X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fballboard%2Fi2c_protocol.c;h=71ac5166a925f93842cc8815d489eb3298203364;hp=f9e9b554bab378e031937675f06b061dd906c364;hb=HEAD;hpb=c8bae2eb9f3084d53436bc6c9fee9952dfcc1fda

diff --git a/projects/microb2010/ballboard/i2c_protocol.c b/projects/microb2010/ballboard/i2c_protocol.c
index f9e9b55..71ac516 100644
--- a/projects/microb2010/ballboard/i2c_protocol.c
+++ b/projects/microb2010/ballboard/i2c_protocol.c
@@ -1,6 +1,6 @@
 /*
- *  Copyright Droids Corporation (2007)
- * 
+ *  Copyright Droids Corporation (2010)
+ *
  *  This program is free software; you can redistribute it and/or modify
  *  it under the terms of the GNU General Public License as published by
  *  the Free Software Foundation; either version 2 of the License, or
@@ -47,6 +47,8 @@
 #include "../common/i2c_commands.h"
 #include "main.h"
 #include "state.h"
+#include "sensor.h"
+#include "beacon.h"
 #include "actuator.h"
 
 void i2c_protocol_init(void)
@@ -73,8 +75,14 @@ void i2c_send_status(void)
 	struct i2c_ans_ballboard_status ans;
 	i2c_flush();
 	ans.hdr.cmd =  I2C_ANS_BALLBOARD_STATUS;
-	ans.status = 0x55; /* XXX */
+	ans.status = state_get_status();
 	ans.ball_count = state_get_ball_count();
+	ans.lcob = cob_detect_left();
+	ans.rcob = cob_detect_right();
+	ans.opponent_x = beacon.opponent_x;
+	ans.opponent_y = beacon.opponent_y;
+	ans.opponent_a = beacon.opponent_angle;
+	ans.opponent_d = beacon.opponent_dist;
 
 	i2c_send(I2C_ADD_MASTER, (uint8_t *) &ans,
 		 sizeof(ans), I2C_CTRL_GENERIC);
@@ -121,6 +129,19 @@ void i2c_recvevent(uint8_t * buf, int8_t size)
 			break;
 		}
 
+	case I2C_CMD_BALLBOARD_SET_BEACON:
+		{
+			struct i2c_cmd_ballboard_start_beacon *cmd = void_cmd;
+			if (size != sizeof (*cmd))
+				goto error;
+
+			if (cmd->enable)
+				beacon_start();
+			else
+				beacon_stop();
+			break;
+		}
+
 	case I2C_CMD_BALLBOARD_SET_MODE:
 		{
 			struct i2c_cmd_ballboard_set_mode *cmd = void_cmd;
@@ -140,6 +161,10 @@ void i2c_recvevent(uint8_t * buf, int8_t size)
 			if (size != sizeof (*cmd))
 				goto error;
 
+			beacon.robot_x = cmd->x;
+			beacon.robot_y = cmd->y;
+			beacon.robot_angle = cmd->a;
+
 			i2c_send_status();
 			break;
 		}