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beacon from 2009
[aversive.git]
/
projects
/
microb2010
/
ballboard
/
main.c
diff --git
a/projects/microb2010/ballboard/main.c
b/projects/microb2010/ballboard/main.c
index
e737ba3
..
7a3cee5
100755
(executable)
--- a/
projects/microb2010/ballboard/main.c
+++ b/
projects/microb2010/ballboard/main.c
@@
-59,6
+59,7
@@
#include "cs.h"
#include "i2c_protocol.h"
#include "state.h"
#include "cs.h"
#include "i2c_protocol.h"
#include "state.h"
+#include "beacon.h"
/* 0 means "programmed"
* ---- with 16 Mhz quartz
/* 0 means "programmed"
* ---- with 16 Mhz quartz
@@
-214,7
+215,8
@@
int main(void)
&PORTD, 5);
PWM_NG_INIT16(&gen.pwm3_1A, 1, A, 10, PWM_NG_MODE_SIGNED |
PWM_NG_MODE_SIGN_INVERTED, &PORTD, 6);
&PORTD, 5);
PWM_NG_INIT16(&gen.pwm3_1A, 1, A, 10, PWM_NG_MODE_SIGNED |
PWM_NG_MODE_SIGN_INVERTED, &PORTD, 6);
- PWM_NG_INIT16(&gen.pwm4_1B, 1, B, 10, PWM_NG_MODE_SIGNED,
+ PWM_NG_INIT16(&gen.pwm4_1B, 1, B, 10, PWM_NG_MODE_SIGNED |
+ PWM_NG_MODE_SIGN_INVERTED,
&PORTD, 7);
&PORTD, 7);
@@
-244,6
+246,11
@@
int main(void)
/* sensors, will also init hardware adc */
sensor_init();
/* sensors, will also init hardware adc */
sensor_init();
+ /* beacon */
+ beacon_init();
+ scheduler_add_periodical_event_priority(beacon_calc, NULL,
+ 20000L / SCHEDULER_UNIT,
+ BEACON_PRIO);
/* TIME */
time_init(TIME_PRIO);
/* TIME */
time_init(TIME_PRIO);
@@
-256,6
+263,7
@@
int main(void)
sei();
actuator_init();
sei();
actuator_init();
+ beacon_calibre_pos();
printf_P(PSTR("\r\n"));
printf_P(PSTR("Dass das Gluck deinen Haus setzt.\r\n"));
printf_P(PSTR("\r\n"));
printf_P(PSTR("Dass das Gluck deinen Haus setzt.\r\n"));