high level strat

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

diff --git a/projects/microb2010/cobboard/main.c b/projects/microb2010/cobboard/main.c
index 1f4065b..7a3d240 100755 (executable)
--- a/projects/microb2010/cobboard/main.c
+++ b/projects/microb2010/cobboard/main.c
@@ -173,7 +173,7 @@ int main(void)
 #  error not supported
 #endif
 
-       //eeprom_write_byte(EEPROM_MAGIC_ADDRESS, EEPROM_MAGIC_COBBOARD);
+       eeprom_write_byte(EEPROM_MAGIC_ADDRESS, EEPROM_MAGIC_COBBOARD);
        /* check eeprom to avoid to run the bad program */
        if (eeprom_read_byte(EEPROM_MAGIC_ADDRESS) !=
            EEPROM_MAGIC_COBBOARD) {
@@ -207,8 +207,8 @@ int main(void)
        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, &PORTD, 4);
+       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 |
                      PWM_NG_MODE_SIGN_INVERTED, &PORTD, 5);
        PWM_NG_INIT16(&gen.pwm3_1A, 1, A, 10, PWM_NG_MODE_SIGNED,
@@ -271,6 +271,9 @@ int main(void)
        gen.log_level = 5;
        cobboard.flags |= DO_CS;
 
+       spickle_pack(I2C_LEFT_SIDE);
+       spickle_pack(I2C_RIGHT_SIDE);
+
        state_machine();
        cmdline_interact();