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debug cpld
[aversive.git]
/
projects
/
microb2010
/
ballboard
/
i2c_protocol.c
diff --git
a/projects/microb2010/ballboard/i2c_protocol.c
b/projects/microb2010/ballboard/i2c_protocol.c
index
f9e9b55
..
3f5a2eb
100644
(file)
--- a/
projects/microb2010/ballboard/i2c_protocol.c
+++ b/
projects/microb2010/ballboard/i2c_protocol.c
@@
-47,6
+47,7
@@
#include "../common/i2c_commands.h"
#include "main.h"
#include "state.h"
#include "../common/i2c_commands.h"
#include "main.h"
#include "state.h"
+#include "sensor.h"
#include "actuator.h"
void i2c_protocol_init(void)
#include "actuator.h"
void i2c_protocol_init(void)
@@
-75,6
+76,8
@@
void i2c_send_status(void)
ans.hdr.cmd = I2C_ANS_BALLBOARD_STATUS;
ans.status = 0x55; /* XXX */
ans.ball_count = state_get_ball_count();
ans.hdr.cmd = I2C_ANS_BALLBOARD_STATUS;
ans.status = 0x55; /* XXX */
ans.ball_count = state_get_ball_count();
+ ans.lcob = cob_detect_left();
+ ans.rcob = cob_detect_right();
i2c_send(I2C_ADD_MASTER, (uint8_t *) &ans,
sizeof(ans), I2C_CTRL_GENERIC);
i2c_send(I2C_ADD_MASTER, (uint8_t *) &ans,
sizeof(ans), I2C_CTRL_GENERIC);