fix CS_HZ

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

diff --git a/projects/microb2010/mainboard/main.h b/projects/microb2010/mainboard/main.h
index 1c41d8933c9ce5c5b71f97827c69abfc83644e88..54e03b0711a7f623d5efbbe0a1d8c34b90623115 100755 (executable)
--- a/projects/microb2010/mainboard/main.h
+++ b/projects/microb2010/mainboard/main.h
@@ -122,7 +122,7 @@
 #define BEACON_PRIO         15
 #define EEPROM_TIME_PRIO    10
 
-#define CS_PERIOD 5000L /* in microsecond */
+#define CS_PERIOD ((5000L/SCHEDULER_UNIT)*SCHEDULER_UNIT) /* in microsecond */
 #define CS_HZ (1000000. / CS_PERIOD)
 
 #define NB_LOGS 4
@@ -221,6 +221,7 @@ struct beaconboard {
        int16_t oppd;
        uint16_t posx;
        uint16_t posy;
+       uint16_t posa; /* between 0 and 3600 */
 };
 
 extern struct genboard gen;