X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fballboard%2Fmain.h;h=adfa62715495dd211b0c9a3cd47caf7e04e13967;hp=0758279aadf01cd64c38de69a2cddd7da93dea30;hb=HEAD;hpb=4e7801883ed4076cb14b63a0571467747894c0f8

diff --git a/projects/microb2010/ballboard/main.h b/projects/microb2010/ballboard/main.h
index 0758279..adfa627 100755
--- a/projects/microb2010/ballboard/main.h
+++ b/projects/microb2010/ballboard/main.h
@@ -19,7 +19,7 @@
  *
  */
 
-/* was sensorboard in 2009 */
+/* was mainboard in 2009 */
 
 #define LED_TOGGLE(port, bit) do {		\
 		if (port & _BV(bit))		\
@@ -51,23 +51,26 @@
 #define ROLLER_ENCODER    ((void *)0)
 #define FORKTRANS_ENCODER ((void *)1)
 #define FORKROT_ENCODER   ((void *)2)
+#define BEACON_ENCODER    ((void *)3)
 
 #define ROLLER_PWM     ((void *)&gen.pwm1_4A)
 #define FORKTRANS_PWM  ((void *)&gen.pwm2_4B)
 #define FORKROT_PWM    ((void *)&gen.pwm3_1A)
-#define XXX_PWM        ((void *)&gen.pwm4_1B)
+#define BEACON_PWM     ((void *)&gen.pwm4_1B)
 
-#define BALL_PRESENT_SENSOR  2 /* XXX dummy example */
+#define BEACON_POS_SENSOR  2
 
 /** ERROR NUMS */
 #define E_USER_I2C_PROTO       195
 #define E_USER_SENSOR          196
 #define E_USER_ST_MACH         197
+#define E_USER_BEACON         198
 
 #define LED_PRIO           170
 #define TIME_PRIO          160
 #define ADC_PRIO           120
 #define CS_PRIO            100
+#define BEACON_PRIO	    80
 #define I2C_POLL_PRIO       20
 
 #define CS_PERIOD 5000L
@@ -122,6 +125,7 @@ struct ballboard {
         struct cs_block roller;
         struct cs_block forktrans;
         struct cs_block forkrot;
+        struct cs_block beacon;
 
 	/* robot status */
 	uint8_t our_color;
@@ -133,7 +137,7 @@ extern struct ballboard ballboard;
 /* start the bootloader */
 void bootloader(void);
 
-#define wait_cond_or_timeout(cond, timeout)                   \
+#define WAIT_COND_OR_TIMEOUT(cond, timeout)                   \
 ({                                                            \
         microseconds __us = time_get_us2();                   \
         uint8_t __ret = 1;                                    \