X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fi2c_protocol.c;h=21a9bd8b12e9e61d8ee83a9ca13de768c3f0f12c;hp=77846d098bb24b5e5b47cf0eeec67c85f66a8225;hb=d10eb76208e401ae2c4dc44de2f96cdcf2e7e4ac;hpb=4fb57a4dab8bd564445e824696a2dab470af8628

diff --git a/projects/microb2010/cobboard/i2c_protocol.c b/projects/microb2010/cobboard/i2c_protocol.c
index 77846d0..21a9bd8 100644
--- a/projects/microb2010/cobboard/i2c_protocol.c
+++ b/projects/microb2010/cobboard/i2c_protocol.c
@@ -93,41 +93,35 @@ static void i2c_send_status(void)
 
 	/* status */
 	ans.mode = state_get_mode();
-	ans.status = 0x55; /* TODO */
+	ans.status = state_get_status();
 
 	ans.left_cobroller_speed = cobboard.left_cobroller_speed;
 	ans.right_cobroller_speed = cobboard.right_cobroller_speed;
 
 	ans.cob_count = state_get_cob_count();
-;
+
 	i2c_send(I2C_ADD_MASTER, (uint8_t *) &ans,
 		 sizeof(ans), I2C_CTRL_GENERIC);
 }
 
-static int8_t i2c_set_mode(struct i2c_cmd_cobboard_set_mode *cmd)
-{
-	state_set_mode(cmd->mode);
-	return 0;
-}
-
 void i2c_recvevent(uint8_t * buf, int8_t size)
 {
 	void *void_cmd = buf;
-	
+
 	static uint8_t a = 0;
-	
+
 	a++;
 	if (a & 0x10)
 		LED2_TOGGLE();
-	
+
 	if (size <= 0) {
 		goto error;
 	}
-	
+
 	switch (buf[0]) {
 
 	/* Commands (no answer needed) */
-	case I2C_CMD_GENERIC_LED_CONTROL: 
+	case I2C_CMD_GENERIC_LED_CONTROL:
 		{
 			struct i2c_cmd_led_control *cmd = void_cmd;
 			if (size != sizeof (*cmd))
@@ -135,13 +129,14 @@ void i2c_recvevent(uint8_t * buf, int8_t size)
 			i2c_led_control(cmd->led_num, cmd->state);
 			break;
 		}
-		
+
 	case I2C_CMD_COBBOARD_SET_MODE:
 		{
 			struct i2c_cmd_cobboard_set_mode *cmd = void_cmd;
 			if (size != sizeof(struct i2c_cmd_cobboard_set_mode))
 				goto error;
-			i2c_set_mode(cmd);
+			if (!state_get_i2c_ignore())
+				state_set_mode(cmd->mode);
 			break;
 		}
 
@@ -155,7 +150,7 @@ void i2c_recvevent(uint8_t * buf, int8_t size)
 		}
 
 #ifdef notyet
-	case I2C_CMD_EXTENSION_TEST: 
+	case I2C_CMD_EXTENSION_TEST:
 		{
 			struct i2c_cmd_extension_test *cmd = void_cmd;
 			if (size != sizeof (*cmd))
@@ -164,16 +159,21 @@ void i2c_recvevent(uint8_t * buf, int8_t size)
 			break;
 		}
 #endif
-		
-	/* Add other commands here ...*/
 
+	/* Add other commands here ...*/
 
 	case I2C_REQ_COBBOARD_STATUS:
 		{
-			//struct i2c_req_cobboard_status *cmd = void_cmd;
+			struct i2c_req_cobboard_status *cmd = void_cmd;
 			if (size != sizeof (struct i2c_req_cobboard_status))
 				goto error;
-			
+
+			/* mode is in req */
+			if (state_get_status() != I2C_COBBOARD_STATUS_OFF &&
+			    !state_get_i2c_ignore()) {
+				state_set_spickle(I2C_LEFT_SIDE, cmd->lspickle);
+				state_set_spickle(I2C_RIGHT_SIDE, cmd->rspickle);
+			}
 			i2c_send_status();
 			break;
 		}