-/*
+/*
* Copyright Droids Corporation
* Olivier Matz <zer0@droids-corp.org>
- *
+ *
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
/* 0 means "programmed"
* ---- with 16 Mhz quartz
* CKSEL 3-0 : 0111
- * SUT 1-0 : 10
+ * SUT 1-0 : 10
* CKDIV8 : 1
* ---- bootloader
* BOOTZ 1-0 : 01 (4K bootloader)
__asm__ __volatile__ ("ldi r31,0xf8\n");
__asm__ __volatile__ ("ldi r30,0x00\n");
__asm__ __volatile__ ("eijmp\n");
-
+
/* never returns */
}
LED1_ON();
else
LED1_OFF();
-
+
a = !a;
#endif
}
error_register_notice(mylog);
error_register_debug(mylog);
+ wait_ms(3000);
+
/* SPI + ENCODERS */
encoders_spi_init(); /* this will also init spi hardware */
timer0_register_OV_intr(main_timer_interrupt);
/* PWM */
- PWM_NG_TIMER_16BITS_INIT(1, TIMER_16_MODE_PWM_10,
+ PWM_NG_TIMER_16BITS_INIT(1, TIMER_16_MODE_PWM_10,
TIMER1_PRESCALER_DIV_1);
- PWM_NG_TIMER_16BITS_INIT(4, TIMER_16_MODE_PWM_10,
+ 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,
/* servos */
- PWM_NG_TIMER_16BITS_INIT(3, TIMER_16_MODE_PWM_10,
+ PWM_NG_TIMER_16BITS_INIT(3, TIMER_16_MODE_PWM_10,
TIMER1_PRESCALER_DIV_256);
PWM_NG_INIT16(&gen.servo1, 3, C, 10, PWM_NG_MODE_NORMAL,
NULL, 0);
- PWM_NG_TIMER_16BITS_INIT(5, TIMER_16_MODE_PWM_10,
+ PWM_NG_TIMER_16BITS_INIT(5, TIMER_16_MODE_PWM_10,
TIMER1_PRESCALER_DIV_256);
PWM_NG_INIT16(&gen.servo2, 5, A, 10, PWM_NG_MODE_NORMAL,
NULL, 0);
NULL, 0);
PWM_NG_INIT16(&gen.servo4, 5, C, 10, PWM_NG_MODE_NORMAL,
NULL, 0);
-
+
/* SCHEDULER */
scheduler_init();
- scheduler_add_periodical_event_priority(do_led_blink, NULL,
- 100000L / SCHEDULER_UNIT,
+ scheduler_add_periodical_event_priority(do_led_blink, NULL,
+ 100000L / SCHEDULER_UNIT,
LED_PRIO);
/* all cs management */
microb_cs_init();