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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 6a36e80..aa76651 100755 (executable)
--- a/projects/microb2010/mainboard/main.c
+++ b/projects/microb2010/mainboard/main.c
@@ -1,7 +1,7 @@
-/*  
+/*

  *  Copyright Droids Corporation
  *  Olivier Matz <zer0@droids-corp.org>
  *  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
  *  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


@@ -70,7 +70,7 @@
 /* 0 means "programmed"
  * ---- with 16 Mhz quartz
  * CKSEL 3-0 : 0111
 /* 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)
  * CKDIV8 : 1
  * ---- bootloader
  * BOOTZ 1-0 : 01 (4K bootloader)


@@ -116,7 +116,7 @@ void bootloader(void)
        __asm__ __volatile__ ("ldi r31,0xf8\n");
        __asm__ __volatile__ ("ldi r30,0x00\n");
        __asm__ __volatile__ ("eijmp\n");
        __asm__ __volatile__ ("ldi r31,0xf8\n");
        __asm__ __volatile__ ("ldi r30,0x00\n");
        __asm__ __volatile__ ("eijmp\n");

-       
+

        /* never returns */
 }
 
        /* never returns */
 }
 


@@ -166,7 +166,7 @@ int main(void)
 
        memset(&gen, 0, sizeof(gen));
        memset(&mainboard, 0, sizeof(mainboard));
 
        memset(&gen, 0, sizeof(gen));
        memset(&mainboard, 0, sizeof(mainboard));

-       mainboard.flags = DO_ENCODERS | DO_RS |
+       mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |

                DO_POS | DO_POWER | DO_BD;
 
        /* UART */
                DO_POS | DO_POWER | DO_BD;
 
        /* UART */


@@ -211,14 +211,14 @@ int main(void)
        timer0_register_OV_intr(main_timer_interrupt);
 
        /* PWM */
        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);
                                 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);
                                 TIMER4_PRESCALER_DIV_1);

-       
+

        PWM_NG_INIT16(&gen.pwm1_4A, 4, A, 10, PWM_NG_MODE_SIGNED,
                      &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_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,
                      &PORTD, 6);
                      PWM_NG_MODE_SIGN_INVERTED, &PORTD, 5);
        PWM_NG_INIT16(&gen.pwm3_1A, 1, A, 10, PWM_NG_MODE_SIGNED,
                      &PORTD, 6);


@@ -227,11 +227,11 @@ int main(void)
 
 
        /* servos */
 
 
        /* 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);
                                 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);
                                 TIMER1_PRESCALER_DIV_256);
        PWM_NG_INIT16(&gen.servo2, 5, A, 10, PWM_NG_MODE_NORMAL,
                      NULL, 0);


@@ -244,8 +244,8 @@ int main(void)
        /* SCHEDULER */
        scheduler_init();
 
        /* 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();
                                                LED_PRIO);
        /* all cs management */
        microb_cs_init();