ballboard

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

diff --git a/projects/microb2010/ballboard/main.c b/projects/microb2010/ballboard/main.c
index 46a3b52..9633368 100755 (executable)
--- a/projects/microb2010/ballboard/main.c
+++ b/projects/microb2010/ballboard/main.c
@@ -1,7 +1,7 @@
-/*  
+/*
  *  Copyright Droids Corporation
  *  Olivier Matz <zer0@droids-corp.org>
- * 
+ *
  *  This program is free software; you can redistribute it and/or modify
  *  it under the terms of the GNU General Public License as published by
  *  the Free Software Foundation; either version 2 of the License, or
@@ -58,13 +58,11 @@
 #include "actuator.h"
 #include "cs.h"
 #include "i2c_protocol.h"
-#include "beacon.h"
-#include "scanner.h"
 
 /* 0 means "programmed"
  * ---- with 16 Mhz quartz
  * CKSEL 3-0 : 0111
- * SUT 1-0 : 10 
+ * SUT 1-0 : 10
  * CKDIV8 : 1
  * ---- bootloader
  * BOOTZ 1-0 : 01 (4K bootloader)
@@ -108,7 +106,7 @@ void bootloader(void)
        __asm__ __volatile__ ("ldi r31,0xf8\n");
        __asm__ __volatile__ ("ldi r30,0x00\n");
        __asm__ __volatile__ ("eijmp\n");
-       
+
        /* never returns */
 }
 
@@ -121,7 +119,7 @@ void do_led_blink(__attribute__((unused)) void *dummy)
                LED1_ON();
        else
                LED1_OFF();
-       
+
        a = !a;
 #endif
 }
@@ -152,7 +150,7 @@ int main(void)
        memset(&gen, 0, sizeof(gen));
        memset(&ballboard, 0, sizeof(ballboard));
        ballboard.flags = DO_ENCODERS | DO_CS | DO_POWER; // DO_BD
-       
+
        /* UART */
        uart_init();
 #if CMDLINE_UART == 3
@@ -165,7 +163,7 @@ int main(void)
 #  error not supported
 #endif
 
-       //eeprom_write_byte(EEPROM_MAGIC_ADDRESS, EEPROM_MAGIC_BALLBOARD);
+       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) {
@@ -194,12 +192,12 @@ int main(void)
        timer0_register_OV_intr(main_timer_interrupt);
 
        /* PWM */
-       PWM_NG_TIMER_16BITS_INIT(1, TIMER_16_MODE_PWM_10, 
+       PWM_NG_TIMER_16BITS_INIT(1, TIMER_16_MODE_PWM_10,
                                 TIMER1_PRESCALER_DIV_1);
-       PWM_NG_TIMER_16BITS_INIT(4, TIMER_16_MODE_PWM_10, 
+       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_INIT16(&gen.pwm1_4A, 4, A, 10, PWM_NG_MODE_SIGNED |
                      PWM_NG_MODE_SIGN_INVERTED,
                      &PORTD, 4);
        PWM_NG_INIT16(&gen.pwm2_4B, 4, B, 10, PWM_NG_MODE_SIGNED,
@@ -211,11 +209,11 @@ int main(void)
 
 
        /* servos */
-       PWM_NG_TIMER_16BITS_INIT(3, TIMER_16_MODE_PWM_10, 
+       PWM_NG_TIMER_16BITS_INIT(3, TIMER_16_MODE_PWM_10,
                                 TIMER1_PRESCALER_DIV_256);
        PWM_NG_INIT16(&gen.servo1, 3, C, 10, PWM_NG_MODE_NORMAL,
                      NULL, 0);
-       PWM_NG_TIMER_16BITS_INIT(5, TIMER_16_MODE_PWM_10, 
+       PWM_NG_TIMER_16BITS_INIT(5, TIMER_16_MODE_PWM_10,
                                 TIMER1_PRESCALER_DIV_256);
        PWM_NG_INIT16(&gen.servo2, 5, A, 10, PWM_NG_MODE_NORMAL,
                      NULL, 0);
@@ -223,12 +221,12 @@ int main(void)
                      NULL, 0);
        PWM_NG_INIT16(&gen.servo4, 5, C, 10, PWM_NG_MODE_NORMAL,
                      NULL, 0);
-       
+
        /* SCHEDULER */
        scheduler_init();
 
-       scheduler_add_periodical_event_priority(do_led_blink, NULL, 
-                                               100000L / SCHEDULER_UNIT, 
+       scheduler_add_periodical_event_priority(do_led_blink, NULL,
+                                               100000L / SCHEDULER_UNIT,
                                                LED_PRIO);
        /* all cs management */
        microb_cs_init();