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beacon from 2009
[aversive.git]
/
projects
/
microb2010
/
mainboard
/
i2c_protocol.c
diff --git
a/projects/microb2010/mainboard/i2c_protocol.c
b/projects/microb2010/mainboard/i2c_protocol.c
index
442cf3a
..
2c27410
100644
(file)
--- 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;
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;
}
break;
}
@@
-468,3
+472,11
@@
int8_t i2c_ballboard_set_mode(uint8_t mode)
return i2c_send_command(I2C_BALLBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
}
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));
+}
+