X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fmain.c;h=d7ac3d4d28948cdff457cb852c4af3d21ad01a4f;hp=633a35dbac1b464f14abbc06a0820c491ea68057;hb=b56f8565015ec12af0e8df461f8dd52d07f59dd7;hpb=78150017ab8c5615af414df706a0525fe7c262ae

diff --git a/projects/microb2010/mainboard/main.c b/projects/microb2010/mainboard/main.c
index 633a35d..d7ac3d4 100755
--- a/projects/microb2010/mainboard/main.c
+++ b/projects/microb2010/mainboard/main.c
@@ -67,7 +67,11 @@
 #include "actuator.h"
 #include "cs.h"
 #include "strat_base.h"
+#include "strat_db.h"
+#include "strat_avoid.h"
 #include "i2c_protocol.h"
+#include "beacon.h"
+
 
 /* 0 means "programmed"
  * ---- with 16 Mhz quartz
@@ -85,6 +89,7 @@ struct genboard gen;
 struct mainboard mainboard;
 volatile struct cobboard cobboard;
 volatile struct ballboard ballboard;
+volatile struct beaconboard beaconboard;
 
 #ifndef HOST_VERSION
 /***********************/
@@ -184,6 +189,10 @@ 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;
+
+	beaconboard.oppx = I2C_OPPONENT_NOT_THERE;
 
 	/* UART */
 	uart_init();
@@ -195,13 +204,17 @@ 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 */
 
@@ -277,10 +290,13 @@ int main(void)
 	/* TIME */
 	time_init(TIME_PRIO);
 
-#ifndef HOST_VERSION
 	/* sensors, will also init hardware adc */
 	sensor_init();
 
+	/* beacon */
+	beacon_init();
+
+#ifndef HOST_VERSION
 	/* start i2c slave polling */
 	scheduler_add_periodical_event_priority(i2c_poll_slaves, NULL,
 						8000L / SCHEDULER_UNIT, I2C_POLL_PRIO);
@@ -289,11 +305,10 @@ int main(void)
 	/* strat */
  	gen.logs[0] = E_USER_STRAT;
  	gen.log_level = 5;
-	strat_reset_infos();
 
 	/* strat-related event */
 	scheduler_add_periodical_event_priority(strat_event, NULL,
-						10000L / SCHEDULER_UNIT,
+						25000L / SCHEDULER_UNIT,
 						STRAT_PRIO);
 
 #ifndef HOST_VERSION
@@ -305,6 +320,9 @@ int main(void)
 
 	sei();
 
+	strat_db_init();
+	test_strat_avoid();
+
 	printf_P(PSTR("\r\n"));
 	printf_P(PSTR("Respect et robustesse.\r\n"));
 #ifndef HOST_VERSION