add support for beacon

[aversive.git] / projects / microb2010 / mainboard / main.c

diff --git a/projects/microb2010/mainboard/main.c b/projects/microb2010/mainboard/main.c
index eb549c5..d7ac3d4 100755 (executable)
--- a/projects/microb2010/mainboard/main.c
+++ b/projects/microb2010/mainboard/main.c
@@ -70,6 +70,7 @@
 #include "strat_db.h"
 #include "strat_avoid.h"
 #include "i2c_protocol.h"
 #include "strat_db.h"
 #include "strat_avoid.h"
 #include "i2c_protocol.h"

+#include "beacon.h"

 
 
 /* 0 means "programmed"
 
 
 /* 0 means "programmed"


@@ -88,6 +89,7 @@ struct genboard gen;
 struct mainboard mainboard;
 volatile struct cobboard cobboard;
 volatile struct ballboard ballboard;
 struct mainboard mainboard;
 volatile struct cobboard cobboard;
 volatile struct ballboard ballboard;

+volatile struct beaconboard beaconboard;

 
 #ifndef HOST_VERSION
 /***********************/
 
 #ifndef HOST_VERSION
 /***********************/


@@ -190,6 +192,8 @@ int main(void)
        ballboard.lcob = I2C_COB_NONE;
        ballboard.rcob = I2C_COB_NONE;
 
        ballboard.lcob = I2C_COB_NONE;
        ballboard.rcob = I2C_COB_NONE;
 

+       beaconboard.oppx = I2C_OPPONENT_NOT_THERE;
+

        /* UART */
        uart_init();
        uart_register_rx_event(CMDLINE_UART, emergency);
        /* UART */
        uart_init();
        uart_register_rx_event(CMDLINE_UART, emergency);


@@ -286,10 +290,13 @@ int main(void)
        /* TIME */
        time_init(TIME_PRIO);
 
        /* TIME */
        time_init(TIME_PRIO);
 

-#ifndef HOST_VERSION

        /* sensors, will also init hardware adc */
        sensor_init();
 
        /* sensors, will also init hardware adc */
        sensor_init();
 

+       /* beacon */
+       beacon_init();
+
+#ifndef HOST_VERSION

        /* start i2c slave polling */
        scheduler_add_periodical_event_priority(i2c_poll_slaves, NULL,
                                                8000L / SCHEDULER_UNIT, I2C_POLL_PRIO);
        /* start i2c slave polling */
        scheduler_add_periodical_event_priority(i2c_poll_slaves, NULL,
                                                8000L / SCHEDULER_UNIT, I2C_POLL_PRIO);