beacon from 2009

[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..9882ba6 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_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 */
 /****/
@@ -156,6 +164,11 @@ 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 */