scoutos / scout / painter / src / paint-i2c.cpp @ 32c4f513
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1 | 1019d31f | Tom Mullins | /**
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2 | * Copyright (c) 2013 Colony Project
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3 | *
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4 | * Permission is hereby granted, free of charge, to any person
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5 | * obtaining a copy of this software and associated documentation
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6 | * files (the "Software"), to deal in the Software without
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7 | * restriction, including without limitation the rights to use,
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8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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9 | * copies of the Software, and to permit persons to whom the
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10 | * Software is furnished to do so, subject to the following
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11 | * conditions:
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12 | *
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13 | * The above copyright notice and this permission notice shall be
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14 | * included in all copies or substantial portions of the Software.
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15 | *
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16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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23 | * OTHER DEALINGS IN THE SOFTWARE.
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24 | */
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25 | |||
26 | /**
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27 | * @file paint_i2c.cpp
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28 | * @brief Contains i2c communication for the paintboard.
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29 | *
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30 | * @author Colony Project, CMU Robotics Club
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31 | * @author Maung Aung (mza)
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32 | * @author Tom Mullins (tmullins)
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33 | *
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34 | */
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35 | |||
36 | 32c4f513 | Tom Mullins | #include <errno.h> |
37 | #include <stdio.h> |
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38 | #include <stdlib.h> |
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39 | 1019d31f | Tom Mullins | #include <unistd.h> |
40 | #include <sys/types.h> |
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41 | #include <sys/stat.h> |
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42 | #include <sys/ioctl.h> |
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43 | #include <fcntl.h> |
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44 | #include <linux/i2c-dev.h> |
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45 | #include "paint-i2c.h" |
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46 | |||
47 | #define TRACKING_ID 0x43 |
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48 | #define SERIAL_NUMBER 0x12 |
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49 | |||
50 | // indicies for paintboard internal data
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51 | #define PAINT_TRACKING_ID 0 // ro |
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52 | #define PAINT_SERIAL_NUMBER 1 // ro |
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53 | #define PAINT_MOTOR_A 2 // rw |
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54 | #define PAINT_MOTOR_B 3 // rw |
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55 | #define PAINT_SERVO_A 4 // rw |
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56 | #define PAINT_SERVO_B 5 // rw |
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57 | #define PAINT_12V_1 6 // rw |
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58 | #define PAINT_12V_2 7 // rw |
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59 | #define PAINT_12V_3 8 // rw |
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60 | #define PAINT_12V_4 9 // rw |
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61 | #define PAINT_INPUT_1 10 // ro |
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62 | #define PAINT_INPUT_2 11 // ro |
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63 | #define PAINT_INPUT_3 12 // ro |
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64 | |||
65 | #define PAINT_DATA_LEN 13 |
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66 | |||
67 | int fd;
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68 | |||
69 | /*
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70 | * This function opens communication to I2C.
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71 | */
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72 | void i2c_start(void) { |
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73 | 32c4f513 | Tom Mullins | /* TODO error check */
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74 | 1019d31f | Tom Mullins | fd = open("/dev/i2c-3", O_RDWR);
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75 | 32c4f513 | Tom Mullins | if (fd < 0) { |
76 | perror("/dev/i2c-3");
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77 | exit(1);
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78 | } |
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79 | if (ioctl(fd, I2C_SLAVE, TRACKING_ID)) {
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80 | perror("ioctl");
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81 | exit(1);
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82 | } |
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83 | 1019d31f | Tom Mullins | } |
84 | |||
85 | /*
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86 | * This function ends communication with I2C.
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87 | */
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88 | void i2c_stop(void) { |
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89 | if (fd) {
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90 | close(fd); |
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91 | } |
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92 | } |
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93 | |||
94 | /*
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95 | * This function writes a value to a given destination using I2C.
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96 | */
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97 | void i2c_write(int dest, int val) { |
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98 | char buf[2]; |
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99 | buf[0] = (char) dest; |
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100 | buf[1] = (char) val; |
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101 | |||
102 | 32c4f513 | Tom Mullins | if (write(fd, buf, 2) < 2) { |
103 | fprintf(stderr, "Warning: i2c_write failed\n");
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104 | } |
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105 | 1019d31f | Tom Mullins | } |
106 | |||
107 | /*
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108 | * This function reads a value from the given address using I2C
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109 | */
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110 | char i2c_read(int src) { |
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111 | char buf;
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112 | |||
113 | buf = src; |
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114 | 32c4f513 | Tom Mullins | if (write(fd, &buf, 1) < 1) { |
115 | fprintf(stderr, "Warning: write in i2c_read failed\n");
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116 | } else if (read(fd, &buf, 1) < 1) { |
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117 | fprintf(stderr, "Warning: read in i2c_read failed\n");
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118 | } |
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119 | 1019d31f | Tom Mullins | return buf;
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120 | } |
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121 | |||
122 | /*
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123 | * This function takes in an int representing the motor to be modified and an
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124 | * int representing the value to which to set the motor.
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125 | */
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126 | void set_motor(int motor, int val) { |
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127 | if (motor == 0) { |
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128 | i2c_write(PAINT_MOTOR_A, val); |
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129 | } else {
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130 | i2c_write(PAINT_MOTOR_B, val); |
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131 | } |
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132 | } |
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133 | |||
134 | /*
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135 | * This function takes in an int representing the servo to be modified and an
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136 | * int representing the value to which to set the servo.
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137 | */
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138 | void set_servo(int servo, int val) { |
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139 | if (servo == 0) { |
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140 | i2c_write(PAINT_SERVO_A, val); |
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141 | } else {
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142 | i2c_write(PAINT_SERVO_B, val); |
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143 | } |
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144 | } |
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145 | |||
146 | /*
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147 | * This function takes in an int representing the solenoid to be modified and
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148 | * an int representing the value to which to set the solenoid.
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149 | */
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150 | void set_solenoid(int solenoid, int val) { |
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151 | if (solenoid == 0) { |
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152 | i2c_write(PAINT_12V_1, val); |
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153 | } else if (solenoid == 1) { |
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154 | i2c_write(PAINT_12V_2, val); |
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155 | } else if (solenoid == 2) { |
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156 | i2c_write(PAINT_12V_3, val); |
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157 | } else {
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158 | i2c_write(PAINT_12V_4, val); |
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159 | } |
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160 | } |
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161 | |||
162 | /*
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163 | * This funciton takes an int representing which of the spare inputs to read.
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164 | */
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165 | int get_input(int input) { |
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166 | switch (input) {
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167 | case 0: return i2c_read(PAINT_INPUT_1); |
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168 | case 1: return i2c_read(PAINT_INPUT_2); |
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169 | case 2: return i2c_read(PAINT_INPUT_3); |
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170 | default: return 0; |
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171 | } |
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172 | } |