better cobboard commands in strat_event

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

diff --git a/projects/microb2010/mainboard/main.c b/projects/microb2010/mainboard/main.c
index 88d4f97..b6a12c8 100755 (executable)
--- a/projects/microb2010/mainboard/main.c
+++ b/projects/microb2010/mainboard/main.c
@@ -67,6 +67,7 @@
 #include "actuator.h"
 #include "cs.h"
 #include "strat_base.h"
+#include "strat_db.h"
 #include "i2c_protocol.h"
 
 /* 0 means "programmed"
@@ -83,8 +84,8 @@
 
 struct genboard gen;
 struct mainboard mainboard;
-struct cobboard cobboard;
-struct ballboard ballboard;
+volatile struct cobboard cobboard;
+volatile struct ballboard ballboard;
 
 #ifndef HOST_VERSION
 /***********************/
@@ -133,9 +134,21 @@ 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 +184,9 @@ 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;
+       ballboard.lcob = I2C_COB_NONE;
+       ballboard.rcob = I2C_COB_NONE;
 
        /* UART */
        uart_init();
@@ -183,13 +198,17 @@ int main(void)
        fdevopen(uart1_dev_send, uart1_dev_recv);
 #endif
 
-       //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) {
+               int c;
                sei();
-               printf_P(PSTR("Bad eeprom value\r\n"));
-               while(1);
+               printf_P(PSTR("Bad eeprom value ('f' to force)\r\n"));
+               c = uart_recv(CMDLINE_UART);
+               if (c == 'f')
+                       eeprom_write_byte(EEPROM_MAGIC_ADDRESS, EEPROM_MAGIC_MAINBOARD);
+               wait_ms(100);
+               bootloader();
        }
 #endif /* ! HOST_VERSION */
 
@@ -262,13 +281,13 @@ 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);
@@ -277,7 +296,7 @@ int main(void)
        /* strat */
        gen.logs[0] = E_USER_STRAT;
        gen.log_level = 5;
-       strat_reset_infos();
+       strat_db_init();
 
        /* strat-related event */
        scheduler_add_periodical_event_priority(strat_event, NULL,