X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fmain.h;h=54e03b0711a7f623d5efbbe0a1d8c34b90623115;hp=1c41d8933c9ce5c5b71f97827c69abfc83644e88;hb=6cb7ed5a0193fd28319561715d80b72423461cc9;hpb=51418f44261edc59d818ca990456726027e366ad

diff --git a/projects/microb2010/mainboard/main.h b/projects/microb2010/mainboard/main.h
index 1c41d89..54e03b0 100755
--- a/projects/microb2010/mainboard/main.h
+++ b/projects/microb2010/mainboard/main.h
@@ -122,7 +122,7 @@
 #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
@@ -221,6 +221,7 @@ struct beaconboard {
 	int16_t oppd;
 	uint16_t posx;
 	uint16_t posy;
+	uint16_t posa; /* between 0 and 3600 */
 };
 
 extern struct genboard gen;