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Merged relay activation

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Lorenz Meier
2012-12-27 19:06:09 +01:00
parent 7526dd46a2 5b92c51777
commit 45a4bcb6ef
2 changed files with 54 additions and 6 deletions
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apps/px4io/comms.c
+18 -2
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@@ -210,9 +210,25 @@ comms_handle_command(const void *buffer, size_t length)
*/
mixer_tick();
/* XXX do relay changes here */
/* handle relay state changes here */
for (unsigned i = 0; i < PX4IO_RELAY_CHANNELS; i++) {
system_state.relays[i] = cmd->relay_state[i];
if (system_state.relays[i] != cmd->relay_state[i]) {
switch (i) {
case 0:
POWER_ACC1(cmd->relay_state[i]);
break;
case 1:
POWER_ACC2(cmd->relay_state[i]);
break;
case 2:
POWER_RELAY1(cmd->relay_state[i]);
break;
case 3:
POWER_RELAY2(cmd->relay_state[i]);
break;
}
}
system_state.relays[i] != cmd->relay_state[i]
}
irqrestore(flags);