X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fmain.c;h=eb549c591cd944fa2f84f5dbd273e930047d3698;hp=4061d195df164e12184fc7d4139099b20877bc78;hb=5894a1a70f98504fee52e58f45f181aa684d99bf;hpb=ebfaaedd491e61696cc93b353471be15408d23e4

diff --git a/projects/microb2010/mainboard/main.c b/projects/microb2010/mainboard/main.c
index 4061d19..eb549c5 100755
--- a/projects/microb2010/mainboard/main.c
+++ b/projects/microb2010/mainboard/main.c
@@ -67,8 +67,11 @@
 #include "actuator.h"
 #include "cs.h"
 #include "strat_base.h"
+#include "strat_db.h"
+#include "strat_avoid.h"
 #include "i2c_protocol.h"
 
+
 /* 0 means "programmed"
  * ---- with 16 Mhz quartz
  * CKSEL 3-0 : 0111
@@ -83,8 +86,8 @@
 
 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 +136,21 @@ 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 +186,9 @@ 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;
+	ballboard.lcob = I2C_COB_NONE;
+	ballboard.rcob = I2C_COB_NONE;
 
 	/* UART */
 	uart_init();
@@ -183,13 +200,17 @@ 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 */
 
@@ -262,13 +283,13 @@ 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);
@@ -277,7 +298,6 @@ 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,
@@ -293,6 +313,9 @@ 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
@@ -304,7 +327,7 @@ int main(void)
 #endif
 
 #ifdef HOST_VERSION
-	strat_reset_pos(1000, 1000, -90);
+	strat_reset_pos(400, COLOR_Y(400), COLOR_A(-90));
 #endif
 
 	cmdline_interact();