X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Frobotsim.c;h=42a33d9a95fc5fa2676abab379b3147faf766c0a;hp=db161b89cb52d205dfb17ab14f142b5b8edf87dc;hb=f5502f60124c62801685777bb7c699bdfb7e1166;hpb=78150017ab8c5615af414df706a0525fe7c262ae

diff --git a/projects/microb2010/mainboard/robotsim.c b/projects/microb2010/mainboard/robotsim.c
index db161b8..42a33d9 100644
--- a/projects/microb2010/mainboard/robotsim.c
+++ b/projects/microb2010/mainboard/robotsim.c
@@ -57,9 +57,23 @@ static int32_t l_pwm, r_pwm;
 static int32_t l_enc, r_enc;
 
 static int fdr, fdw;
+/*
+ * Debug with GDB:
+ *
+ * (gdb) handle SIGUSR1 pass
+ * Signal        Stop	Print	Pass to program	Description
+ * SIGUSR1       Yes	Yes	Yes		User defined signal 1
+ * (gdb) handle SIGUSR2 pass
+ * Signal        Stop	Print	Pass to program	Description
+ * SIGUSR2       Yes	Yes	Yes		User defined signal 2
+ * (gdb) handle SIGUSR1 noprint
+ * Signal        Stop	Print	Pass to program	Description
+ * SIGUSR1       No	No	Yes		User defined signal 1
+ * (gdb) handle SIGUSR2 noprint
+ */
 
 /* */
-#define FILTER  97
+#define FILTER  98
 #define FILTER2 (100-FILTER)
 #define SHIFT   4
 
@@ -97,16 +111,25 @@ robotsim_i2c_ballboard_set_mode(struct i2c_cmd_ballboard_set_mode *cmd)
 }
 
 int8_t
-robotsim_i2c_cobboard_set_mode(uint8_t mode)
+robotsim_i2c_cobboard_set_spickles(uint8_t side, uint8_t flags)
 {
 	char buf[BUFSIZ];
 	int len;
 
-	if (cobboard.mode == mode)
-		return 0;
+	if (side == I2C_LEFT_SIDE) {
+		if (cobboard.lspickle == flags)
+			return 0;
+		else
+			cobboard.lspickle = flags;
+	}
+	if (side == I2C_RIGHT_SIDE) {
+		if (cobboard.rspickle == flags)
+			return 0;
+		else
+			cobboard.rspickle = flags;
+	}
 
-	cobboard.mode = mode;
-	len = snprintf(buf, sizeof(buf), "cobboard=%d\n", mode);
+	len = snprintf(buf, sizeof(buf), "cobboard=%d,%d\n", side, flags);
 	hostsim_lock();
 	write(fdw, buf, len);
 	hostsim_unlock();