state machine and support balls

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

diff --git a/projects/microb2010/mainboard/main.c b/projects/microb2010/mainboard/main.c
index d0c9d14..6a36e80 100755 (executable)
--- a/projects/microb2010/mainboard/main.c
+++ b/projects/microb2010/mainboard/main.c
@@ -181,7 +181,7 @@ int main(void)
 #  error not supported
 #endif
 
-       //eeprom_write_byte(EEPROM_MAGIC_ADDRESS, EEPROM_MAGIC_MAINBOARD);
+       eeprom_write_byte(EEPROM_MAGIC_ADDRESS, EEPROM_MAGIC_MAINBOARD);
        /* check eeprom to avoid to run the bad program */
        if (eeprom_read_byte(EEPROM_MAGIC_ADDRESS) !=
            EEPROM_MAGIC_MAINBOARD) {
@@ -216,8 +216,8 @@ 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,
@@ -239,6 +239,7 @@ int main(void)
                      NULL, 0);
        PWM_NG_INIT16(&gen.servo4, 5, C, 10, PWM_NG_MODE_NORMAL,
                      NULL, 0);
+       support_balls_deploy(); /* init pwm for servos */
 
        /* SCHEDULER */
        scheduler_init();