X-Git-Url: http://git.droids-corp.org/?a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcommon%2Fi2c_commands.h;h=1168100f4cd81802e5a2c10e8fdb07c2ebc2a742;hb=54d7dccaae9fd7f9aaa640556df51e97c618cf76;hp=ea0b05ba99ac42b2ca873ddad182ba1bceea18b3;hpb=b6b61358268cccf0fe5cd3f808ceab6b8402b74c;p=aversive.git

diff --git a/projects/microb2010/common/i2c_commands.h b/projects/microb2010/common/i2c_commands.h
index ea0b05b..1168100 100644
--- a/projects/microb2010/common/i2c_commands.h
+++ b/projects/microb2010/common/i2c_commands.h
@@ -98,6 +98,13 @@ struct i2c_cmd_ballboard_set_mode {
 	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 */
 /****/
@@ -143,6 +150,11 @@ struct i2c_ans_cobboard_status {
 
 struct i2c_req_ballboard_status {
 	struct i2c_cmd_hdr hdr;
+
+	/* position sent by mainboard */
+	int16_t x;
+	int16_t y;
+	int16_t a;
 };
 
 #define I2C_ANS_BALLBOARD_STATUS 0x83
@@ -157,6 +169,11 @@ 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 */