vt100: include pgmspace.h as we use PROGMEM macro

[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 9908f1a..49b707b 100644 (file)
--- a/projects/microb2010/mainboard/i2c_protocol.c
+++ b/projects/microb2010/mainboard/i2c_protocol.c
@@ -299,6 +299,10 @@ void i2c_recvevent(uint8_t * buf, int8_t size)
                tmp = ans->rcob;
                if (tmp != I2C_COB_NONE)
                        ballboard.rcob = tmp;
+               ballboard.opponent_x = ans->opponent_x;
+               ballboard.opponent_y = ans->opponent_y;
+               ballboard.opponent_a = ans->opponent_a;
+               ballboard.opponent_d = ans->opponent_d;
                break;
        }
 
@@ -375,6 +379,10 @@ static int8_t i2c_req_ballboard_status(void)
        struct i2c_req_ballboard_status buf;
 
        buf.hdr.cmd = I2C_REQ_BALLBOARD_STATUS;
+       /* robot position */
+       buf.x = position_get_x_s16(&mainboard.pos);
+       buf.y = position_get_y_s16(&mainboard.pos);
+       buf.a = position_get_a_deg_s16(&mainboard.pos);
        return i2c_send(I2C_BALLBOARD_ADDR, (uint8_t*)&buf,
                        sizeof(buf), I2C_CTRL_GENERIC);
 }
@@ -403,22 +411,25 @@ int8_t i2c_led_control(uint8_t addr, uint8_t led, uint8_t state)
 int8_t i2c_cobboard_set_mode(uint8_t mode)
 {
 #ifdef HOST_VERSION
-       return robotsim_i2c_cobboard_set_mode(mode);
-#else
+       cobboard.mode = mode;
+#endif
        struct i2c_cmd_cobboard_set_mode buf;
        buf.hdr.cmd = I2C_CMD_COBBOARD_SET_MODE;
        buf.mode = mode;
        return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
-#endif
 }
 
 static int8_t i2c_cobboard_set_spickle(uint8_t side, uint8_t flags)
 {
+#ifdef HOST_VERSION
+       return robotsim_i2c_cobboard_set_spickles(side, flags);
+#else
        if (side == I2C_LEFT_SIDE)
                cobboard.lspickle = flags;
        else
                cobboard.rspickle = flags;
        return 0;
+#endif
 }
 
 int8_t i2c_cobboard_pack(uint8_t side)
@@ -426,6 +437,11 @@ int8_t i2c_cobboard_pack(uint8_t side)
        return i2c_cobboard_set_spickle(side, 0);
 }
 
+int8_t i2c_cobboard_pack_weak(uint8_t side)
+{
+       return i2c_cobboard_set_spickle(side, I2C_COBBOARD_SPK_WEAK);
+}
+
 int8_t i2c_cobboard_autoharvest(uint8_t side)
 {
        return i2c_cobboard_set_spickle(side,
@@ -438,6 +454,20 @@ int8_t i2c_cobboard_deploy(uint8_t side)
        return i2c_cobboard_set_spickle(side, I2C_COBBOARD_SPK_DEPLOY);
 }
 
+int8_t i2c_cobboard_autoharvest_nomove(uint8_t side)
+{
+       return i2c_cobboard_set_spickle(side,
+                                       I2C_COBBOARD_SPK_DEPLOY |
+                                       I2C_COBBOARD_SPK_AUTOHARVEST |
+                                       I2C_COBBOARD_SPK_NO_MOVE);
+}
+
+int8_t i2c_cobboard_deploy_nomove(uint8_t side)
+{
+       return i2c_cobboard_set_spickle(side, I2C_COBBOARD_SPK_DEPLOY |
+                                       I2C_COBBOARD_SPK_NO_MOVE);
+}
+
 int8_t i2c_ballboard_set_mode(uint8_t mode)
 {
        struct i2c_cmd_ballboard_set_mode buf;
@@ -446,3 +476,11 @@ int8_t i2c_ballboard_set_mode(uint8_t mode)
        return i2c_send_command(I2C_BALLBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 }
 
+int8_t i2c_ballboard_set_beacon(uint8_t enable)
+{
+       struct i2c_cmd_ballboard_start_beacon buf;
+       buf.hdr.cmd = I2C_CMD_BALLBOARD_SET_BEACON;
+       buf.enable = enable;
+       return i2c_send_command(I2C_BALLBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
+}
+