MakingBot-master-com/protocol.c at master · MakingBot/MakingBot-master-com · GitHub

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/**
 * \file protocol.h
 * \brief traitement des message i2c
 *
 */

#include"poppy-com/poppyNetwork.h"
#include"include/protocol.h"
#include"include/HAL.h"
#include"include/PeriphMaster.h"

externstructdatasystem_data;
/**
 * \fn void rx_cb(msg_dir_t dir, msg_t *msg)
 * \brief Callback function for Slave mode messages reception.
 *
 * \param dir Message direction. (That will be remove!)
 * \param msg Received message.
 */
voidrx_cb(msg_dir_tdir, msg_t*msg) {
/*
 * Add your RX code here.
 */
unsigned charbit,i;
uchargpionum,temp;
switch (msg->reg)
 {
caseLED_COLOR :
system_data.led.R=msg->data[0];
system_data.led.G=msg->data[1];
system_data.led.B=msg->data[2];
system_data.led.A=msg->data[3];
break;
casePINGI2C :
msg->size=1;
msg->data[0] =ADRESSE;
break;

caseGPIOPORT:

gpionum=0;
while(msg->size)
 {
for (bit=0; bit<8; bit++)
 {

system_data.periphstate[gpionum] =bit << msg->data[msg->size];
setGpioBit(gpionum,system_data.periphstate[gpionum]);
gpionum++;
 }
msg->size--;
 }
caseCURRENTCHANNEL :
break;
caseGPIOBIT : // num IO // etat
for (i=msg->size;i>0;i--)
 {
system_data.periphstate[20-i]=(eBool)msg->data[i]; // un octect à 0 ou 1 pour commander la voie correspondante
setGpioBit(20-i,(eBool)msg->data[i]);
 }

default:
gpionum=msg->reg;
temp=GPIOBIT;
gpionum=gpionum-temp;
setGpioBit(gpionum,(eBool)msg->data[0]);
system_data.periphstate[gpionum]=(eBool)msg->data[0];
break;

 }


}

/**
 * \fn void rxgc_cb(msg_dir_t dir, msg_t *msg)
 * \brief Callback function for Slave mode messages reception with general call.
 * \brief Callback function for Slave mode messages reception with general call.
 *
 * \param dir Message direction. (That will be remove!)
 * \param msg Received message.
 */
voidrxgc_cb(msg_dir_tdir, msg_t*msg) {
/*
 * Add your RX general call code here.
 */
/*
 * Add your RX general call code here.
 */

}

/**
 * \fn void tx_cb(msg_t *msg)
 * \brief Callback function for Slave mode messages transmission.
 *
 * \param msg Transmitted message. You have to put something in this msg_t.
 */
voidtx_cb(msg_t*msg) {
msg->reg=0b00001111;
msg->size=0x8;
msg->data[0]=0x55;
msg->data[7]=0xAA;
set_color(0,255,0,255);
}