git.droids-corp.org
/
aversive.git
/ blobdiff
commit
grep
author
committer
pickaxe
?
search:
re
summary
|
shortlog
|
log
|
commit
|
commitdiff
|
tree
raw
|
inline
| side by side
better cobboard commands in strat_event
[aversive.git]
/
projects
/
microb2010
/
cobboard
/
i2c_protocol.c
diff --git
a/projects/microb2010/cobboard/i2c_protocol.c
b/projects/microb2010/cobboard/i2c_protocol.c
index
b7f13ee
..
21a9bd8
100644
(file)
--- a/
projects/microb2010/cobboard/i2c_protocol.c
+++ b/
projects/microb2010/cobboard/i2c_protocol.c
@@
-135,7
+135,8
@@
void i2c_recvevent(uint8_t * buf, int8_t size)
struct i2c_cmd_cobboard_set_mode *cmd = void_cmd;
if (size != sizeof(struct i2c_cmd_cobboard_set_mode))
goto error;
struct i2c_cmd_cobboard_set_mode *cmd = void_cmd;
if (size != sizeof(struct i2c_cmd_cobboard_set_mode))
goto error;
- state_set_mode(cmd->mode);
+ if (!state_get_i2c_ignore())
+ state_set_mode(cmd->mode);
break;
}
break;
}
@@
-168,7
+169,8
@@
void i2c_recvevent(uint8_t * buf, int8_t size)
goto error;
/* mode is in req */
goto error;
/* mode is in req */
- if (state_get_status() != I2C_COBBOARD_STATUS_OFF) {
+ if (state_get_status() != I2C_COBBOARD_STATUS_OFF &&
+ !state_get_i2c_ignore()) {
state_set_spickle(I2C_LEFT_SIDE, cmd->lspickle);
state_set_spickle(I2C_RIGHT_SIDE, cmd->rspickle);
}
state_set_spickle(I2C_LEFT_SIDE, cmd->lspickle);
state_set_spickle(I2C_RIGHT_SIDE, cmd->rspickle);
}