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vt100: include pgmspace.h as we use PROGMEM macro
[aversive.git]
/
projects
/
microb2010
/
common
/
i2c_commands.h
diff --git
a/projects/microb2010/common/i2c_commands.h
b/projects/microb2010/common/i2c_commands.h
index
312a18e
..
1168100
100644
(file)
--- 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_COMMANDS_H_
#define I2C_OPPONENT_NOT_THERE -1000
+#define I2C_BEACON_NOT_FOUND -1000
#define I2C_MAINBOARD_ADDR 1
#define I2C_COBBOARD_ADDR 2
#define I2C_MAINBOARD_ADDR 1
#define I2C_COBBOARD_ADDR 2
@@
-97,6
+98,13
@@
struct i2c_cmd_ballboard_set_mode {
uint8_t 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 */
/****/
/****/
/* requests and their answers */
/****/
@@
-142,6
+150,11
@@
struct i2c_ans_cobboard_status {
struct i2c_req_ballboard_status {
struct i2c_cmd_hdr hdr;
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
};
#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;
#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 */
uint8_t ball_count;
/* detection of cobs */