X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fballboard%2Fmain.c;h=725a89dc8d3432cac0037bee79a33945519fe06a;hp=963336865661db443eb9305d98778e0a6e72ef75;hb=99c22f682c6ddb6d0bcf657ec30aae226d3240f5;hpb=c8bae2eb9f3084d53436bc6c9fee9952dfcc1fda

diff --git a/projects/microb2010/ballboard/main.c b/projects/microb2010/ballboard/main.c
index 9633368..725a89d 100755
--- a/projects/microb2010/ballboard/main.c
+++ b/projects/microb2010/ballboard/main.c
@@ -58,6 +58,7 @@
 #include "actuator.h"
 #include "cs.h"
 #include "i2c_protocol.h"
+#include "state.h"
 
 /* 0 means "programmed"
  * ---- with 16 Mhz quartz
@@ -112,16 +113,21 @@ void bootloader(void)
 
 void do_led_blink(__attribute__((unused)) void *dummy)
 {
-#if 1 /* simple blink */
-	static uint8_t a=0;
+	static uint8_t a = 0;
 
-	if(a)
-		LED1_ON();
-	else
-		LED1_OFF();
-
-	a = !a;
-#endif
+	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)
@@ -149,7 +155,8 @@ 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();
@@ -197,8 +204,7 @@ int main(void)
 	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);
@@ -240,10 +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;