X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fmain.c;h=90e9ff1e6e7782bda0e41cee99c91f8d4a40149a;hp=98d374917e6a5500863746c62347fc1801562516;hb=9d056416278ae5d772a0fc1f7d2d11a4461fb673;hpb=6914527de2ecfef9d790740c71739e7418246b96

diff --git a/projects/microb2010/mainboard/main.c b/projects/microb2010/mainboard/main.c
index 98d3749..90e9ff1 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
 /***********************/
@@ -184,6 +185,8 @@ int main(void)
 	memset(&mainboard, 0, sizeof(mainboard));
 	mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
 		DO_POS | DO_POWER | DO_BD | DO_ERRBLOCKING;
+	ballboard.lcob = I2C_COB_NONE;
+	ballboard.rcob = I2C_COB_NONE;
 
 	/* UART */
 	uart_init();
@@ -195,13 +198,17 @@ int main(void)
  	fdevopen(uart1_dev_send, uart1_dev_recv);
 #endif
 
-	//eeprom_write_byte(EEPROM_MAGIC_ADDRESS, EEPROM_MAGIC_MAINBOARD);
 	/* check eeprom to avoid to run the bad program */
 	if (eeprom_read_byte(EEPROM_MAGIC_ADDRESS) !=
 	    EEPROM_MAGIC_MAINBOARD) {
+		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_MAINBOARD);
+		wait_ms(100);
+		bootloader();
 	}
 #endif /* ! HOST_VERSION */
 
@@ -289,7 +296,7 @@ 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,