X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fi2c_protocol.c;h=21a9bd8b12e9e61d8ee83a9ca13de768c3f0f12c;hp=9b2a9e767c6995f27b9a49c3f50458558b28ca80;hb=d10eb76208e401ae2c4dc44de2f96cdcf2e7e4ac;hpb=b022f257a5ee568737e1a684a83d0154397fffcb

diff --git a/projects/microb2010/cobboard/i2c_protocol.c b/projects/microb2010/cobboard/i2c_protocol.c
index 9b2a9e7..21a9bd8 100644
--- a/projects/microb2010/cobboard/i2c_protocol.c
+++ b/projects/microb2010/cobboard/i2c_protocol.c
@@ -130,16 +130,15 @@ void i2c_recvevent(uint8_t * buf, int8_t size)
 			break;
 		}
 
-#if 0
 	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;
 		}
-#endif
 
 	case I2C_CMD_GENERIC_SET_COLOR:
 		{
@@ -151,7 +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))
@@ -163,7 +162,6 @@ void i2c_recvevent(uint8_t * buf, int8_t size)
 
 	/* Add other commands here ...*/
 
-
 	case I2C_REQ_COBBOARD_STATUS:
 		{
 			struct i2c_req_cobboard_status *cmd = void_cmd;
@@ -171,7 +169,11 @@ void i2c_recvevent(uint8_t * buf, int8_t size)
 				goto error;
 
 			/* mode is in req */
-			state_set_mode(cmd->mode);
+			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;
 		}