circuit strat, first version

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

diff --git a/projects/microb2010/mainboard/main.c b/projects/microb2010/mainboard/main.c
index 8616303..ce76583 100755 (executable)
--- a/projects/microb2010/mainboard/main.c
+++ b/projects/microb2010/mainboard/main.c
@@ -68,8 +68,10 @@
 #include "cs.h"
 #include "strat_base.h"
 #include "strat_db.h"
+#include "strat_avoid.h"
 #include "i2c_protocol.h"
 
+
 /* 0 means "programmed"
  * ---- with 16 Mhz quartz
  * CKSEL 3-0 : 0111
@@ -185,6 +187,8 @@ int main(void)
        memset(&mainboard, 0, sizeof(mainboard));
        mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
                DO_POS | DO_POWER | DO_BD | DO_ERRBLOCKING;
+       ballboard.lcob = I2C_COB_NONE;
+       ballboard.rcob = I2C_COB_NONE;
 
        /* UART */
        uart_init();
@@ -295,10 +299,11 @@ int main(void)
        gen.logs[0] = E_USER_STRAT;
        gen.log_level = 5;
        strat_db_init();
+       test_strat_avoid();
 
        /* strat-related event */
        scheduler_add_periodical_event_priority(strat_event, NULL,
-                                               10000L / SCHEDULER_UNIT,
+                                               25000L / SCHEDULER_UNIT,
                                                STRAT_PRIO);
 
 #ifndef HOST_VERSION