X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fi2c_protocol.c;h=2c2741090a256ee2026300063d5d0db2b7fab8fa;hp=22970c025503b30307c427951c66d641a04d60b7;hb=ad466314d3aff8f661654d4701b9d12fdeb7811f;hpb=90945acf48061ebc3960195cabcb11175475e426

diff --git a/projects/microb2010/mainboard/i2c_protocol.c b/projects/microb2010/mainboard/i2c_protocol.c
index 22970c0..2c27410 100644
--- a/projects/microb2010/mainboard/i2c_protocol.c
+++ b/projects/microb2010/mainboard/i2c_protocol.c
@@ -299,6 +299,10 @@ void i2c_recvevent(uint8_t * buf, int8_t size)
 		tmp = ans->rcob;
 		if (tmp != I2C_COB_NONE)
 			ballboard.rcob = tmp;
+		ballboard.opponent_x = ans->opponent_x;
+		ballboard.opponent_y = ans->opponent_y;
+		ballboard.opponent_a = ans->opponent_a;
+		ballboard.opponent_d = ans->opponent_d;
 		break;
 	}
 
@@ -404,13 +408,11 @@ int8_t i2c_cobboard_set_mode(uint8_t mode)
 {
 #ifdef HOST_VERSION
 	cobboard.mode = mode;
-	return 0;
-#else
+#endif
 	struct i2c_cmd_cobboard_set_mode buf;
 	buf.hdr.cmd = I2C_CMD_COBBOARD_SET_MODE;
 	buf.mode = mode;
 	return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
-#endif
 }
 
 static int8_t i2c_cobboard_set_spickle(uint8_t side, uint8_t flags)
@@ -470,3 +472,11 @@ int8_t i2c_ballboard_set_mode(uint8_t mode)
 	return i2c_send_command(I2C_BALLBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 }
 
+int8_t i2c_ballboard_set_beacon(uint8_t enable)
+{
+	struct i2c_cmd_ballboard_start_beacon buf;
+	buf.hdr.cmd = I2C_CMD_BALLBOARD_SET_BEACON;
+	buf.enable = enable;
+	return i2c_send_command(I2C_BALLBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
+}
+