X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fballboard%2Fmain.c;h=7a3cee50bfde1afa325e7adf2db15efaf9dc2539;hp=ed8716bac27493480471eb8cacad4a07674d85b9;hb=ad466314d3aff8f661654d4701b9d12fdeb7811f;hpb=6914527de2ecfef9d790740c71739e7418246b96

diff --git a/projects/microb2010/ballboard/main.c b/projects/microb2010/ballboard/main.c
index ed8716b..7a3cee5 100755
--- a/projects/microb2010/ballboard/main.c
+++ b/projects/microb2010/ballboard/main.c
@@ -58,6 +58,8 @@
 #include "actuator.h"
 #include "cs.h"
 #include "i2c_protocol.h"
+#include "state.h"
+#include "beacon.h"
 
 /* 0 means "programmed"
  * ---- with 16 Mhz quartz
@@ -169,13 +171,17 @@ int main(void)
 #  error not supported
 #endif
 
-	//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) {
+		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_BALLBOARD);
+		wait_ms(100);
+		bootloader();
 	}
 
 	/* LOGS */
@@ -207,9 +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);
 
 
@@ -239,6 +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);
 
@@ -250,8 +262,13 @@ 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"));
+
+ 	state_machine();
 	cmdline_interact();
 
 	return 0;