add support for beacon

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

diff --git a/projects/microb2010/mainboard/sensor.c b/projects/microb2010/mainboard/sensor.c
index bda3bd5..6648679 100644 (file)
--- a/projects/microb2010/mainboard/sensor.c
+++ b/projects/microb2010/mainboard/sensor.c
@@ -288,29 +288,28 @@ uint8_t sensor_obstacle_is_disabled(void)
 /************ global sensor init */
 #define BACKGROUND_ADC  0
 
 /************ global sensor init */
 #define BACKGROUND_ADC  0
 

-#ifndef HOST_VERSION

 /* called every 10 ms, see init below */
 static void do_sensors(void *dummy)
 {
 /* called every 10 ms, see init below */
 static void do_sensors(void *dummy)
 {

+#ifndef HOST_VERSION

        if (BACKGROUND_ADC)
                do_adc(NULL);
        do_boolean_sensors(NULL);
        if (BACKGROUND_ADC)
                do_adc(NULL);
        do_boolean_sensors(NULL);

+#endif

        sensor_obstacle_update();
 }
        sensor_obstacle_update();
 }

-#endif

 
 void sensor_init(void)
 {
 
 void sensor_init(void)
 {

-#ifdef HOST_VERSION
-       return;
-#else
+#ifndef HOST_VERSION

        adc_init();
        if (BACKGROUND_ADC)
                adc_register_event(adc_event);
        adc_init();
        if (BACKGROUND_ADC)
                adc_register_event(adc_event);

+#endif
+

        /* CS EVENT */
        scheduler_add_periodical_event_priority(do_sensors, NULL,
                                                10000L / SCHEDULER_UNIT,
                                                ADC_PRIO);
        /* CS EVENT */
        scheduler_add_periodical_event_priority(do_sensors, NULL,
                                                10000L / SCHEDULER_UNIT,
                                                ADC_PRIO);

-#endif

 }
 
 }