add ballboard commands on mainboard

[aversive.git] / projects / microb2010 / mainboard / i2c_protocol.c

diff --git a/projects/microb2010/mainboard/i2c_protocol.c b/projects/microb2010/mainboard/i2c_protocol.c
index d0726cb..403decd 100644 (file)
--- a/projects/microb2010/mainboard/i2c_protocol.c
+++ b/projects/microb2010/mainboard/i2c_protocol.c
@@ -270,14 +270,16 @@ void i2c_recvevent(uint8_t * buf, int8_t size)
 
                break;
        }
-               
+
        case I2C_ANS_BALLBOARD_STATUS: {
                struct i2c_ans_ballboard_status * ans = 
                        (struct i2c_ans_ballboard_status *)buf;
-               
+
                if (size != sizeof (*ans))
                        goto error;
+               ballboard.mode = ans->mode;
                ballboard.status = ans->status;
+               ballboard.ball_count = ans->ball_count;
                break;
        }
 
@@ -296,13 +298,11 @@ void i2c_recvevent(uint8_t * buf, int8_t size)
                i2c_errors = 0;
        }
 }
-       
+
 void i2c_recvbyteevent(uint8_t hwstatus, uint8_t i, uint8_t c)
 {
 }
 
-
-
 /* ******** ******** ******** ******** */
 /* commands */
 /* ******** ******** ******** ******** */
@@ -438,3 +438,11 @@ int8_t i2c_cobboard_mode_init(void)
        return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 }
 
+int8_t i2c_ballboard_set_mode(uint8_t mode)
+{
+       struct i2c_cmd_ballboard_set_mode buf;
+       buf.hdr.cmd = I2C_CMD_BALLBOARD_SET_MODE;
+       buf.mode = mode;
+       return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
+}
+