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This commit is contained in:
Antoine Drouin
2009-08-21 01:30:22 +00:00
parent 42852a6639
commit 337d6ed1f7
4 changed files with 17 additions and 10 deletions
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sw/airborne/booz/actuators/booz_actuators_mkk.c
+1 -1
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@@ -47,7 +47,7 @@ void actuators_set(bool_t motors_on) {
actuators_mkk.status = BUSY; actuators_mkk.status = BUSY;
actuators_mkk.i2c_done = FALSE; actuators_mkk.i2c_done = FALSE;
actuators_mkk.idx = 0; actuators_mkk.idx = 0;
i2c0_buf[0] = supervision_commands[actuators_mkk.idx]; i2c0_buf[0] = supervision.commands[actuators_mkk.idx];
i2c0_transmit(actuators_addr[actuators_mkk.idx], 1, &actuators_mkk.i2c_done); i2c0_transmit(actuators_addr[actuators_mkk.idx], 1, &actuators_mkk.i2c_done);
} }
sw/airborne/booz/actuators/booz_actuators_mkk.h
+1 -1
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@@ -43,7 +43,7 @@ extern const uint8_t actuators_addr[];
#define ActuatorsMkkI2cHandler() { \ #define ActuatorsMkkI2cHandler() { \
actuators_mkk.idx++; \ actuators_mkk.idx++; \
if (actuators_mkk.idx<ACTUATORS_MKK_NB) { \ if (actuators_mkk.idx<ACTUATORS_MKK_NB) { \
i2c0_buf[0] = supervision_commands[actuators_mkk.idx]; \ i2c0_buf[0] = supervision.commands[actuators_mkk.idx]; \
i2c0_transmit(actuators_addr[actuators_mkk.idx], 1, &actuators_mkk.i2c_done); \ i2c0_transmit(actuators_addr[actuators_mkk.idx], 1, &actuators_mkk.i2c_done); \
} \ } \
else \ else \
sw/airborne/booz/actuators/booz_supervision.h
+9 -2
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@@ -2,10 +2,17 @@
#define BOOZ_SUPERVISION_H #define BOOZ_SUPERVISION_H
#include "std.h" #include "std.h"
#include "airframe.h"
struct BoozSupervision {
int32_t commands[SUPERVISION_NB_MOTOR];
int32_t trim[SUPERVISION_NB_MOTOR];
uint32_t nb_failure;
};
extern struct BoozSupervision supervision;
extern void supervision_init(void); extern void supervision_init(void);
extern void supervision_run(bool_t motors_on, int32_t in_cmd[]); extern void supervision_run(bool_t motors_on, int32_t in_cmd[]);
extern int32_t supervision_commands[];
#endif /* BOOZ_SUPERVISION_H */ #endif /* BOOZ_SUPERVISION_H */
sw/airborne/booz/fms/booz_fms_test_signal.h
+6 -6
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@@ -43,14 +43,14 @@ struct BoozFmsTestSignal {
extern struct BoozFmsTestSignal fms_test_signal; extern struct BoozFmsTestSignal fms_test_signal;
#define booz_fms_test_signal_SetPeriod(_val) { \ #define booz_fms_test_signal_SetPeriod(_val) { \
fms_test_signal.period = _val; \ fms_test_signal.period = _val; \
fms_test_signal.counter = 0; \ fms_test_signal.counter = 0; \
} }
#define booz_fms_test_signal_SetMode(_val) { \ #define booz_fms_test_signal_SetMode(_val) { \
fms_test_signal.mode = _val; \ fms_test_signal.mode = (enum fms_ts_mode)(_val); \
fms_test_signal.counter = 0; \ fms_test_signal.counter = 0; \
} }
#endif /* BOOZ_FMS_TEST_SIGNAL_H */ #endif /* BOOZ_FMS_TEST_SIGNAL_H */