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Updates to test_csc_servo from tobias

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This commit is contained in:
Allen Ibara
2010-08-19 03:26:10 +00:00
parent c1bfd9d0e4
commit 03b877bb0f
1 changed files with 33 additions and 8 deletions
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sw/airborne/lisa/test_csc_servo.c
+33 -8
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@@ -73,22 +73,22 @@ static inline void main_periodic_task( void ) {
servos[2]+=10;
servos[3]+=10;
if((can_error_warning = CAN_GetFlagStatus(CAN1, CAN_FLAG_EWG)) == SET){
if ((can_error_warning = CAN_GetFlagStatus(CAN1, CAN_FLAG_EWG)) == SET) {
LED_ON(2);
}else{
} else {
LED_OFF(2);
}
if((can_error_passive = CAN_GetFlagStatus(CAN1, CAN_FLAG_EPV)) == SET){
if ((can_error_passive = CAN_GetFlagStatus(CAN1, CAN_FLAG_EPV)) == SET) {
LED_ON(3);
}else{
} else {
LED_OFF(3);
}
if((can_bus_off = CAN_GetFlagStatus(CAN1, CAN_FLAG_BOF)) == SET){
if ((can_bus_off = CAN_GetFlagStatus(CAN1, CAN_FLAG_BOF)) == SET) {
LED_ON(0);
}else{
} else {
LED_OFF(0);
}
cscp_transmit(0, 0, (uint8_t *)servos, 8);
LED_PERIODIC();
@@ -98,10 +98,35 @@ static inline void main_periodic_task( void ) {
static inline void main_event_task( void ) {
cscp_event();
LED_OFF(0);
LED_OFF(1);
LED_OFF(2);
LED_OFF(3);
// DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);
}
void main_on_vane_msg(void *data)
{
int zero = 0;
RunOnceEvery(10, {DOWNLINK_SEND_VANE_SENSOR(DefaultChannel, &(csc_vane_msg.vane_angle1), &zero, &csc_vane_msg.vane_angle2, &zero, &zero, &zero, &zero);});
// DOWNLINK_SEND_PONG(DefaultChannel);
// RunOnceEvery(10, {
DOWNLINK_SEND_VANE_SENSOR(DefaultChannel,
&(csc_vane_msg.vane_angle1),
&zero,
&zero,
&zero,
&zero,
&csc_vane_msg.vane_angle2,
&zero,
&zero,
&zero,
&zero);
// });
}