X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fmain.h;h=1c41d8933c9ce5c5b71f97827c69abfc83644e88;hp=4fa3dd8b543ba03e252323ddc3d3fa5f8e1acf51;hb=51418f44261edc59d818ca990456726027e366ad;hpb=19cd41f7920628a962928580cd1618a1ee5750aa

diff --git a/projects/microb2010/mainboard/main.h b/projects/microb2010/mainboard/main.h
index 4fa3dd8..1c41d89 100755
--- a/projects/microb2010/mainboard/main.h
+++ b/projects/microb2010/mainboard/main.h
@@ -19,7 +19,7 @@
  *
  */
 
-/* was mechboard in 2009 */
+/* was sensorboard in 2009 */
 
 #define LED_TOGGLE(port, bit) do {		\
 		if (port & _BV(bit))		\
@@ -119,6 +119,7 @@
 #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 */
@@ -208,12 +209,25 @@ struct ballboard {
 	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 volatile struct cobboard cobboard;
 extern volatile struct ballboard ballboard;
+extern volatile struct beaconboard beaconboard;
 
 /* start the bootloader */
 void bootloader(void);