X-Git-Url: http://git.droids-corp.org/?a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcommon%2Fi2c_commands.h;h=1168100f4cd81802e5a2c10e8fdb07c2ebc2a742;hb=5573d7668c4fe0cde51b566d086582cf3d9c7e4b;hp=312a18e153abb0a93a1b0166ffa30ca946862e9a;hpb=28da5858ac871c626153f47566e968ecb05ff52b;p=aversive.git

diff --git a/projects/microb2010/common/i2c_commands.h b/projects/microb2010/common/i2c_commands.h
index 312a18e..1168100 100644
--- a/projects/microb2010/common/i2c_commands.h
+++ b/projects/microb2010/common/i2c_commands.h
@@ -23,6 +23,7 @@
 #define _I2C_COMMANDS_H_
 
 #define I2C_OPPONENT_NOT_THERE -1000
+#define I2C_BEACON_NOT_FOUND -1000
 
 #define I2C_MAINBOARD_ADDR   1
 #define I2C_COBBOARD_ADDR    2
@@ -97,6 +98,13 @@ struct i2c_cmd_ballboard_set_mode {
 	uint8_t mode;
 };
 
+#define I2C_CMD_BALLBOARD_SET_BEACON 0x04
+
+struct i2c_cmd_ballboard_start_beacon {
+	struct i2c_cmd_hdr hdr;
+	uint8_t enable;
+};
+
 /****/
 /* requests and their answers */
 /****/
@@ -142,6 +150,11 @@ struct i2c_ans_cobboard_status {
 
 struct i2c_req_ballboard_status {
 	struct i2c_cmd_hdr hdr;
+
+	/* position sent by mainboard */
+	int16_t x;
+	int16_t y;
+	int16_t a;
 };
 
 #define I2C_ANS_BALLBOARD_STATUS 0x83
@@ -156,6 +169,11 @@ struct i2c_ans_ballboard_status {
 #define I2C_BALLBOARD_STATUS_F_EXCPT         0x02
 	uint8_t status;
 
+	int16_t opponent_x;
+	int16_t opponent_y;
+	int16_t opponent_a;
+	int16_t opponent_d;
+
 	uint8_t ball_count;
 
 	/* detection of cobs */