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This commit is contained in:
Antoine Drouin
2008-04-02 21:30:30 +00:00
parent 07abb2341f
commit 7d57ab577b
2 changed files with 12 additions and 36 deletions
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sw/airborne/motor_bench/mb_asctech_twi_controller.c
-36
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@@ -1,36 +0,0 @@
#include "mb_twi_controller.h"
#include "i2c.h"
#include "led.h"
uint8_t mb_twi_command;
uint8_t mb_twi_nb_overun;
uint8_t mb_twi_i2c_done;
#define MB_TWI_CONTROLLER_MAX_CMD 200
#define MB_TWI_CONTROLLER_ADDR 0x02
void mb_twi_controller_init(void) {
mb_twi_nb_overun = 0;
mb_twi_i2c_done = TRUE;
}
void mb_twi_controller_set( float throttle ) {
if (mb_twi_i2c_done) {
LED_TOGGLE(1);
uint8_t pitch = 100;
uint8_t roll = 100;
uint8_t yaw = 100;
mb_twi_command = throttle * MB_TWI_CONTROLLER_MAX_CMD;
i2c_buf[0] = pitch;
i2c_buf[1] = roll;
i2c_buf[2] = yaw;
i2c_buf[3] = mb_twi_command;
i2c_transmit(MB_TWI_CONTROLLER_ADDR, 4, &mb_twi_i2c_done);
}
else
mb_twi_nb_overun++;
}
sw/airborne/motor_bench/mb_twi_controller_asctech.h
+12
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@@ -0,0 +1,12 @@
#ifndef MB_TWI_CONTROLLER_ASCTECH_H
#define MB_TWI_CONTROLLER_ASCTECH_H
extern bool_t mb_twi_controller_asctech_command;
extern uint8_t mb_twi_controller_asctech_command_type;
#define mb_twi_controller_asctech_SetCommand(value) { \
mb_twi_controller_asctech_command = TRUE; \
mb_twi_controller_asctech_command_type = value; \
}
#endif /* MB_TWI_CONTROLLER_ASCTECH_H */