implement SRES

2 files changed, 20 insertions, 2 deletions

diff --git a/robot/sercomm.c b/robot/sercomm.c
index 608cb04..07c4bd8 100644
--- a/robot/sercomm.c
+++ b/robot/sercomm.c
@@ -117,7 +117,24 @@ void w2_cmd_cord_rx(w2_s_bin *data) { return; }
 
 void w2_cmd_bomd_rx(w2_s_bin *data) { return; }
 
-void w2_cmd_sres_rx(w2_s_bin *data) { return; }
+void w2_cmd_sres_rx(w2_s_bin *data) {
+	w2_s_cmd_sres_rx *message = malloc(w2_cmd_sizeof(data->data, data->bytes));
+	memcpy(message, data->data, data->bytes);
+
+	switch (message->type) {
+		case W2_CMD_SRES_RX_TYPE_REINITGS: {
+			// TODO: soft-reset
+			break;
+		}
+		case W2_CMD_SRES_RX_TYPE_PREVMODE: {
+			w2_modes_call(W2_M_PREV);
+			break;
+		}
+		default: {
+			w2_errcatch_throw(W2_E_WARN_SERIAL_NOISY);
+		}
+	}
+}
 
 void w2_cmd_mcfg_rx(w2_s_bin *data) { return; }
 
diff --git a/robot/setup.c b/robot/setup.c
index 2c426a3..95b201e 100644
--- a/robot/setup.c
+++ b/robot/setup.c
@@ -28,7 +28,8 @@ void w2_setup_main() {
 	time_reset();
 
 	// set default mode
-	w2_modes_swap(W2_M_HALT);
+	w2_modes_swap(W2_M_MAZE);
+	w2_modes_call(W2_M_HALT);
 
 	// indicate startup done
 	play("L50 c>c");