X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=avr%2Fnano%2Fmain.c;fp=avr%2Fnano%2Fmain.c;h=51cd1450d68e1fab6cc981bb5cb8a9bcd8dbe790;hp=0ca6e83313a173fc1d20a0526da6a28674b56588;hb=3c4bb7f988be07a6dd592c80541e73135536a96c;hpb=53c52f19f4cd243c9f5a66780ca365d54820761f

diff --git a/avr/nano/main.c b/avr/nano/main.c
index 0ca6e83..51cd145 100644
--- a/avr/nano/main.c
+++ b/avr/nano/main.c
@@ -18,6 +18,10 @@
  * 0x06 Distance forward LSB
  * 0x07 Distance backward MSB
  * 0x08 Distance backward LSB
+ * 0x15 Distance forward MSB (read only)
+ * 0x16 Distance forward LSB (read only)
+ * 0x17 Distance backward MSB (read only)
+ * 0x18 Distance backward LSB (read only)
  * 0x09 Voltage MSB
  * 0x0A Voltage LSB
  *
@@ -106,6 +110,24 @@ ISR(TWI_vect)
 					TWDR = tmp16;
 					TWI_ACK;
 					break;
+				case 0x15: // Distance forward MSB
+					tmp16 = dist_forward;
+					TWDR = tmp16>>8;
+					TWI_ACK;
+					break;
+				case 0x16: // Distance forward LSB
+					TWDR = tmp16;
+					TWI_ACK;
+					break;
+				case 0x17: // Distance backward MSB
+					tmp16 = dist_backward;
+					TWDR = tmp16>>8;
+					TWI_ACK;
+					break;
+				case 0x18: // Distance backward LSB
+					TWDR = tmp16;
+					TWI_ACK;
+					break;
 				case 0x09: // Voltage MSB
 					tmp16 = voltage;
 					TWDR = tmp16>>8;