beacon from 2009

[aversive.git] / projects / microb2010 / common / i2c_commands.h

diff --git a/projects/microb2010/common/i2c_commands.h b/projects/microb2010/common/i2c_commands.h
index ea0b05b..9882ba6 100644 (file)
--- 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;
 };
 
        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 */
 /****/
 /****/
 /* requests and their answers */
 /****/


@@ -157,6 +164,11 @@ struct i2c_ans_ballboard_status {
 #define I2C_BALLBOARD_STATUS_F_EXCPT         0x02
        uint8_t 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 */
        uint8_t ball_count;
 
        /* detection of cobs */