strat db

[aversive.git] / projects / microb2010 / ballboard / main.c

diff --git a/projects/microb2010/ballboard/main.c b/projects/microb2010/ballboard/main.c
index 9633368..725a89d 100755 (executable)
--- a/projects/microb2010/ballboard/main.c
+++ b/projects/microb2010/ballboard/main.c
@@ -58,6 +58,7 @@
 #include "actuator.h"
 #include "cs.h"
 #include "i2c_protocol.h"
 #include "actuator.h"
 #include "cs.h"
 #include "i2c_protocol.h"

+#include "state.h"

 
 /* 0 means "programmed"
  * ---- with 16 Mhz quartz
 
 /* 0 means "programmed"
  * ---- with 16 Mhz quartz


@@ -112,16 +113,21 @@ void bootloader(void)
 
 void do_led_blink(__attribute__((unused)) void *dummy)
 {
 
 void do_led_blink(__attribute__((unused)) void *dummy)
 {

-#if 1 /* simple blink */
-       static uint8_t a=0;
+       static uint8_t a = 0;

 
 

-       if(a)
-               LED1_ON();
-       else
-               LED1_OFF();
-
-       a = !a;
-#endif
+       if (ballboard.flags & DO_ERRBLOCKING) {
+               if (a & 1)
+                       LED1_ON();
+               else
+                       LED1_OFF();
+       }
+       else {
+               if (a & 4)
+                       LED1_ON();
+               else
+                       LED1_OFF();
+       }
+       a++;

 }
 
 static void main_timer_interrupt(void)
 }
 
 static void main_timer_interrupt(void)


@@ -149,7 +155,8 @@ int main(void)
        LED1_OFF();
        memset(&gen, 0, sizeof(gen));
        memset(&ballboard, 0, sizeof(ballboard));
        LED1_OFF();
        memset(&gen, 0, sizeof(gen));
        memset(&ballboard, 0, sizeof(ballboard));

-       ballboard.flags = DO_ENCODERS | DO_CS | DO_POWER; // DO_BD
+       ballboard.flags = DO_ENCODERS | DO_CS | DO_POWER |
+               DO_ERRBLOCKING | DO_BD;

 
        /* UART */
        uart_init();
 
        /* UART */
        uart_init();


@@ -197,8 +204,7 @@ int main(void)
        PWM_NG_TIMER_16BITS_INIT(4, TIMER_16_MODE_PWM_10,
                                 TIMER4_PRESCALER_DIV_1);
 
        PWM_NG_TIMER_16BITS_INIT(4, TIMER_16_MODE_PWM_10,
                                 TIMER4_PRESCALER_DIV_1);
 

-       PWM_NG_INIT16(&gen.pwm1_4A, 4, A, 10, PWM_NG_MODE_SIGNED |
-                     PWM_NG_MODE_SIGN_INVERTED,
+       PWM_NG_INIT16(&gen.pwm1_4A, 4, A, 10, PWM_NG_MODE_SIGNED,

                      &PORTD, 4);
        PWM_NG_INIT16(&gen.pwm2_4B, 4, B, 10, PWM_NG_MODE_SIGNED,
                      &PORTD, 5);
                      &PORTD, 4);
        PWM_NG_INIT16(&gen.pwm2_4B, 4, B, 10, PWM_NG_MODE_SIGNED,
                      &PORTD, 5);


@@ -240,10 +246,15 @@ int main(void)
        /* ax12 */
        ax12_user_init();
 
        /* ax12 */
        ax12_user_init();
 

+       gen.logs[0] = E_USER_ST_MACH;
+       gen.log_level = 5;
+

        sei();
 
        printf_P(PSTR("\r\n"));
        printf_P(PSTR("Dass das Gluck deinen Haus setzt.\r\n"));
        sei();
 
        printf_P(PSTR("\r\n"));
        printf_P(PSTR("Dass das Gluck deinen Haus setzt.\r\n"));

+
+       state_machine();

        cmdline_interact();
 
        return 0;
        cmdline_interact();
 
        return 0;