diff options
Diffstat (limited to 'robot/sercomm.c')
| -rw-r--r-- | robot/sercomm.c | 15 |
1 files changed, 14 insertions, 1 deletions
diff --git a/robot/sercomm.c b/robot/sercomm.c index efad449..d12fcca 100644 --- a/robot/sercomm.c +++ b/robot/sercomm.c @@ -4,6 +4,7 @@ #include "../shared/bin.h" #include "../shared/errcatch.h" #include "../shared/serial_parse.h" +#include "mode_grid.h" #include "hypervisor.h" #include "io.h" #include "mode_dirc.h" @@ -117,7 +118,18 @@ void w2_cmd_dirc_rx(w2_s_bin *data) { void w2_cmd_cord_rx(w2_s_bin *data) { return; } -void w2_cmd_bomd_rx(w2_s_bin *data) { return; } +// #include <stdio.h> +void w2_cmd_bomd_rx(w2_s_bin *data) { + /* W2_CAST_BIN(w2_s_cmd_bomd_rx, data, req); + + char buf[32]; + clear(); + sprintf(buf, "%lu, %lu", req->position % W2_MAP_DEFAULT_WIDTH, req->position / W2_MAP_DEFAULT_WIDTH); + print(buf); + g_w2_order[g_w2_order_index].x = req->position % W2_MAP_DEFAULT_WIDTH; + g_w2_order[g_w2_order_index].y = req->position / W2_MAP_DEFAULT_WIDTH; + g_w2_order_index++; */ +} void w2_cmd_sres_rx(w2_s_bin *data) { W2_CAST_BIN(w2_s_cmd_sres_rx, data, req); @@ -149,6 +161,7 @@ void w2_cmd_info_rx(w2_s_bin *data) { res_msg->mode_ms = (uint8_t)g_w2_hypervisor_ema_mode_ms; res_msg->uptime_s = w2_bin_hton32((uint32_t)(g_w2_hypervisor_uptime_ms / 1e3)); res_msg->mode = g_w2_mode_history[g_w2_mode_history_index]; + res_msg->battery_mv = w2_bin_hton16(read_battery_millivolts()); w2_sercomm_append_msg(res_bin); free(res_bin); |