+ uint8_t mode = cobboard.mode;
+
+ buf.hdr.cmd = I2C_CMD_COBBOARD_SET_MODE;
+ if (side == I2C_LEFT_SIDE) {
+ mode |= I2C_COBBOARD_MODE_L_DEPLOY;
+ mode |= I2C_COBBOARD_MODE_L_HARVEST;
+ }
+ else {
+ mode |= I2C_COBBOARD_MODE_R_DEPLOY;
+ mode |= I2C_COBBOARD_MODE_R_HARVEST;
+ }
+ buf.mode = mode;
+ return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
+}
+
+int8_t i2c_cobboard_mode_deploy(uint8_t side)
+{
+ struct i2c_cmd_cobboard_set_mode buf;
+ uint8_t mode = cobboard.mode;
+
+ buf.hdr.cmd = I2C_CMD_COBBOARD_SET_MODE;
+ if (side == I2C_LEFT_SIDE) {
+ mode &= ~(I2C_COBBOARD_MODE_L_DEPLOY | I2C_COBBOARD_MODE_L_HARVEST);
+ mode |= I2C_COBBOARD_MODE_L_DEPLOY;
+ }
+ else {
+ mode &= ~(I2C_COBBOARD_MODE_R_DEPLOY | I2C_COBBOARD_MODE_R_HARVEST);
+ mode |= I2C_COBBOARD_MODE_R_DEPLOY;
+ }
+ buf.mode = mode;
+ return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
+}
+
+int8_t i2c_cobboard_mode_pack(uint8_t side)
+{
+ struct i2c_cmd_cobboard_set_mode buf;
+ uint8_t mode = cobboard.mode;
+