vt100: include pgmspace.h as we use PROGMEM macro

[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..71ac516 100644 (file)
--- a/projects/microb2010/ballboard/i2c_protocol.c
+++ b/projects/microb2010/ballboard/i2c_protocol.c
@@ -1,6 +1,6 @@
 /*
- *  Copyright Droids Corporation (2007)
- * 
+ *  Copyright Droids Corporation (2010)
+ *
  *  This program is free software; you can redistribute it and/or modify
  *  it under the terms of the GNU General Public License as published by
  *  the Free Software Foundation; either version 2 of the License, or
@@ -47,6 +47,8 @@
 #include "../common/i2c_commands.h"
 #include "main.h"
 #include "state.h"
+#include "sensor.h"
+#include "beacon.h"
 #include "actuator.h"
 
 void i2c_protocol_init(void)
@@ -73,8 +75,14 @@ void i2c_send_status(void)
        struct i2c_ans_ballboard_status ans;
        i2c_flush();
        ans.hdr.cmd =  I2C_ANS_BALLBOARD_STATUS;
-       ans.status = 0x55; /* XXX */
+       ans.status = state_get_status();
        ans.ball_count = state_get_ball_count();
+       ans.lcob = cob_detect_left();
+       ans.rcob = cob_detect_right();
+       ans.opponent_x = beacon.opponent_x;
+       ans.opponent_y = beacon.opponent_y;
+       ans.opponent_a = beacon.opponent_angle;
+       ans.opponent_d = beacon.opponent_dist;
 
        i2c_send(I2C_ADD_MASTER, (uint8_t *) &ans,
                 sizeof(ans), I2C_CTRL_GENERIC);
@@ -121,6 +129,19 @@ void i2c_recvevent(uint8_t * buf, int8_t size)
                        break;
                }
 
+       case I2C_CMD_BALLBOARD_SET_BEACON:
+               {
+                       struct i2c_cmd_ballboard_start_beacon *cmd = void_cmd;
+                       if (size != sizeof (*cmd))
+                               goto error;
+
+                       if (cmd->enable)
+                               beacon_start();
+                       else
+                               beacon_stop();
+                       break;
+               }
+
        case I2C_CMD_BALLBOARD_SET_MODE:
                {
                        struct i2c_cmd_ballboard_set_mode *cmd = void_cmd;
@@ -140,6 +161,10 @@ void i2c_recvevent(uint8_t * buf, int8_t size)
                        if (size != sizeof (*cmd))
                                goto error;
 
+                       beacon.robot_x = cmd->x;
+                       beacon.robot_y = cmd->y;
+                       beacon.robot_angle = cmd->a;
+
                        i2c_send_status();
                        break;
                }