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beth hack define

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This commit is contained in:
Paul Cox
2010-07-20 14:37:56 +00:00
parent 6245a72e86
commit 346daccaef
1 changed files with 8 additions and 3 deletions
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sw/airborne/beth/main_stm32.c
+8 -3
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@@ -47,6 +47,12 @@ static inline void main_on_overo_link_lost(void);
static int16_t my_cnt;
//hack to get beth angle values from CAN receive buffer
//see airborne/stm32/can_hw.c
#ifdef BETH_HACK
extern uint16_t halfw1,halfw2,halfw3,halfw4;
#endif
int main(void) {
main_init();
@@ -70,8 +76,6 @@ static inline void main_init( void ) {
can_init();
}
//hack to get beth angle values from CAN receive buffer
extern uint16_t halfw1,halfw2,halfw3,halfw4;
static inline void main_periodic( void ) {
//booz_imu_periodic();
@@ -79,8 +83,9 @@ static inline void main_periodic( void ) {
//OveroLinkPeriodic(main_on_overo_link_lost)
RunOnceEvery(10, {LED_PERIODIC(); DOWNLINK_SEND_ALIVE(DefaultChannel, 16, MD5SUM);});
#ifdef BETH_HACK
RunOnceEvery(5, {DOWNLINK_SEND_BETH(DefaultChannel, &halfw4, &halfw1,&halfw2, &halfw3);});
#endif
//No longer needed as we switched from I2C to CAN
//read_bench_sensors();