root / branches / autonomous_recharging / code / projects / autonomous_recharging / dragonfly / recharge_i2c.c @ 955
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/**
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* @file recharge_i2c.c
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* @brief Handles I2C data
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*
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* Handles I2C data received from charge board and updates battery status
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*
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* @author Colony Project, CMU Robotics Club
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**/
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#include "recharge_i2c.h" |
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#include "recharge_defs.h" |
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#include <i2c.h> |
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// definitions for I2C messages
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#define I2C_MSG_ACKNOWLEDGE 'A' |
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#define I2C_MSG_BATTERY_CHARGING 'C' |
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#define I2C_MSG_DATA 'D' |
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#define I2C_MSG_CONTACT_ERROR 'E' |
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#define I2C_MSG_BATTERY_FULL 'F' |
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#define I2C_MSG_HOMING_DATA 'H' |
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#define I2C_MSG_NO_CONTACT 'N' |
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#define I2C_MSG_REQUEST_DATA 'R' |
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#define I2C_MSG_GO_TO_SLEEP 'Y' |
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#define I2C_MSG_ENTERING_SLEEP 'Z' |
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// function prototypes
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void recharge_i2c_receive(char i2c_byte); |
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// global variables
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char recharge_i2c_prev_byte = 0; |
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char recharge_i2c_homing_sensor_data = 0; |
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char recharge_i2c_battery_full = 0; |
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char recharge_i2c_battery_charging = 0; |
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void recharge_i2c_init()
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{ |
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i2c_init(1, NULL, recharge_i2c_receive, NULL); |
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} |
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/**
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* Returns the latest reading from the homing sensor.
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*
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* @return the latest reading from the homing sensor
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**/
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int recharge_i2c_get_homing_reading()
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{ |
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return (int)recharge_i2c_homing_sensor_data; |
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} |
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/**
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* Check if battery is fully charged.
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*
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* @return 1 is battery is full, 0 if not
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**/
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int recharge_i2c_is_battery_full()
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{ |
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return recharge_i2c_battery_full;
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} |
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/**
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* Set battery status.
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*
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* @param 1 is battery is full, 0 if not
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**/
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void recharge_i2c_set_battery_full(int full) |
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{ |
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recharge_i2c_battery_full = full; |
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} |
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/**
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* Check if battery is charging.
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*
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* @return 1 is battery is charging, 0 if not
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**/
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int recharge_i2c_is_battery_charging()
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{ |
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return recharge_i2c_battery_charging;
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} |
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/**
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* Called when we receive a byte through i2c.
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*
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* @param c the byte we receive
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**/
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void recharge_i2c_receive(char i2c_byte) |
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{ |
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if(recharge_i2c_prev_byte == I2C_MSG_HOMING_DATA)
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{ |
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recharge_i2c_homing_sensor_data = i2c_byte; |
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recharge_i2c_prev_byte = i2c_byte; |
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return;
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} |
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switch(i2c_byte)
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{ |
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case I2C_MSG_BATTERY_CHARGING:
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recharge_i2c_battery_charging = 1;
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break;
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case I2C_MSG_CONTACT_ERROR:
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recharge_i2c_battery_charging = 0;
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break;
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case I2C_MSG_BATTERY_FULL:
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recharge_i2c_battery_full = 1;
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break;
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case I2C_MSG_NO_CONTACT:
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recharge_i2c_battery_charging = 0;
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break;
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default:
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break;
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} |
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recharge_i2c_homing_sensor_data = 0;
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recharge_i2c_prev_byte = i2c_byte; |
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} |
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