X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fmain.c;h=14a2aad68ef5b18d140a0fb932e27dc6070c952a;hp=88d4f97bacc796eb0ae9219259a50c5db4a2d9ca;hb=4e7801883ed4076cb14b63a0571467747894c0f8;hpb=fa8546ea39c7442ad3bf5a822a72a2b50a41045d

diff --git a/projects/microb2010/mainboard/main.c b/projects/microb2010/mainboard/main.c
index 88d4f97..14a2aad 100755
--- a/projects/microb2010/mainboard/main.c
+++ b/projects/microb2010/mainboard/main.c
@@ -67,6 +67,7 @@
 #include "actuator.h"
 #include "cs.h"
 #include "strat_base.h"
+#include "strat_db.h"
 #include "i2c_protocol.h"
 
 /* 0 means "programmed"
@@ -83,8 +84,8 @@
 
 struct genboard gen;
 struct mainboard mainboard;
-struct cobboard cobboard;
-struct ballboard ballboard;
+volatile struct cobboard cobboard;
+volatile struct ballboard ballboard;
 
 #ifndef HOST_VERSION
 /***********************/
@@ -133,9 +134,21 @@ void do_time_monitor(void *dummy)
 
 void do_led_blink(void *dummy)
 {
-#if 1 /* simple blink */
-	LED1_TOGGLE();
-#endif
+	static uint8_t a = 0;
+
+	if (mainboard.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)
@@ -171,7 +184,7 @@ int main(void)
 	memset(&gen, 0, sizeof(gen));
 	memset(&mainboard, 0, sizeof(mainboard));
 	mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
-		DO_POS | DO_POWER | DO_BD;
+		DO_POS | DO_POWER | DO_BD | DO_ERRBLOCKING;
 
 	/* UART */
 	uart_init();
@@ -262,13 +275,13 @@ int main(void)
 	/* all cs management */
 	microb_cs_init();
 
+	/* TIME */
+	time_init(TIME_PRIO);
+
 #ifndef HOST_VERSION
 	/* sensors, will also init hardware adc */
 	sensor_init();
 
-	/* TIME */
-	time_init(TIME_PRIO);
-
 	/* start i2c slave polling */
 	scheduler_add_periodical_event_priority(i2c_poll_slaves, NULL,
 						8000L / SCHEDULER_UNIT, I2C_POLL_PRIO);
@@ -277,11 +290,11 @@ int main(void)
 	/* strat */
  	gen.logs[0] = E_USER_STRAT;
  	gen.log_level = 5;
-	strat_reset_infos();
+	strat_db_init();
 
 	/* strat-related event */
 	scheduler_add_periodical_event_priority(strat_event, NULL,
-						25000L / SCHEDULER_UNIT,
+						10000L / SCHEDULER_UNIT,
 						STRAT_PRIO);
 
 #ifndef HOST_VERSION