X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcommon%2Fi2c_commands.h;h=9882ba645d6975141657fad88429ffaa95c50e18;hp=5e4a449053ebba2df31833e32d5e8c15939fd004;hb=ad466314d3aff8f661654d4701b9d12fdeb7811f;hpb=d9b4e922ce1253224adb937d65c8c2e7cd5cfe87

diff --git a/projects/microb2010/common/i2c_commands.h b/projects/microb2010/common/i2c_commands.h
index 5e4a449..9882ba6 100644
--- a/projects/microb2010/common/i2c_commands.h
+++ b/projects/microb2010/common/i2c_commands.h
@@ -23,6 +23,7 @@
 #define _I2C_COMMANDS_H_
 
 #define I2C_OPPONENT_NOT_THERE -1000
+#define I2C_BEACON_NOT_FOUND -1000
 
 #define I2C_MAINBOARD_ADDR   1
 #define I2C_COBBOARD_ADDR    2
@@ -78,7 +79,8 @@ struct i2c_cmd_cobboard_set_mode {
 #define I2C_COBBOARD_MODE_HARVEST      0x01 /* harvest mode */
 #define I2C_COBBOARD_MODE_EJECT        0x02 /* eject cobs */
 #define I2C_COBBOARD_MODE_INIT         0x03 /* init state machine */
-#define I2C_COBBOARD_MODE_KICKSTAND    0x04 /* help to climb the hill */
+#define I2C_COBBOARD_MODE_KICKSTAND_UP   0x04 /* help to climb the hill */
+#define I2C_COBBOARD_MODE_KICKSTAND_DOWN 0x05 /* help to climb the hill */
 	uint8_t mode;
 };
 
@@ -91,13 +93,18 @@ struct i2c_cmd_ballboard_set_mode {
 #define I2C_BALLBOARD_MODE_OFF         0x01
 #define I2C_BALLBOARD_MODE_HARVEST     0x02
 #define I2C_BALLBOARD_MODE_EJECT       0x03
-#define I2C_BALLBOARD_MODE_PREP_L_FORK 0x04
-#define I2C_BALLBOARD_MODE_TAKE_L_FORK 0x05
-#define I2C_BALLBOARD_MODE_PREP_R_FORK 0x06
-#define I2C_BALLBOARD_MODE_TAKE_R_FORK 0x07
+#define I2C_BALLBOARD_MODE_PREP_FORK   0x04
+#define I2C_BALLBOARD_MODE_TAKE_FORK   0x05
 	uint8_t mode;
 };
 
+#define I2C_CMD_BALLBOARD_SET_BEACON 0x04
+
+struct i2c_cmd_ballboard_start_beacon {
+	struct i2c_cmd_hdr hdr;
+	uint8_t enable;
+};
+
 /****/
 /* requests and their answers */
 /****/
@@ -124,12 +131,13 @@ struct i2c_ans_cobboard_status {
 	/* mode type are defined above: I2C_COBBOARD_MODE_xxx */
 	uint8_t mode;
 
-#define I2C_COBBOARD_STATUS_READY         0x00
-#define I2C_COBBOARD_STATUS_OFF           0x01
-#define I2C_COBBOARD_STATUS_LBUSY         0x02
-#define I2C_COBBOARD_STATUS_RBUSY         0x03
-#define I2C_COBBOARD_STATUS_EJECT         0x04
-#define I2C_COBBOARD_STATUS_KICKSTAND     0x05
+#define I2C_COBBOARD_STATUS_READY          0x00
+#define I2C_COBBOARD_STATUS_OFF            0x01
+#define I2C_COBBOARD_STATUS_LBUSY          0x02
+#define I2C_COBBOARD_STATUS_RBUSY          0x03
+#define I2C_COBBOARD_STATUS_EJECT          0x04
+#define I2C_COBBOARD_STATUS_KICKSTAND_UP   0x05
+#define I2C_COBBOARD_STATUS_KICKSTAND_DOWN 0x06
 	uint8_t status;
 
 	uint8_t cob_count;
@@ -156,6 +164,11 @@ struct i2c_ans_ballboard_status {
 #define I2C_BALLBOARD_STATUS_F_EXCPT         0x02
 	uint8_t status;
 
+	int16_t opponent_x;
+	int16_t opponent_y;
+	int16_t opponent_a;
+	int16_t opponent_d;
+
 	uint8_t ball_count;
 
 	/* detection of cobs */