Added support to read the fallen status from the firmware.

src/darwin_robot.cpp

@@ -590,6 +590,40 @@ bool CDarwinRobot::mm_is_power_enabled(void)
     throw CDarwinRobotException(_HERE_,"Invalid robot device");
 }
 
+bool CDarwinRobot::mm_has_fallen(void)
+{
+  unsigned char value;
+
+  if(this->robot_device!=NULL)
+  {
+    this->robot_device->read_byte_register(DARWIN_MM_CNTRL,&value);
+    if(value&(MANAGER_FWD_FALL | MANAGER_BWD_FALL))
+      return true;
+    else
+      return false;
+  }
+  else
+    throw CDarwinRobotException(_HERE_,"Invalid robot device");
+}
+
+fall_t CDarwinRobot::mm_get_fallen_position(void)
+{
+  unsigned char value;
+
+  if(this->robot_device!=NULL)
+  {
+    this->robot_device->read_byte_register(DARWIN_MM_CNTRL,&value);
+    if(value&MANAGER_FWD_FALL) 
+      return MM_FWD_FALL;
+    else if(value&MANAGER_BWD_FALL)
+      return MM_BWD_FALL;
+    else
+      return MM_STANDING;
+  }
+  else
+    throw CDarwinRobotException(_HERE_,"Invalid robot device");
+}
+
 void CDarwinRobot::mm_enable_servo(unsigned char servo_id)
 {
   unsigned char value;

src/darwin_robot.h

@@ -50,6 +50,8 @@ typedef struct
 }TChargerData;
 #pragma pack (pop)
 
+typedef enum {MM_FWD_FALL=0,MM_BWD_FALL=1,MM_STANDING=2} fall_t;
+
 class CDarwinRobot
 {
   private:
@@ -109,6 +111,8 @@ class CDarwinRobot
     void mm_enable_power(void);
     void mm_disable_power(void);
     bool mm_is_power_enabled(void);
+    bool mm_has_fallen(void);
+    fall_t mm_get_fallen_position(void);
     void mm_enable_servo(unsigned char servo_id);
     void mm_disable_servo(unsigned char servo_id);
     bool mm_is_servo_enabled(unsigned char servo_id);