X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fballboard%2Fmain.c;h=7a3cee50bfde1afa325e7adf2db15efaf9dc2539;hp=925109ff072a4bec687030616327958f5e6b8e03;hb=ad466314d3aff8f661654d4701b9d12fdeb7811f;hpb=4f7bc6a1332aa9cd2ac3cf8f34bf990203cb03e7

diff --git a/projects/microb2010/ballboard/main.c b/projects/microb2010/ballboard/main.c
index 925109f..7a3cee5 100755
--- a/projects/microb2010/ballboard/main.c
+++ b/projects/microb2010/ballboard/main.c
@@ -59,6 +59,7 @@
 #include "cs.h"
 #include "i2c_protocol.h"
 #include "state.h"
+#include "beacon.h"
 
 /* 0 means "programmed"
  * ---- with 16 Mhz quartz
@@ -212,9 +213,10 @@ int main(void)
 		      &PORTD, 4);
 	PWM_NG_INIT16(&gen.pwm2_4B, 4, B, 10, PWM_NG_MODE_SIGNED,
 		      &PORTD, 5);
-	PWM_NG_INIT16(&gen.pwm3_1A, 1, A, 10, PWM_NG_MODE_SIGNED,
-		      &PORTD, 6);
-	PWM_NG_INIT16(&gen.pwm4_1B, 1, B, 10, PWM_NG_MODE_SIGNED,
+	PWM_NG_INIT16(&gen.pwm3_1A, 1, A, 10, PWM_NG_MODE_SIGNED |
+		      PWM_NG_MODE_SIGN_INVERTED, &PORTD, 6);
+	PWM_NG_INIT16(&gen.pwm4_1B, 1, B, 10, PWM_NG_MODE_SIGNED |
+		      PWM_NG_MODE_SIGN_INVERTED,
 		      &PORTD, 7);
 
 
@@ -244,6 +246,11 @@ int main(void)
 	/* sensors, will also init hardware adc */
 	sensor_init();
 
+	/* beacon */
+	beacon_init();
+	scheduler_add_periodical_event_priority(beacon_calc, NULL, 
+						20000L / SCHEDULER_UNIT, 
+						BEACON_PRIO);
 	/* TIME */
 	time_init(TIME_PRIO);
 
@@ -255,6 +262,9 @@ int main(void)
 
 	sei();
 
+	actuator_init();
+	beacon_calibre_pos();
+
 	printf_P(PSTR("\r\n"));
 	printf_P(PSTR("Dass das Gluck deinen Haus setzt.\r\n"));