X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fmain.h;h=54e03b0711a7f623d5efbbe0a1d8c34b90623115;hp=00b6e8630b7e0d3abeae7d6d9cd5ebb196d9cc6b;hb=6cb7ed5a0193fd28319561715d80b72423461cc9;hpb=f5502f60124c62801685777bb7c699bdfb7e1166

diff --git a/projects/microb2010/mainboard/main.h b/projects/microb2010/mainboard/main.h
index 00b6e86..54e03b0 100755
--- a/projects/microb2010/mainboard/main.h
+++ b/projects/microb2010/mainboard/main.h
@@ -119,9 +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/SCHEDULER_UNIT)*SCHEDULER_UNIT) /* in microsecond */
 #define CS_HZ (1000000. / CS_PERIOD)
 
 #define NB_LOGS 4
@@ -212,10 +213,22 @@ struct ballboard {
 	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;
+	uint16_t posa; /* between 0 and 3600 */
+};
+
 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);