better cobboard commands in strat_event

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

diff --git a/projects/microb2010/ballboard/main.c b/projects/microb2010/ballboard/main.c
index 082b658..925109f 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 "state.h"
 
 /* 0 means "programmed"
  * ---- with 16 Mhz quartz
@@ -112,16 +113,21 @@ void bootloader(void)
 
 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)
@@ -149,7 +155,8 @@ int main(void)
        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();
@@ -163,13 +170,17 @@ int main(void)
 #  error not supported
 #endif
 
-       //eeprom_write_byte(EEPROM_MAGIC_ADDRESS, EEPROM_MAGIC_BALLBOARD);
        /* check eeprom to avoid to run the bad program */
        if (eeprom_read_byte(EEPROM_MAGIC_ADDRESS) !=
            EEPROM_MAGIC_BALLBOARD) {
+               int c;
                sei();
-               printf_P(PSTR("Bad eeprom value\r\n"));
-               while(1);
+               printf_P(PSTR("Bad eeprom value ('f' to force)\r\n"));
+               c = uart_recv(CMDLINE_UART);
+               if (c == 'f')
+                       eeprom_write_byte(EEPROM_MAGIC_ADDRESS, EEPROM_MAGIC_BALLBOARD);
+               wait_ms(100);
+               bootloader();
        }
 
        /* LOGS */
@@ -239,10 +250,15 @@ int main(void)
        /* 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"));
+
+       state_machine();
        cmdline_interact();
 
        return 0;