Colony

/**

 * @file recharge_i2c.c

 * @brief Handles I2C data 

 *

 * Handles I2C data received from charge board and updates battery status

 * 

 * @author Colony Project, CMU Robotics Club

 **/

#include "recharge_i2c.h"

#include "recharge_defs.h"

#include <i2c.h>

// definitions for I2C messages

#define I2C_MSG_ACKNOWLEDGE       'A'

#define I2C_MSG_BATTERY_CHARGING  'C'

#define I2C_MSG_DATA              'D'

#define I2C_MSG_CONTACT_ERROR     'E'

#define I2C_MSG_BATTERY_FULL      'F'

#define I2C_MSG_HOMING_DATA       'H'

#define I2C_MSG_NO_CONTACT        'N'

#define I2C_MSG_REQUEST_DATA      'R'

#define I2C_MSG_GO_TO_SLEEP       'Y'

#define I2C_MSG_ENTERING_SLEEP    'Z'

// function prototypes

void recharge_i2c_receive(char i2c_byte);

// global variables

char recharge_i2c_prev_byte = 0;

char recharge_i2c_homing_sensor_data = 0;

char recharge_i2c_battery_full = 0;

char recharge_i2c_battery_charging = 0;

void recharge_i2c_init()

{

        i2c_init(1, NULL, recharge_i2c_receive, NULL);

}

/**

 * Returns the latest reading from the homing sensor.

 *

 * @return the latest reading from the homing sensor

 **/

int recharge_i2c_get_homing_reading()

{

        return (int)recharge_i2c_homing_sensor_data;

}

/**

 * Check if battery is fully charged.

 *

 * @return 1 is battery is full, 0 if not

 **/

int recharge_i2c_is_battery_full()

{

        return recharge_i2c_battery_full;

}

/**

 * Set battery status.

 *

 * @param 1 is battery is full, 0 if not

 **/

void recharge_i2c_set_battery_full(int full)

{

        recharge_i2c_battery_full = full;

}

/**

 * Check if battery is charging.

 *

 * @return 1 is battery is charging, 0 if not

 **/

int recharge_i2c_is_battery_charging()

{

        return recharge_i2c_battery_charging;

}

/**

 * Called when we receive a byte through i2c.

 *

 * @param c the byte we receive

 **/

void recharge_i2c_receive(char i2c_byte)

{

    if(recharge_i2c_prev_byte == I2C_MSG_HOMING_DATA)

        {

                recharge_i2c_homing_sensor_data = i2c_byte;

                recharge_i2c_prev_byte = i2c_byte;

                return;

        }

        switch(i2c_byte)

        {

                case I2C_MSG_BATTERY_CHARGING:

                        recharge_i2c_battery_charging = 1;

                        break;

                case I2C_MSG_CONTACT_ERROR:

                        recharge_i2c_battery_charging = 0;

                        break;

                case I2C_MSG_BATTERY_FULL:

                        recharge_i2c_battery_full = 1;

                        break;

                case I2C_MSG_NO_CONTACT:

                        recharge_i2c_battery_charging = 0;

                        break;

                default:

                        break;

        }

    recharge_i2c_homing_sensor_data = 0;

        recharge_i2c_prev_byte = i2c_byte;

}