X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fmain.c;h=d7ac3d4d28948cdff457cb852c4af3d21ad01a4f;hp=eb549c591cd944fa2f84f5dbd273e930047d3698;hb=51418f44261edc59d818ca990456726027e366ad;hpb=85d56c363e7e984ab9c5e96786d42de8f8310f20;ds=sidebyside

diff --git a/projects/microb2010/mainboard/main.c b/projects/microb2010/mainboard/main.c
index eb549c5..d7ac3d4 100755
--- 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 "beacon.h"
 
 
 /* 0 means "programmed"
@@ -88,6 +89,7 @@ struct genboard gen;
 struct mainboard mainboard;
 volatile struct cobboard cobboard;
 volatile struct ballboard ballboard;
+volatile struct beaconboard beaconboard;
 
 #ifndef HOST_VERSION
 /***********************/
@@ -190,6 +192,8 @@ int main(void)
 	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);
@@ -286,10 +290,13 @@ int main(void)
 	/* TIME */
 	time_init(TIME_PRIO);
 
-#ifndef HOST_VERSION
 	/* 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);