From 351193749e93441343dd0239c148da52145f7e74 Mon Sep 17 00:00:00 2001
From: Jacob Walser <jwalser90@gmail.com>
Date: Fri, 27 Dec 2019 23:51:32 -0500
Subject: [PATCH] io: add state fields

---
 src/main/src/io.cpp | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/src/main/src/io.cpp b/src/main/src/io.cpp
index c95339c..9ca015b 100644
--- a/src/main/src/io.cpp
+++ b/src/main/src/io.cpp
@@ -7,6 +7,8 @@
 
 extern "C" {
 #include <adc.h>
+#include <bridge.h>
+#include <comparator.h>
 #include <pwm-input.h>
 #include <usart.h>
 }
@@ -164,6 +166,11 @@ void io_write_state()
 #endif
   message.set_throttle(g.throttle);
   message.set_commutation_period(TIM_ARR(COMMUTATION_TIMER));
+#if defined(FEEDBACK_COMPARATOR)
+  message.set_flags(comparator_get_output());
+  message.set_comparator_step(g_comparator_state);
+#endif
+  message.set_bridge_step(g_bridge_comm_step);
   message.updateChecksum();
   io_write_message(&message);
 }