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fixed KILL_MOTORS cflag to work with MKK speed controllers and Lisa board

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Eric Parsonage
2010-08-06 17:52:25 +00:00
parent 76f63ddcb7
commit 78b9af0968
1 changed files with 6 additions and 2 deletions
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sw/airborne/booz/arch/stm32/actuators/booz_actuators_mkk_arch.c
+6 -2
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@@ -48,8 +48,12 @@ void tim2_irq_handler(void) {
/* Clear TIM2 update interrupt */ /* Clear TIM2 update interrupt */
TIM_ClearITPendingBit(TIM2, TIM_IT_Update); TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
actuators_mkk.idx++; actuators_mkk.idx++;
if (actuators_mkk.idx<ACTUATORS_MKK_NB) { if (actuators_mkk.idx<ACTUATORS_MKK_NB) {
DeviceBuf[0] = supervision.commands[actuators_mkk.idx]; #ifdef KILL_MOTORS
DeviceBuf[0] = 0;
#else
DeviceBuf[0] = supervision.commands[actuators_mkk.idx];
#endif
DeviceTransmit(actuators_addr[actuators_mkk.idx], 1, &actuators_mkk.i2c_done); DeviceTransmit(actuators_addr[actuators_mkk.idx], 1, &actuators_mkk.i2c_done);
} }
else { else {