X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fi2c_protocol.c;h=403decd0cc63d56f77bb8730ade7adcb7e24cecb;hp=d0726cb8ee9a8ea4bb5ebc6886f8de80dc6a3e12;hb=09e0cfb842943982e9fa3c4792c097bf4be25360;hpb=4fb57a4dab8bd564445e824696a2dab470af8628

diff --git a/projects/microb2010/mainboard/i2c_protocol.c b/projects/microb2010/mainboard/i2c_protocol.c
index d0726cb..403decd 100644
--- a/projects/microb2010/mainboard/i2c_protocol.c
+++ b/projects/microb2010/mainboard/i2c_protocol.c
@@ -270,14 +270,16 @@ void i2c_recvevent(uint8_t * buf, int8_t size)
 
 		break;
 	}
-		
+
 	case I2C_ANS_BALLBOARD_STATUS: {
 		struct i2c_ans_ballboard_status * ans = 
 			(struct i2c_ans_ballboard_status *)buf;
-		
+
 		if (size != sizeof (*ans))
 			goto error;
+		ballboard.mode = ans->mode;
 		ballboard.status = ans->status;
+		ballboard.ball_count = ans->ball_count;
 		break;
 	}
 
@@ -296,13 +298,11 @@ void i2c_recvevent(uint8_t * buf, int8_t size)
 		i2c_errors = 0;
 	}
 }
-	
+
 void i2c_recvbyteevent(uint8_t hwstatus, uint8_t i, uint8_t c)
 {
 }
 
-
-
 /* ******** ******** ******** ******** */
 /* commands */
 /* ******** ******** ******** ******** */
@@ -438,3 +438,11 @@ int8_t i2c_cobboard_mode_init(void)
 	return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 }
 
+int8_t i2c_ballboard_set_mode(uint8_t mode)
+{
+	struct i2c_cmd_ballboard_set_mode buf;
+	buf.hdr.cmd = I2C_CMD_BALLBOARD_SET_MODE;
+	buf.mode = mode;
+	return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
+}
+