From 87eab5d91dd931a0d1de01ae63002f2b0e4046c7 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 2 Jun 2012 10:13:23 +0200 Subject: digital/ai/src/twi_master: send team color to beacon --- digital/ai/src/twi_master/beacon.c | 13 +++++++------ digital/beacon/src/stub/simu_stub.host.c | 8 +++++--- 2 files changed, 12 insertions(+), 9 deletions(-) diff --git a/digital/ai/src/twi_master/beacon.c b/digital/ai/src/twi_master/beacon.c index caed4dd8..88c618c3 100644 --- a/digital/ai/src/twi_master/beacon.c +++ b/digital/ai/src/twi_master/beacon.c @@ -85,12 +85,13 @@ beacon_send_position (vect_t *position) { uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_BEACON); buffer[0] = beacon.on; - buffer[1] = beacon.robot_nb; - buffer[2] = v16_to_v8 (position->x, 1); - buffer[3] = v16_to_v8 (position->x, 0); - buffer[4] = v16_to_v8 (position->y, 1); - buffer[5] = v16_to_v8 (position->y, 0); - twi_master_send_transient_buffer (6); + buffer[1] = team_color; + buffer[2] = beacon.robot_nb; + buffer[3] = v16_to_v8 (position->x, 1); + buffer[4] = v16_to_v8 (position->x, 0); + buffer[5] = v16_to_v8 (position->y, 1); + buffer[6] = v16_to_v8 (position->y, 0); + twi_master_send_transient_buffer (7); } uint8_t diff --git a/digital/beacon/src/stub/simu_stub.host.c b/digital/beacon/src/stub/simu_stub.host.c index 2073e678..38cf93fb 100644 --- a/digital/beacon/src/stub/simu_stub.host.c +++ b/digital/beacon/src/stub/simu_stub.host.c @@ -44,6 +44,7 @@ struct position_t simu_positions[2]; uint8_t simu_seq; uint8_t simu_recv_jack; +uint8_t simu_recv_team_color; uint8_t simu_recv_robot_nb; struct position_t simu_recv_robot_position; @@ -64,9 +65,10 @@ simu_twi_proto_poll (void) continue; simu_seq = recv_buf[1]; simu_recv_jack = recv_buf[2]; - simu_recv_robot_nb = recv_buf[3]; - simu_recv_robot_position.x = v8_to_v16 (recv_buf[4], recv_buf[5]); - simu_recv_robot_position.y = v8_to_v16 (recv_buf[6], recv_buf[7]); + simu_recv_team_color = recv_buf[3]; + simu_recv_robot_nb = recv_buf[4]; + simu_recv_robot_position.x = v8_to_v16 (recv_buf[5], recv_buf[6]); + simu_recv_robot_position.y = v8_to_v16 (recv_buf[7], recv_buf[8]); } } -- cgit v1.2.3