beacon from 2009

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

diff --git a/projects/microb2010/ballboard/main.c b/projects/microb2010/ballboard/main.c
index e737ba3..7a3cee5 100755 (executable)
--- a/projects/microb2010/ballboard/main.c
+++ b/projects/microb2010/ballboard/main.c
@@ -59,6 +59,7 @@
 #include "cs.h"
 #include "i2c_protocol.h"
 #include "state.h"
+#include "beacon.h"
 
 /* 0 means "programmed"
  * ---- with 16 Mhz quartz
@@ -214,7 +215,8 @@ int main(void)
                      &PORTD, 5);
        PWM_NG_INIT16(&gen.pwm3_1A, 1, A, 10, PWM_NG_MODE_SIGNED |
                      PWM_NG_MODE_SIGN_INVERTED, &PORTD, 6);
-       PWM_NG_INIT16(&gen.pwm4_1B, 1, B, 10, PWM_NG_MODE_SIGNED,
+       PWM_NG_INIT16(&gen.pwm4_1B, 1, B, 10, PWM_NG_MODE_SIGNED |
+                     PWM_NG_MODE_SIGN_INVERTED,
                      &PORTD, 7);
 
 
@@ -244,6 +246,11 @@ int main(void)
        /* sensors, will also init hardware adc */
        sensor_init();
 
+       /* beacon */
+       beacon_init();
+       scheduler_add_periodical_event_priority(beacon_calc, NULL, 
+                                               20000L / SCHEDULER_UNIT, 
+                                               BEACON_PRIO);
        /* TIME */
        time_init(TIME_PRIO);
 
@@ -256,6 +263,7 @@ int main(void)
        sei();
 
        actuator_init();
+       beacon_calibre_pos();
 
        printf_P(PSTR("\r\n"));
        printf_P(PSTR("Dass das Gluck deinen Haus setzt.\r\n"));