X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fmain.c;h=7a3d2408b7f4f8fe8a06d0dcd8913ab7720968f6;hp=d0526a5161a8b917c2d1349dc42a74e7cd9c0dc9;hb=4e7801883ed4076cb14b63a0571467747894c0f8;hpb=1714f4ee916fca95ce24120ea6e698237913f947

diff --git a/projects/microb2010/cobboard/main.c b/projects/microb2010/cobboard/main.c
index d0526a5..7a3d240 100755
--- a/projects/microb2010/cobboard/main.c
+++ b/projects/microb2010/cobboard/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 +58,14 @@
 #include "state.h"
 #include "actuator.h"
 #include "spickle.h"
+#include "shovel.h"
 #include "cs.h"
 #include "i2c_protocol.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 +109,27 @@ 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 (cobboard.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)
@@ -152,7 +158,8 @@ int main(void)
 	memset(&gen, 0, sizeof(gen));
 	memset(&cobboard, 0, sizeof(cobboard));
 	/* cs is enabled after arm_calibrate() */
-	cobboard.flags = DO_ENCODERS | DO_POWER; // DO_BD
+	cobboard.flags = DO_ENCODERS | DO_POWER | DO_BD |
+		DO_ERRBLOCKING;
 
 	/* UART */
 	uart_init();
@@ -195,15 +202,15 @@ 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, &PORTD, 4);
-	PWM_NG_INIT16(&gen.pwm2_4B, 4, B, 10, PWM_NG_MODE_SIGNED,
-		      &PORTD, 5);
+
+	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 |
+		      PWM_NG_MODE_SIGN_INVERTED, &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 |
@@ -212,11 +219,11 @@ 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);
@@ -224,12 +231,12 @@ 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();
@@ -245,13 +252,16 @@ int main(void)
 
 	sei();
 
-	/* actuators */
-	actuator_init();
+	printf_P(PSTR("cobboard start\r\n"));
 
-	/* spickle */
+	/* spickle, shovel */
 	spickle_init();
+	shovel_init();
 
-/* 	state_init(); */
+	/* actuators */
+	actuator_init();
+
+	state_init();
 
 	printf_P(PSTR("\r\n"));
 	printf_P(PSTR("Dass das Gluck deinen Haus setzt.\r\n"));
@@ -261,7 +271,10 @@ int main(void)
  	gen.log_level = 5;
 	cobboard.flags |= DO_CS;
 
-/* 	state_machine(); */
+	spickle_pack(I2C_LEFT_SIDE);
+	spickle_pack(I2C_RIGHT_SIDE);
+
+ 	state_machine();
 	cmdline_interact();
 
 	return 0;