X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fmain.c;h=d01a92e83e42cc35a64e5c7f0b14c5896cb1c5af;hp=1f4065b86b860aef88acc57338b2b3ffcbe15b20;hb=5d21466eb434aa44eeb334a19668c58ffef5665f;hpb=6914527de2ecfef9d790740c71739e7418246b96

diff --git a/projects/microb2010/cobboard/main.c b/projects/microb2010/cobboard/main.c
index 1f4065b..d01a92e 100755
--- a/projects/microb2010/cobboard/main.c
+++ b/projects/microb2010/cobboard/main.c
@@ -173,13 +173,17 @@ int main(void)
 #  error not supported
 #endif
 
-	//eeprom_write_byte(EEPROM_MAGIC_ADDRESS, EEPROM_MAGIC_COBBOARD);
 	/* check eeprom to avoid to run the bad program */
 	if (eeprom_read_byte(EEPROM_MAGIC_ADDRESS) !=
 	    EEPROM_MAGIC_COBBOARD) {
+		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_COBBOARD);
+		wait_ms(100);
+		bootloader();
 	}
 
 	/* LOGS */
@@ -207,8 +211,8 @@ 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, &PORTD, 4);
+	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,
@@ -254,13 +258,13 @@ int main(void)
 
 	printf_P(PSTR("cobboard start\r\n"));
 
+	/* actuators */
+	actuator_init();
+
 	/* spickle, shovel */
 	spickle_init();
 	shovel_init();
 
-	/* actuators */
-	actuator_init();
-
 	state_init();
 
 	printf_P(PSTR("\r\n"));
@@ -271,6 +275,9 @@ int main(void)
  	gen.log_level = 5;
 	cobboard.flags |= DO_CS;
 
+	spickle_pack(I2C_LEFT_SIDE);
+	spickle_pack(I2C_RIGHT_SIDE);
+
  	state_machine();
 	cmdline_interact();