X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fmain.h;h=1c41d8933c9ce5c5b71f97827c69abfc83644e88;hp=21c0065abdc188a5eea15c9ce9682d7674ab1037;hb=51418f44261edc59d818ca990456726027e366ad;hpb=b022f257a5ee568737e1a684a83d0154397fffcb

diff --git a/projects/microb2010/mainboard/main.h b/projects/microb2010/mainboard/main.h
index 21c0065..1c41d89 100755
--- a/projects/microb2010/mainboard/main.h
+++ b/projects/microb2010/mainboard/main.h
@@ -19,6 +19,8 @@
  *
  */
 
+/* was sensorboard in 2009 */
+
 #define LED_TOGGLE(port, bit) do {		\
 		if (port & _BV(bit))		\
 			port &= ~_BV(bit);	\
@@ -117,9 +119,10 @@
 #define CS_PRIO            100
 #define STRAT_PRIO          30
 #define I2C_POLL_PRIO       20
+#define BEACON_PRIO         15
 #define EEPROM_TIME_PRIO    10
 
-#define CS_PERIOD 5000L /* in microsecond */ 
+#define CS_PERIOD 5000L /* in microsecond */
 #define CS_HZ (1000000. / CS_PERIOD)
 
 #define NB_LOGS 4
@@ -194,6 +197,8 @@ struct mainboard {
 struct cobboard {
 	uint8_t mode;
 	uint8_t status;
+	uint8_t lspickle;
+	uint8_t rspickle;
 	int16_t left_cobroller_speed;
 	int16_t right_cobroller_speed;
 	uint8_t cob_count;
@@ -201,15 +206,28 @@ struct cobboard {
 
 /* state of ballboard, synchronized through i2c */
 struct ballboard {
-	uint8_t mode;
+	volatile uint8_t mode;
 	uint8_t status;
 	uint8_t ball_count;
+	uint8_t lcob;
+	uint8_t rcob;
+};
+
+/* state of beaconboard, sync'd through uart */
+struct beaconboard {
+	int16_t oppx;
+	int16_t oppy;
+	int16_t oppa;
+	int16_t oppd;
+	uint16_t posx;
+	uint16_t posy;
 };
 
 extern struct genboard gen;
 extern struct mainboard mainboard;
-extern struct cobboard cobboard;
-extern struct ballboard ballboard;
+extern volatile struct cobboard cobboard;
+extern volatile struct ballboard ballboard;
+extern volatile struct beaconboard beaconboard;
 
 /* start the bootloader */
 void bootloader(void);