#include "actuator.h"
#include "cs.h"
#include "i2c_protocol.h"
+#include "state.h"
+#include "beacon.h"
/* 0 means "programmed"
* ---- with 16 Mhz quartz
void do_led_blink(__attribute__((unused)) void *dummy)
{
-#if 1 /* simple blink */
- static uint8_t a=0;
+ static uint8_t a = 0;
- if(a)
- LED1_ON();
- else
- LED1_OFF();
-
- a = !a;
-#endif
+ if (ballboard.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)
LED1_OFF();
memset(&gen, 0, sizeof(gen));
memset(&ballboard, 0, sizeof(ballboard));
- ballboard.flags = DO_ENCODERS | DO_CS | DO_POWER; // DO_BD
+ ballboard.flags = DO_ENCODERS | DO_CS | DO_POWER |
+ DO_ERRBLOCKING | DO_BD;
/* UART */
uart_init();
# error not supported
#endif
- eeprom_write_byte(EEPROM_MAGIC_ADDRESS, EEPROM_MAGIC_BALLBOARD);
/* check eeprom to avoid to run the bad program */
if (eeprom_read_byte(EEPROM_MAGIC_ADDRESS) !=
EEPROM_MAGIC_BALLBOARD) {
+ 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_BALLBOARD);
+ wait_ms(100);
+ bootloader();
}
/* LOGS */
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,
+ PWM_NG_INIT16(&gen.pwm1_4A, 4, A, 10, PWM_NG_MODE_SIGNED,
&PORTD, 4);
PWM_NG_INIT16(&gen.pwm2_4B, 4, B, 10, PWM_NG_MODE_SIGNED,
&PORTD, 5);
- PWM_NG_INIT16(&gen.pwm3_1A, 1, A, 10, PWM_NG_MODE_SIGNED,
- &PORTD, 6);
- PWM_NG_INIT16(&gen.pwm4_1B, 1, B, 10, PWM_NG_MODE_SIGNED,
+ 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_MODE_SIGN_INVERTED,
&PORTD, 7);
/* 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);
/* ax12 */
ax12_user_init();
+ gen.logs[0] = E_USER_ST_MACH;
+ gen.log_level = 5;
+
sei();
+ actuator_init();
+ beacon_calibre_pos();
+
printf_P(PSTR("\r\n"));
printf_P(PSTR("Dass das Gluck deinen Haus setzt.\r\n"));
+
+ state_machine();
cmdline_interact();
return 0;