Colony » Colony Scout » Colony Scout OS

/**

 * Copyright (c) 2013 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 */

/**

 * @file paint_i2c.cpp

 * @brief Contains i2c communication for the paintboard.

 *

 * @author Colony Project, CMU Robotics Club

 * @author Maung Aung (mza)

 * @author Tom Mullins (tmullins)

 *

 */

#include <errno.h>

#include <stdio.h>

#include <stdlib.h>

#include <unistd.h>

#include <sys/types.h>

#include <sys/stat.h>

#include <sys/ioctl.h>

#include <fcntl.h>

#include <linux/i2c-dev.h>

#include "paint-i2c.h"

#define TRACKING_ID 0x43

#define SERIAL_NUMBER 0x12

// indicies for paintboard internal data

#define PAINT_TRACKING_ID      0 // ro

#define PAINT_SERIAL_NUMBER    1 // ro

#define PAINT_MOTOR_A          2 // rw

#define PAINT_MOTOR_B          3 // rw

#define PAINT_SERVO_A          4 // rw

#define PAINT_SERVO_B          5 // rw

#define PAINT_12V_1            6 // rw

#define PAINT_12V_2            7 // rw

#define PAINT_12V_3            8 // rw

#define PAINT_12V_4            9 // rw

#define PAINT_INPUT_1         10 // ro

#define PAINT_INPUT_2         11 // ro

#define PAINT_INPUT_3         12 // ro

#define PAINT_DATA_LEN        13

int fd;

/*

 * This function opens communication to I2C.

 */

void i2c_start(void) {

  /* TODO error check */

  fd = open("/dev/i2c-3", O_RDWR);

  if (fd < 0) {

    perror("/dev/i2c-3");

    exit(1);

  }

  if (ioctl(fd, I2C_SLAVE, TRACKING_ID)) {

    perror("ioctl");

    exit(1);

  }

}

/*

 * This function ends communication with I2C.

 */

void i2c_stop(void) {

  if (fd) {

    close(fd);

  }

}

/*

 * This function writes a value to a given destination using I2C.

 */

void i2c_write(int dest, int val) {

  char buf[2];

  buf[0] = (char) dest;

  buf[1] = (char) val;

  if (write(fd, buf, 2) < 2) {

    fprintf(stderr, "Warning: i2c_write failed\n");

  }

}

/*

 * This function reads a value from the given address using I2C

 */

char i2c_read(int src) {

  char buf;

  buf = src;

  if (write(fd, &buf, 1) < 1) {

    fprintf(stderr, "Warning: write in i2c_read failed\n");

  } else if (read(fd, &buf, 1) < 1) {

    fprintf(stderr, "Warning: read in i2c_read failed\n");

  }

  return buf;

}

/*

 * This function takes in an int representing the motor to be modified and an 

 * int representing the value to which to set the motor.

 */

void set_motor(int motor, int val) {

  if (motor == 0) {

    i2c_write(PAINT_MOTOR_A, val);

  } else {

    i2c_write(PAINT_MOTOR_B, val);

  }

}

/*

 * This function takes in an int representing the servo to be modified and an 

 * int representing the value to which to set the servo.

 */

void set_servo(int servo, int val) {

  if (servo == 0) {

    i2c_write(PAINT_SERVO_A, val);

  } else {

    i2c_write(PAINT_SERVO_B, val);

  }

}

/*

 * This function takes in an int representing the solenoid to be modified and

 * an int representing the value to which to set the solenoid.

 */

void set_solenoid(int solenoid, int val) {

  if (solenoid == 0) {

    i2c_write(PAINT_12V_1, val);

  } else if (solenoid == 1) {

    i2c_write(PAINT_12V_2, val);

  } else if (solenoid == 2) {

    i2c_write(PAINT_12V_3, val);

  } else {

    i2c_write(PAINT_12V_4, val);

  }

}

/*

 * This funciton takes an int representing which of the spare inputs to read.

 */

int get_input(int input) {

  switch (input) {

    case 0: return i2c_read(PAINT_INPUT_1);

    case 1: return i2c_read(PAINT_INPUT_2);

    case 2: return i2c_read(PAINT_INPUT_3);

    default: return 0;

  }

}