/* status */
ans.mode = state_get_mode();
- ans.status = 0x55;
+ ans.status = 0x55; /* TODO */
+ ans.left_cobroller_speed = cobboard.left_cobroller_speed;
+ ans.right_cobroller_speed = cobboard.right_cobroller_speed;
+
+ ans.cob_count = state_get_cob_count();
+;
i2c_send(I2C_ADD_MASTER, (uint8_t *) &ans,
sizeof(ans), I2C_CTRL_GENERIC);
}
static int8_t i2c_set_mode(struct i2c_cmd_cobboard_set_mode *cmd)
{
- state_set_mode(cmd);
+ state_set_mode(cmd->mode);
return 0;
}
void i2c_recvevent(uint8_t * buf, int8_t size)
{
void *void_cmd = buf;
-
+
static uint8_t a = 0;
-
+
a++;
if (a & 0x10)
LED2_TOGGLE();
-
+
if (size <= 0) {
goto error;
}
-
+
switch (buf[0]) {
/* Commands (no answer needed) */
- case I2C_CMD_GENERIC_LED_CONTROL:
+ case I2C_CMD_GENERIC_LED_CONTROL:
{
struct i2c_cmd_led_control *cmd = void_cmd;
if (size != sizeof (*cmd))
i2c_led_control(cmd->led_num, cmd->state);
break;
}
-
+
case I2C_CMD_COBBOARD_SET_MODE:
{
struct i2c_cmd_cobboard_set_mode *cmd = void_cmd;