X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fmain.c;h=d01a92e83e42cc35a64e5c7f0b14c5896cb1c5af;hp=62103c813fa2faefaff7534219b5883a411f07db;hb=aa68be2d5d596693bda1109e4ccd6489f613b4f7;hpb=0c4732c1e255ea56aa766b772dfdb6be49620830

diff --git a/projects/microb2010/cobboard/main.c b/projects/microb2010/cobboard/main.c
index 62103c8..d01a92e 100755
--- a/projects/microb2010/cobboard/main.c
+++ b/projects/microb2010/cobboard/main.c
@@ -115,16 +115,21 @@ 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 (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)
@@ -153,7 +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();
@@ -167,13 +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 */
@@ -183,8 +193,6 @@ int main(void)
 	error_register_notice(mylog);
 	error_register_debug(mylog);
 
-	wait_ms(3000);
-
 	/* SPI + ENCODERS */
 	encoders_spi_init(); /* this will also init spi hardware */
 
@@ -203,10 +211,10 @@ 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.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 |
@@ -248,6 +256,8 @@ int main(void)
 
 	sei();
 
+	printf_P(PSTR("cobboard start\r\n"));
+
 	/* actuators */
 	actuator_init();
 
@@ -265,6 +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();