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

diff --git a/projects/microb2010/mainboard/main.c b/projects/microb2010/mainboard/main.c
index 88d4f97..98d3749 100755 (executable)
--- a/projects/microb2010/mainboard/main.c
+++ b/projects/microb2010/mainboard/main.c
@@ -133,9 +133,21 @@ void do_time_monitor(void *dummy)
 
 void do_led_blink(void *dummy)
 {
-#if 1 /* simple blink */
-       LED1_TOGGLE();
-#endif
+       static uint8_t a = 0;
+
+       if (mainboard.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)
@@ -171,7 +183,7 @@ int main(void)
        memset(&gen, 0, sizeof(gen));
        memset(&mainboard, 0, sizeof(mainboard));
        mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
-               DO_POS | DO_POWER | DO_BD;
+               DO_POS | DO_POWER | DO_BD | DO_ERRBLOCKING;
 
        /* UART */
        uart_init();
@@ -262,13 +274,13 @@ int main(void)
        /* all cs management */
        microb_cs_init();
 
+       /* TIME */
+       time_init(TIME_PRIO);
+
 #ifndef HOST_VERSION
        /* sensors, will also init hardware adc */
        sensor_init();
 
-       /* TIME */
-       time_init(TIME_PRIO);
-
        /* start i2c slave polling */
        scheduler_add_periodical_event_priority(i2c_poll_slaves, NULL,
                                                8000L / SCHEDULER_UNIT, I2C_POLL_PRIO);
@@ -281,7 +293,7 @@ int main(void)
 
        /* strat-related event */
        scheduler_add_periodical_event_priority(strat_event, NULL,
-                                               25000L / SCHEDULER_UNIT,
+                                               10000L / SCHEDULER_UNIT,
                                                STRAT_PRIO);
 
 #ifndef HOST_VERSION