X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fballboard%2Fmain.c;h=725a89dc8d3432cac0037bee79a33945519fe06a;hp=46a3b522dd6b78566fa3747b95e624479d1a40d0;hb=4e7801883ed4076cb14b63a0571467747894c0f8;hpb=8d6a47e9e21a9a31f4bc12d32fb3d11091a4b305

diff --git a/projects/microb2010/ballboard/main.c b/projects/microb2010/ballboard/main.c
index 46a3b52..725a89d 100755
--- a/projects/microb2010/ballboard/main.c
+++ b/projects/microb2010/ballboard/main.c
@@ -1,7 +1,7 @@
-/*  
+/*
  *  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
@@ -58,13 +58,12 @@
 #include "actuator.h"
 #include "cs.h"
 #include "i2c_protocol.h"
-#include "beacon.h"
-#include "scanner.h"
+#include "state.h"
 
 /* 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)
@@ -108,22 +107,27 @@ void bootloader(void)
 	__asm__ __volatile__ ("ldi r31,0xf8\n");
 	__asm__ __volatile__ ("ldi r30,0x00\n");
 	__asm__ __volatile__ ("eijmp\n");
-	
+
 	/* never returns */
 }
 
 void do_led_blink(__attribute__((unused)) void *dummy)
 {
-#if 1 /* simple blink */
-	static uint8_t a=0;
-
-	if(a)
-		LED1_ON();
-	else
-		LED1_OFF();
-	
-	a = !a;
-#endif
+	static uint8_t a = 0;
+
+	if (ballboard.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)
@@ -151,8 +155,9 @@ int main(void)
 	LED1_OFF();
 	memset(&gen, 0, sizeof(gen));
 	memset(&ballboard, 0, sizeof(ballboard));
-	ballboard.flags = DO_ENCODERS | DO_CS | DO_POWER; // DO_BD
-	
+	ballboard.flags = DO_ENCODERS | DO_CS | DO_POWER |
+		DO_ERRBLOCKING | DO_BD;
+
 	/* UART */
 	uart_init();
 #if CMDLINE_UART == 3
@@ -165,7 +170,7 @@ int main(void)
 #  error not supported
 #endif
 
-	//eeprom_write_byte(EEPROM_MAGIC_ADDRESS, EEPROM_MAGIC_BALLBOARD);
+	eeprom_write_byte(EEPROM_MAGIC_ADDRESS, EEPROM_MAGIC_BALLBOARD);
 	/* check eeprom to avoid to run the bad program */
 	if (eeprom_read_byte(EEPROM_MAGIC_ADDRESS) !=
 	    EEPROM_MAGIC_BALLBOARD) {
@@ -194,13 +199,12 @@ int main(void)
 	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);
-	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);
-	
-	PWM_NG_INIT16(&gen.pwm1_4A, 4, A, 10, PWM_NG_MODE_SIGNED | 
-		      PWM_NG_MODE_SIGN_INVERTED,
+
+	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,
 		      &PORTD, 5);
@@ -211,11 +215,11 @@ int main(void)
 
 
 	/* 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);
-	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);
@@ -223,12 +227,12 @@ int main(void)
 		      NULL, 0);
 	PWM_NG_INIT16(&gen.servo4, 5, C, 10, PWM_NG_MODE_NORMAL,
 		      NULL, 0);
-	
+
 	/* 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();
@@ -242,10 +246,15 @@ int main(void)
 	/* ax12 */
 	ax12_user_init();
 
+ 	gen.logs[0] = E_USER_ST_MACH;
+ 	gen.log_level = 5;
+
 	sei();
 
 	printf_P(PSTR("\r\n"));
 	printf_P(PSTR("Dass das Gluck deinen Haus setzt.\r\n"));
+
+ 	state_machine();
 	cmdline_interact();
 
 	return 0;