
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88 | 695 | cmar | if(recharge_i2c_prev_byte == I2C_MSG_HOMING_DATA)
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89 | 105 | bcoltin | { |
90 | recharge_i2c_homing_sensor_data = i2c_byte; |
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91 | recharge_i2c_prev_byte = i2c_byte; |
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92 | return;
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93 | } |
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94 | |||
95 | switch(i2c_byte)
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96 | { |
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97 | case I2C_MSG_BATTERY_CHARGING:
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98 | recharge_i2c_battery_charging = 1;
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99 | break;
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100 | case I2C_MSG_CONTACT_ERROR:
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101 | recharge_i2c_battery_charging = 0;
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102 | break;
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103 | case I2C_MSG_BATTERY_FULL:
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104 | recharge_i2c_battery_full = 1;
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105 | break;
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106 | case I2C_MSG_NO_CONTACT:
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107 | recharge_i2c_battery_charging = 0;
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108 | break;
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109 | default:
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110 | break;
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111 | } |
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112 | 715 | cmar | recharge_i2c_homing_sensor_data = 0;
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113 | 105 | bcoltin | recharge_i2c_prev_byte = i2c_byte; |
114 | } |